Mobile manipulator grasping control system and method based on machine vision

Abstract

The invention discloses a mobile manipulator grasping control system and method based on machine vision. The mobile manipulator grasping control system comprises a terminal control module and a manipulator manipulation and control module, wherein the terminal control module comprises an image processing unit, a target object detection unit and a display and command unit; the manipulator manipulation and control module comprises a main control unit, an image acquisition unit, a motion planning unit and a manipulator body unit; the terminal control module carries out communication with the manipulator manipulation and control module through a wireless communication module and receives machine vision information from the image acquisition unit; the image processing unit is connected with the target object detection unit, obtains the position of the target object in the image according to the received data and further displays in real time through the display and command unit; the main control unit is connected with the image acquisition unit, receives data information and further transmits a control command to the motion planning unit, so as to adjust the positions of joints in the manipulator of the manipulator body unit to grasp the target object. According to the mobile manipulator grasping control system and method based on machine vision, long-distance manipulation and control are realized, decisions can be made in real time, and the target object can be grasped stably and reliably.

Description

technical field [0001] The invention relates to the technical field of intelligent control of mobile robots, in particular to a grasping control system and method of a mobile robotic arm based on machine vision. Background technique [0002] Mobile robot technology is one of the representative strategic technologies in the high-tech field. The multi-degree-of-freedom robotic arm has a large reach and a strong load capacity. It plays a very important role in production and life and is widely used. The robotic arm control system using machine vision can not only obtain richer environmental information, but also has advantages in system accuracy, robustness, and flexibility. It can replace manual work and reduce the cost of special image processing equipment. The development of human society has far-reaching effects. [0003] Grasping the target is a typical application of the mobile manipulator. In the research of the grasping control system of the mobile manipulator, the tra...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of inaccurate target positioning and low degree of intelligent control in the prior art, and provide a more comprehensive and intelligent mobile robotic arm grasping control system and method based on machine vision. The fetching control system does not require manual on-site guards, and can perform remote intelligent operations, observe the movement of the mobile robotic arm in real time and locate and track the grasping target, and can control the motion status of each joint of the mobile robotic arm in real time, so as to achieve a more accurate grasp of the target. Stable and reliable gripping

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