Binocular Stereo Camera Robot Vision Servo Control Device and Using Method
A servo control device and robot vision technology, applied in the field of medical robots, can solve the problems of large field of view, large amount of image processing and calculation, target loss, etc., and achieve the effect of reducing surgical risk factor, improving accuracy and ensuring safety.
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Embodiment 1
[0029] Example 1: As attached figure 1 , 2 As shown, the binocular stereo camera robot visual servo control device includes a robot subsystem and a vision control subsystem. The robot subsystem includes a robot controller 1 and an articulated six-degree-of-freedom robot 2. The vision controller The system includes a binocular stereo camera 3 and a vision controller 4; the output terminal of the robot controller 1 is electrically connected with the input terminal of the articulated six-degree-of-freedom robot 2, and the robot controller 1 and the vision controller 4 are in two-way communication connection , The output terminal of the binocular stereo camera 3 and the input terminal of the vision controller 4 are electrically connected. In practical applications, the articulated six-degree-of-freedom robot 2 can be a UR5 robot produced by Universal Robots, Denmark, with compact structure, light weight, and high safety; the robot controller 1 is developed based on the Linux system ...
Embodiment 2
[0034] Embodiment two: such as figure 1 , 2 As shown in 3, a method for using the above-mentioned binocular stereo camera robot visual servo control device includes the following steps:
[0035] Step 1: Start the robot subsystem and the visual control subsystem, adjust the position of the binocular stereo camera 3 to ensure that the end effector optical target 5 and the target moving body optical target 6 are both within the field of view of the binocular stereo camera 3, and then enter Step 2;
[0036] Step 2: Collect the position information images of the end effector optical target 5 and the target moving body optical target 6 in the initialization state through the binocular stereo camera 3, and calculate the position of the end effector optical target 5 in the camera coordinate system V according to the camera model Pose homogeneous matrix expression And the pose homogeneous matrix expression of the optical target 6 in the camera coordinate system V , Then go to step 3;
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