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Control method and device for manipulator arm based on monocular vision positioning

A technology of monocular vision and control method, which is applied in the direction of manipulators, program-controlled manipulators, claw arms, etc., can solve the problems of lower positioning efficiency, complex positioning system, and difficult operation, and achieve simplified processing algorithms, simplified positioning systems, and lower requirements. Effect

Inactive Publication Date: 2020-09-18
PING AN TECH (SHENZHEN) CO LTD
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  • Abstract
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Problems solved by technology

[0004] In view of this, the present invention provides a method and device for controlling a robotic arm based on monocular vision positioning. efficiency problem

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  • Control method and device for manipulator arm based on monocular vision positioning
  • Control method and device for manipulator arm based on monocular vision positioning
  • Control method and device for manipulator arm based on monocular vision positioning

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Embodiment Construction

[0034] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0035] An embodiment of the present invention provides a method for controlling a robotic arm based on monocular vision positioning, which is applied to a robotic arm control system for monocular vision positioning. The system includes a robotic arm and a monocular camera installed at the end of the robotic arm, such as figure 1 As shown, the method includes:

[0036] Step 101: Establish a pixel coordinate system, a camera coordina...

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Abstract

The present invention provides a control method and device for a manipulator arm based on monocular vision positioning. First, pixel coordinates of a target point of a target object in a pixel coordinate system are obtained, then the transformation is carried out by using a homogeneous transformation matrix of a camera coordinate system relative to the end of the manipulator arm and the homogeneous transformation matrix of the end of the manipulator arm relative to a world coordinate system. Then line of sight equations are obtained. Finally, in the world coordinate system, the plane equationof the plane where a target point is located is obtained, and the target point is obtained through the line of sight equations and the plane equations. Therefore, compared with the prior art, the embodiment of the invention does not need two monocular cameras, simplifies the positioning system, and has simple operation, and does not involve the matching of image feature points and the calculationof optimal distance, simplifies the processing algorithm and reduces the requirements for hardware equipment.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a method and device for controlling a robotic arm based on monocular vision positioning. Background technique [0002] With the improvement of the level of intelligence and the popularization of the use of robots, the movement control of manipulators based on machine vision has received extensive attention. The movement control of the robot arm based on machine vision is to obtain the target positioning through machine vision, and then control the end of the robot arm to move to the target object to perform related operations such as grasping. [0003] The currently widely used machine vision positioning method is the binocular vision positioning method, that is, two monocular cameras with a certain distance are used to collect images, and the distance between the matching point pairs in the images of the two monocular cameras is obtained by means of image processing (that...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J18/00B25J19/02G06T7/80
CPCB25J9/1602B25J9/1679B25J9/1697B25J18/00B25J19/023G06T7/85
Inventor 郜开开周宸周宝龚连银
Owner PING AN TECH (SHENZHEN) CO LTD
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