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Operating object position and posture recognition method applicable to industrial robot

An industrial robot and recognition method technology, applied in the field of industrial robots, can solve problems such as the inability to realize real-time control of the robot system, the inability to obtain depth information, and the high complexity of the binocular algorithm, so as to improve the accuracy of servo control, ensure real-time performance, and eliminate errors. The effect of tracking

Active Publication Date: 2015-03-04
STATE GRID INTELLIGENCE TECH CO LTD
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Problems solved by technology

[0007] In the "Precise Positioning Pan-Tilt System for Mobile Robots Based on Visual Servo", due to the use of a monocular camera, only two-dimensional information of the operating object can be obtained, but depth information cannot be obtained, and the control accuracy is not high.
[0008] In the "welding robot servo binocular vision sensor", due to the high complexity of the binocular algorithm and the long calculation time of the algorithm, the real-time control of the robot system cannot be realized

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  • Operating object position and posture recognition method applicable to industrial robot
  • Operating object position and posture recognition method applicable to industrial robot
  • Operating object position and posture recognition method applicable to industrial robot

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Embodiment Construction

[0053] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0054] refer to figure 1 , an operator position and posture recognition method suitable for industrial robots, which includes five steps: initialization operation, operator tracking, Kalman filtering, image data dimensionality reduction, and stereo vision acquisition of position and posture.

[0055] Step 1: Initialize the operation

[0056] The initialization operation mainly includes: image data acquisition, binocular camera calibration, and initial position calibration of the operator.

[0057] The image data collection is to collect the images of the left and right cameras respectively in real time. In order to ensure the real-time performance of the method, the collection frequency should be greater than 8 frames per second.

[0058] The calibration of the binocular camera includes the calibration of the internal parameters of the left and right ...

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Abstract

The invention relates to an operating object position and posture recognition method applicable to an industrial robot. The operating object position and posture recognition method applicable to the industrial robot can be applied to a visual servo system based on positions, timely provides positions and posture information of an operating object for the visual servo system, is short in operation time and high in precision, can adapt to different illumination conditions indoor and outdoor and the like, and provides technical support for usage of the industrial robot in unstructured environments. The operating object position and posture recognition method applicable to the industrial robot comprises the following steps: step1, an initialization operation, calibrating initialization of a left camera, a right camera and the operating object, and then using the left camera and the right camera to obtain image data; step2, following the moving operating object by using a front frame image and a back frame image in the process of image capture; step3, smoothing changes of an operating object following window of the front frame image and the back frame image through kalman filtering; step4, using an image data dimension reduction mode to reduce dimension of data processing; and step5, calculating three-dimensional positions and posture of the operating object, and feeding back data to a servo control system of the industrial robot so as to achieve servo control.

Description

technical field [0001] The invention relates to a method for recognizing the position and posture of an operator suitable for an industrial robot, and belongs to the field of industrial robots. Background technique [0002] At present, industrial robots are mainly used in structured environments, and the corresponding functions are completed in the way of trial teaching and reproduction. That is, firstly, the end effector of the robot is manually guided to make the robot complete the expected action, and the robot stores the action sequence. The memory repeats the action continuously to complete the homework function. In order for the robot to be able to work in a complex unstructured environment, not only a better control system is required, but also more perception of changes in the environment is required. Among them, robot vision has become the most important robot perception function due to its large amount of information and complete information, so the robot vision s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/04
Inventor 王振利鲁守银赵玉良吕曦晨李健
Owner STATE GRID INTELLIGENCE TECH CO LTD
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