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Robot visual servo control method based on structured light

A technology of robot vision and servo control, applied in the field of visual servo control, can solve the problems of poor accuracy of target position information and inaccurate information, and achieve the effect of high accuracy, accurate grasping or assembly

Inactive Publication Date: 2015-04-15
SHENYANG SIASUN ROBOT & AUTOMATION
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Problems solved by technology

The accuracy of the target position information obtained by the two industrial cameras is poor, and the obtained information is not accurate enough

Method used

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  • Robot visual servo control method based on structured light

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Embodiment Construction

[0021] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0022] Please refer to Fig. 1, a robot vision servo control method based on structured light, including a projector 10, a first camera 20, a second camera 30 and a robot 40, the first camera 10, the second camera The device 20 and the projector 10 are all installed on the arm of the robot 40, and the method includes the following steps:

[0023] S10: Start the first photographing device 10 and the second photographing device 20 when the target object starts to move.

[0024] The first photographing device 10 and the second photographing device 20 are two color industrial cameras, the position info...

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Abstract

The invention discloses a robot visual servo control method based on structured light. The robot visual servo control method comprises the following steps: after a target object starts moving, starting a first photographing device and a second photographing device, judging whether the target object enters a projection area, if yes, starting a projector; projecting structured light with colorful stripe codes on the target object through the projector; obtaining a target object image with a structured optical grating; processing the target object image with the structured optical grating, and extracting the colorful stripe codes in the image; decoding the codes, calculating three-dimensional information of the target object through a mapping matrix; and grabbing the target object according to the three-dimensional information through a robot arm. The robot visual servo control method can be used for guiding the robot arm to move through vision of the structured light based on the colorful stripes, so that the operation action of the robot arm is relatively accurate, and the optimization to the robot action speed and the accuracy is realized.

Description

technical field [0001] The invention relates to a visual servo control method, in particular to a robot visual servo control method based on structured light. Background technique [0002] In industrial automation assembly and sorting operations, it is necessary to obtain the target image by vision, and process the image to extract the position information of the target, guide the robot arm by the position information, and control it to realize the installation and grasping work. This technique is called visual servoing. Robot visual servoing is an important method of using visual information to implement feedback control of robot motion. Compared with traditional control methods, it can provide higher design flexibility, task accuracy and intelligence level. Compared with the calibration-based kinematic visual servoing method, the calibration-free dynamic visual servoing method does not require precise calibration of system parameters, thus avoiding the tediousness and dif...

Claims

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Application Information

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IPC IPC(8): B25J13/08
Inventor 曲道奎徐方李邦宇邹风山李学威王富刚
Owner SHENYANG SIASUN ROBOT & AUTOMATION
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