A Design of Obstacle Avoidance and Grabbing Manipulator Based on Computer Vision for Warehouse Inspection Robot

Abstract

The automatic manipulator has several potential applications in industrial systems. It is critical to research machine route planning and obstacle avoidance in order to fulfill the rising technical requirements. This work provides a technique for realizing the aforementioned tasks based on an enhanced obstacle avoidance algorithm that can automatically skip barriers and complete target sorting using visual identification and improved obstacle avoidance algorithms. The whole system consists of three parts: image collection, pose estimation and target grasping. Firstly, computer vision technology is used to recognize and locate target objects. Secondly, the robot's kinematics model is created, and combined with the visual perception information, the target grabbing and sorting are completed. Finally, the environment is built with Gazebo, and the robot is simulated. Simulation results verify the feasibility and effectiveness of the method.