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Method for grabbing object through mobile manipulator on basis of GPS and binocular vision positioning

A mobile manipulator and binocular vision technology, applied in the field of automation, can solve the problems of small search range, low operation accuracy, fast positioning and accurate alignment to the target, etc., to achieve the effect of shortening the search time and improving the accuracy

Inactive Publication Date: 2015-08-12
SHANDONG UNIV OF TECH
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AI Technical Summary

Problems solved by technology

The mobile manipulator control system does not consider the problem of fast positioning and precise aiming at the target, the search range is small, the operation accuracy is low, and its performance needs to be further improved

Method used

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  • Method for grabbing object through mobile manipulator on basis of GPS and binocular vision positioning

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Embodiment Construction

[0013] The invention discloses a mobile manipulator object grasping method based on GPS and vision positioning. The mobile manipulator moves to the vicinity of the target object according to the spatial position of the target object located by GPS, and controls the end effector of the manipulator to implement the grasping action based on the binocular vision.

[0014] Please refer to figure 1 , figure 1 It is a flow chart of a mobile manipulator object grasping method based on GPS and visual positioning provided by the present invention.

[0015] A mobile manipulator object grasping method based on GPS and visual positioning uses a GPS controller to obtain the spatial position information of the target object.

[0016] The mobile manipulator moves to the vicinity of the target object according to the spatial position information of the target object, so that the target object is within the binocular vision range of the mobile manipulator;

[0017] The mobile manipulator us...

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Abstract

The invention discloses a method for grabbing an object through a mobile manipulator on the basis of a GPS and binocular vision positioning, and belongs to the automation field. The mobile manipulator moves to the position nearby the target object according to target object spatial position information obtained through the GPS, three-dimensional position information of the target object is obtained on the basis of binocular vision, the mobile manipulator moves to the position nearby the target object, the target object is located within the operating range of the mobile manipulator, a mobile manipulator end effector quickly approaches to the target object on the basis of visual feedforward, the mobile manipulator end effector is controlled to be precisely aligned to the target object on the basis of visual feedback, and finally the mobile manipulator end effector is controlled to conduct grabbing action. According to the method, GPS positioning information is utilized, the target object can be searched for within a large range, the time consumed by the mobile manipulator end effector in approaching to the target object is shortened on the basis of visual feedforward, and alignment precision of the mobile manipulator end effector and the target object is improved by means of visual feedback.

Description

technical field [0001] The invention relates to the technical field of automation, in particular to a mobile manipulator object grasping method based on GPS and binocular vision positioning. Background technique [0002] Mobile manipulators are superior to general mobile robots and traditional manipulators. They have the functions of movement and operation, and have a large working space and a high degree of motion redundancy. Therefore, they can be widely used in industrial assembly, working in unmanned harsh environments, and Indoor service work, etc. At present, the existing mobile manipulator control system has the problems of small search range, long time to locate the target, and low precision of the manipulator to manipulate the object. For example, the Chinese patent announcement number is CN100361792C, and the announcement time is January 16, 2008. A mobile manipulator control system includes a main control computer, a display, a single-chip microcomputer, a servo ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08
Inventor 杜钦君
Owner SHANDONG UNIV OF TECH
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