Manipulator arm grabbing and sliding detection method and device based on image processing technology
A technology of image processing and detection methods, which is applied in the direction of measuring devices, manipulators, optical devices, etc., can solve the problems of low sensitivity and fixed sliding direction, and achieve the effect of high detection sensitivity
Active Publication Date: 2012-11-28
溧阳常大技术转移中心有限公司
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[0008] However, the above sliding sensors have disadvantages such as low sensitivity and fixed sliding direction for detection.
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[0022] The specific implementation will be further described below in conjunction with the accompanying drawings.
[0023] The detection method of grip slippage of robot hand based on image processing technology is as follows:
[0024] 1) The LED light source inside the robot hand shines on the surface of the grasped object through the optical path, and the reflected light is focused on the CMOS photosensitive chip through the optical lens;
[0025] 2) The CMOS photosensitive chip converts the optical signal into a two-dimensional electrical signal matrix, and the electrical signal matrix is stored in the frame memory after analog-to-digital conversion;
[0026] 3) The digital signal processor reads out the frame image from the frame memory, compares and analyzes the image signal of the current frame with the image signal of the previous frame, and calculates the displacement and direction of the sliding of the grasped object in the two frames of images. The specific method...
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The invention discloses a manipulator arm grabbing and sliding detection method and device based on an image processing technology. The method comprises the steps of: irradiating a light beam on the surface of an object to be grabbed through an LED light source and an optical system, reflecting surface light to a CMOS (Complementary Metal Oxide Semiconductor) photosensitive chip and converting into an electric signal matrix, and comparing and calculating a current frame and a former frame of images by a digital signal processor to obtain displacement and direction of the object to be grabbed.The detection device comprises an inside imaging module, an image signal processing module, a data communication module and a control computer, wherein the inside imaging module comprises an LED light source, an optical system and the CMOS photosensitive chip; and the image signal processing module comprises an A / D (Analog / Digital) converter, a frame storage and a digital signal processor. The method and the device disclosed by the invention can be used for accurately detecting whether the object to be grabbed slides or not and the size of the slippage with higher detection sensitivity.
Description
technical field [0001] The invention relates to a detection technology for slippage of a robot hand, in particular to a sensing detection method and a device thereof for the slippage phenomenon when a robot hand grasps an object. Background technique [0002] The manipulator is one of the key components of the robot. Its main function is to hold the grasped object. It is designed according to the requirements of the robot's work. The performance of the manipulator has a great influence on the efficiency of the robot's work. Designing a manipulator that can grasp objects of different shapes is the main goal pursued by people. Many uses of the robot require the robot to have a soft grasping function. Soft grasping means that when the robot grasps an object with unknown properties, it can use an appropriate clamping force according to the weight and surface of the object to make the deformation of the object as small as possible. Grab the object. Robotic tactile sensing techn...
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IPC IPC(8): B25J19/00G01B11/02
Inventor 俞竹青付俊勇于勇
Owner 溧阳常大技术转移中心有限公司