Neural Network Based on Work Piece Recognition and Robot Intelligent Capture in Complex Environments.

In today's rapid development of science and technology, the manual work in the factory has been gradually replaced by machines, and the process of industrial intelligence has been further deepened. Workpiece recognition is the use of machine learning, computer vision and other technologies to identify the target workpiece, and the robot intelligent capture is a higher level of operation of the workpiece recognition, which is the key to realize the intelligentization of industrial robots. Due to the complex environmental factors and the diversity of the shape and size of the objects to be grasped, the accuracy and efficiency of the workpiece recognition are not ideal at this stage, and intelligent crawling is even more difficult to talk about. Aiming at the above problems, this paper builds a crawling planning model based on the convolutional neural network and the grasping pose mapping rules. Based on the established crawling planning model, the sampling candidate grabbing algorithm is designed and the migration learning method is adopted. The pretrained convolutional neural network for image recognition on the ImageNet dataset was migrated to the capture detection task of the Carnegie Mellon dataset. Experiments show that the network model proposed in this paper performs well, and its correct crawl rate is as high as 81.27%. This is to achieve a more stable and reliable identification and intelligent crawling work. [ABSTRACT FROM AUTHOR]