The invention discloses a target object carrying method and device, equipment and a medium. The method and device are used for rapidly and accurately determining forking pose information when a target object is forked. The method comprises the steps of obtaining feature points in a scene point cloud of a target object, and determining relative position information between every two feature points; obtaining a target reference relative position information set corresponding to the target category of the target object; for each piece of relative position information, if target reference relative position information matched with the relative position information is determined, determining a corresponding rotation translation matrix based on the relative position information and the target reference relative position information; determining a feature point fusion proportion of each rotation translation matrix; selecting an optimal rotation translation matrix based on the feature point fusion proportion; and according to the preferable rotation translation matrix, the pre-stored corresponding preset reference forking pose information is adjusted, so that the forking pose information when the target object is forked is rapidly and accurately determined, and the target object is rapidly and accurately carried based on the forking pose information.

    本申请公开了一种目标物搬运方法、装置、设备及介质,用于快捷准确的确定叉取目标物时的叉取位姿信息。本申请获得目标物的场景点云中的特征点,确定每两个特征点之间的相对位置信息;获得目标物的目标类别对应的目标基准相对位置信息集;针对每个相对位置信息,若确定有与该相对位置信息匹配的目标基准相对位置信息,则基于该相对位置信息及该目标基准相对位置信息,确定相应旋转平移矩阵;并确定每个旋转平移矩阵的特征点融合比例;基于特征点融合比例选取优选旋转平移矩阵;根据优选旋转平移矩阵,对预先保存的相应预设基准叉取位姿信息进行调整,从而快捷准确地确定叉取目标物时的叉取位姿信息,基于该叉取位姿信息,快捷准确地对搬运目标物。


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    Titel :

    Target object carrying method, device, equipment and medium


    Weitere Titelangaben:

    一种目标物搬运方法、装置、设备及介质


    Beteiligte:
    ZHUANG HAN (Autor:in) / MAO LIBING (Autor:in) / LU WEI (Autor:in) / HU KUN (Autor:in) / LI MING (Autor:in)

    Erscheinungsdatum :

    2023-10-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G06V



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