数据与计算发展前沿2026，Vol.8Issue(1)：195-206,12.DOI:10.11871/jfdc.issn.2096-742X.2026.01.016
MSGS:基于深度相机的多规格机器人抓取系统
MSGS:Multi-Specification Robot Grasping System Based on Depth Camera
摘要
Abstract
[Objective]Machine vision is widely used in industrial scenarios for material recognition and sorting in production processes.However,some current grasping methods suffer from low effi-ciency and limited adaptability to single specifications.[Methods]This study proposes a Multi-Specification Grasping System(MSGS)for robots,which optimizes the YOLOv5 model to detect and classify various materi-als.The system can adaptively control the extension distance of the robotic arm's end-effector based on the size of different types of materials,thereby accommodating sorting tasks for materials of various sizes in different sce-narios.[Results]Experiments show that the detection model can successfully detect and classify small-feature tar-gets,achieving an accuracy rate of 98.3% and an mAP of 0.993.Through multiple positioning and grasping exper-iments,the robotic arm's end-effector can adjust its extension distance according to the material specifications and complete grasping actions with a success rate of 100% and an average contraction error of 5mm.[Conclu-sions]This grasping system can effectively perform classification,positioning,and grasping of materials with multiple specifications,providing valuable technical insights for the advancement of industrial vision.关键词
机器视觉/多规格/目标检测/无序抓取/深度相机/系统Key words
machine vision/multiple specifications/target detection/random grasping/depth camera/system引用本文复制引用
付兰慧,谯未来,邓辅秦,周磊,侯健峰,冷雄伟,周游,黄广俊..MSGS:基于深度相机的多规格机器人抓取系统[J].数据与计算发展前沿,2026,8(1):195-206,12.基金项目
五邑大学博士科研启动经费(BSQD2222) （BSQD2222）
国家重点研发计划"战略性科技创新合作"重点专项-半导体器件封装质量智能检测关键技术研究与应用示范(2023YFE0205800) （2023YFE0205800）
五邑大学港澳联合基金项目-多模态表征学习下的自监督视频行为分析理论研究与机器智能应用(2022WGALH17) （2022WGALH17）
