Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A calibration-free visual servo control method for mold protection

A technology of visual servoing and control methods, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of camera Cartesian trajectory offset, lack of direct control of Cartesian space, etc., and achieve local minimum , to ensure the effect of smoothness

Active Publication Date: 2017-04-19
ZHEJIANG UNIV OF TECH +1
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the IBVS method, although the image space can guarantee the shortest path, it lacks the direct control of the Cartesian space. When dealing with the situation of large-scale rotation servo, the phenomenon of Cartesian trajectory deviation such as camera degradation will occur.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A calibration-free visual servo control method for mold protection
  • A calibration-free visual servo control method for mold protection
  • A calibration-free visual servo control method for mold protection

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] refer to Figure 1 to Figure 5, an uncalibrated visual servo control method based on echo state network estimation image Jacobian matrix for mold protection, including the following steps:

[0029] 1) Establish an image index area and a target image sample library. The task of the first phase of establishing the image index area and the target image sample library is to guide the manipulator to the grasping target area through fixed vision, so that the manipulator can be moved to the top of each index area in an offline state without precise alignment, as long as it is ensured The target can appear within the range of hand-eye vision, and then the corresponding image is collected through fixed vision and saved as the target image sample. The task of the second stage is to guide the manipulator to approach and aim at the target through hand-eye vision, to achie...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an uncalibrated visual servoing control method for estimating an image Jacobian matrix based on an echo state network facing mold protection, which comprises the following steps: 1) an image index region and a target image sample library of the mold are built; 2) feature extraction and dimensionality reduction are carried out; 3) a polynomial interpolation method is adopted for inverse kinematics planning in a space constraint condition; and 4) a pseudo inverse Jacobian matrix based on the echo state network is realized. The problem of small local part of the traditional BP neural network can be effectively solved, and by using characteristics of adaptivity and high computation efficiency of the ESN (echo state network) in the case of a constant weight, and the problem of poor instantaneity as a general dynamic network computes a network output weight online can be solved.

Description

technical field [0001] The invention relates to a non-calibration visual servo control method for estimating image Jacobian matrix based on echo state network and oriented to mold protection. Background technique [0002] With the rapid development of image processing technology, especially the significant increase in computer processing speed and the emergence of large-scale memory, the automatic identification and alarm system of molds has been introduced into the injection molding industry in large numbers. Through the dynamic collection of CCD video images, with the help of computer digital image processing technology , Real-time monitoring of abnormal conditions such as mold residue, slider misalignment, and poor demoulding during the production process to realize automatic protection of the mold. This image-based real-time monitoring system greatly improves the safety of injection molds, reduces mold repair costs, improves work efficiency, and reduces the labor intensi...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 邢科新陈步华张文安王瑶为董辉陈小强
Owner ZHEJIANG UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com