Anti-shake device of mobile robotic vision system and anti-shake compensation control method therefor

Abstract

The invention discloses an anti-shake device of a mobile robotic vision system and an anti-shake compensation control method therefor, and relates to an anti-shake device of a vision system for a robot and an anti-shake compensation control method. Aiming at the shake of a mobile robot, machinery and control methods are used to fundamentally eliminate the shake of the robotic vision system in real time; therefore, the stable motion of the vision system can be achieved. The vision system anti-shake device comprises an anti-shake mechanism, a sensor system and an anti-shake control system whichis used for realizing the anti-shake of the vision system. The method has the following steps: measuring the shake parameters, judging whether the mobile robotic vision system shakes or not, calculating the compensation amount, planning compensation track, giving feedback based on PD, calculating shake compensation control by the reverse dynamics The anti-shake device realizes the motion control of two vision sensors within a large range, and prevents and controls the shake generated by the two vision sensors. With the anti-shake compensation control method adopted, each pose parametric curveof the two vision sensors can accurately be close to the expected pose parametric curve.

Description

technical field [0001] The invention relates to an anti-shake device and an anti-shake compensation control method for a robot vision system, belonging to the field of robot applications. Background technique [0002] Robot vision is a new and rapidly developing subject. Since the 1980s, the research of robot vision has gone through the development stage from laboratory to practical application. But at the same time, there are many problems in the robot vision system. During the moving process of the robot, it often encounters uneven road shaking, and the images captured by its vision system cannot avoid motion blur. [0003] For the problem of motion blur, generally using a higher shutter speed can reduce the photo blur caused by this kind of vibration, but in shooting with a long exposure time, such as in cloudy days or in the evening, the pictures taken are relatively blurry, which is Due to the relatively long shutter time in the low-light environment, in this case, th...

AI Technical Summary

Problems solved by technology

The disadvantage of this invention is that the correction is started after the dithering image comes out, and the effect of outputting a clear image at one time cannot be achieved.

The applicable conditions of this device are relatively stable panning conditions, and it is difficult to apply to the complex and irregular shaking environment faced by mobile robots

Civilian cameras and camera internal shake systems can only compensate for low-frequency and small shakes, while vision systems for wheeled, tracked, and legged mobile robots are all industrial vision camera devices, and there is no shake inside and outside the device Measures, while mobile robots with industrial vision systems move on uneven ground or in the field due to vibrations that cause the vision device to vibrate and the image is not clear. The jitter from the ground may be medium and low frequency, and there are also high frequency cases

Moreover, the vibration amplitude varies from small to large. Therefore, none of the anti-shake methods mentioned in the above-mentioned patents can solve the problem of active compensation and control of complex and irregular vibrations of mobile robots on uneven roads or in wild environments.

Images