公开(公告)号：US20240242377A1

公开(公告)日：2024-07-18

申请号：US18276648

申请日：2023-01-30

申请人： CHENGDU UNIVERSITY OF TECHNOLOGY

发明人： Shi YI ,  Xinghao CHENG ,  Cheng WANG

IPC分类号： G06T7/73 ,  B25J9/16 ,  G06V10/46 ,  G06V10/50 ,  G06V10/77 ,  G06V10/80 ,  G06V10/82

CPC分类号： G06T7/73 ,  B25J9/1697 ,  G06V10/462 ,  G06V10/50 ,  G06V10/7715 ,  G06V10/806 ,  G06V10/82 ,  G06T2207/10048 ,  G06T2207/20064 ,  G06T2207/20084 ,  G06V2201/07

摘要： The present disclosure belongs to the technical field of artificial intelligence, and provides a pose estimation apparatus and method for a robotic arm to grasp a target based on monocular infrared thermal imaging vision. The present disclosure provides a pose estimation apparatus for automatically grasping a target using a robotic arm of a specialized robot, which includes a monocular infrared thermal imaging camera, a laser ranging module, an edge computing platform, and an embedded processor. The monocular infrared thermal imaging camera can perform imaging based on a temperature difference between a target and an environment in smoke, combustion, and explosion environments in which a specialized robot works. The laser ranging module can assist in measuring a distance of a to-be-grasped target. An algorithm process in the present disclosure is deployed on the edge computing platform. The embedded processor completes motion control of a robotic arm. The apparatus is characterized by a lightweight design and high work efficiency, and is suitable for being mounted on a specialized robot platform.