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Binocular vision-based robot target identifying and gripping system and method

A target recognition and binocular vision technology, applied in the field of robotics, can solve the problems of service robots with single functions, inability to complete actions, and service robots that cannot navigate autonomously

Inactive Publication Date: 2013-01-30
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The function of the original service robot is relatively single, it cannot meet the application needs of people's family unstructured environment, and there are certain technical defects
First, the function of the original service robot is relatively single, and often can only complete part of the work
Second, the original service robot cannot navigate to the target area autonomously, and often requires people to set the path
Third, the original service robot did not introduce a mechanical arm with a high degree of freedom, and the control algorithm is relatively simple, so it cannot complete relatively complex actions

Method used

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  • Binocular vision-based robot target identifying and gripping system and method
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  • Binocular vision-based robot target identifying and gripping system and method

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Experimental program
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Effect test

Embodiment 1

[0053] Such as figure 1 As shown, this service robot target recognition and grasping system based on binocular vision, the service robot control platform (1) is connected to the binocular image acquisition module (2), RFID transceiver module (3), chassis motion module (6) , a barrier module (4) and a robotic arm control module (5).

[0054] The binocular image acquisition module (2) refers to the binocular stereo vision system in this system; the RFID transceiver module (3) is a passive radio frequency tag, which contains information such as the position and characteristics of the item; The above-mentioned chassis movement module (6) adopts a two-wheel differential method, and two color sensors are installed at the bottom; the above-mentioned obstacle avoidance module (4) uses multiple ultrasonic and multiple photoelectric sensors, which are respectively installed on the abdomen of the robot and the bottom skirt to detect obstacles at different heights; the humanoid manipulat...

Embodiment 2

[0057] Such as image 3 As shown, the service robot target recognition and grasping method based on binocular vision is operated by using the above system, and it is characterized in that it includes the following steps:

[0058] 1) Binocular camera calibration. Use the plane template method to calibrate the binocular camera of the binocular image acquisition module (2), obtain the internal parameters of the camera, and convert the coordinate values ​​of the target object in the image coordinate system to the target object in the right eye of the binocular camera The coordinate value in the spatial coordinate system of the origin.

[0059] 2) Coordinate system construction and conversion. A space coordinate system is established with the right shoulder of the robot as the coordinate origin, and the coordinate values ​​of the target object in the coordinate system with the right eye as the origin are converted to the coordinate values ​​in the coordinate system.

[0060]...

Embodiment 3

[0092] In this embodiment, the home environment is simulated to realize that the robot can intelligently serve human beings. This embodiment includes the following steps:

[0093] In the first step, in the experimental environment of this embodiment, the binocular camera of the robot is calibrated by using the planar template method to obtain the internal parameters of the camera. The threshold value of the color of the target object in the HSV color space is learned offline; and the threshold value of the outline size of the target object in the image is learned offline when the most accurate coordinate value of the target object is obtained. After the system initialization is completed, the search for the target object is started.

[0094] In the second step, the robot starts to search for the target object at any position in the laboratory, continuously collects images through the binocular camera, performs color space conversion on the pixels in the image, and...

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Abstract

The invention discloses a binocular vision-based robot target identifying and gripping system and method. The binocular vision-based robot target identifying and gripping system comprises a binocular image acquisition module, an RFID (Radio Frequency Identification) transceiving module, a chassis movement module, an obstacle avoidance module and a mechanical arm control module. The binocular vision-based robot target identifying and gripping method comprises the following steps of: (1) calibration of a binocular camera; (2) erection and conversion of a coordinate system; (3) target identification and location; (4) autonomous navigation and obstacle avoidance; and (5) control over mechanical arms for gripping a target object. According to the invention, a robot can be intelligently interactive with the environment, and the intelligent gripping capability of the robot is enhanced. According to the binocular vision-based robot target identifying and gripping system and method, except for identification and location to the target object, a navigation database is also established, and the robot can automatically reach an area where the object is located after the target object is positioned; and the binocular vision-based robot target identifying and gripping system and method ensures that a service mode of the robot is more intelligentized and humanized by controlling the human-simulated mechanical arms and adopting a specific personified path gripping manner.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot target recognition and grasping system and method based on binocular vision. Background technique [0002] Since the 1960s, the related technologies of robot application have become the research focus of major universities, enterprises and institutions. In the early stages of development, robots mainly help people complete some dangerous or repetitive simple tasks in a structured environment according to specific patterns. However, with the development of technology and the improvement of people's daily life needs, robots are facing the challenges of unstructured and complex problems. With the development of computer technology and control technology, the level of intelligence of robots is getting higher and higher. They can complete some tasks autonomously in an unstructured environment, can identify target objects, and can reach the area where the target o...

Claims

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Application Information

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IPC IPC(8): G05D1/02B25J13/08B25J11/00
Inventor 晁衍凯徐昱琳周勇飞吕晓梦王明
Owner SHANGHAI UNIV
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