Deep Vision Servo Hand-Eye Coordination Planning Study for Sorting Robots

Abstract

Within the context of large-scale symmetry, a study on deep vision servo multi-vision tracking coordination planning for sorting robots was conducted according to the problems of low recognition sorting accuracy and efficiency in existing sorting robots. In this paper, a kinematic model of a mobile picking manipulator was built. Then, the kinematics design of the orwX, Y, Z three-dimensional space manipulator was carried out, and a method of deriving and calculating the base position coordinates through the target point coordinates, the current moving chassis center coordinates and the determined manipulator grasping attitude conditions was proposed, which realizes the adjustment of the position and attitude of the moving chassis as small as possible. The multi-vision tracking coordinated sorting accounts 79.8% of the whole cycle. The design of a picking robot proposed in this paper can greatly improve the coordination symmetry of logistic package target recognition, detection and picking.