Multi-camera combined initiative object tracking method for teleoperation of mechanical arm

A multi-camera, active tracking technology, applied to manipulators, manufacturing tools, etc., can solve problems such as inability to ensure that the manipulator

Active Publication Date: 2015-05-27
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The disadvantage of this method is that only one camera is used to shoot the area of ​​the manipulator, and the target is not

Method used

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  • Multi-camera combined initiative object tracking method for teleoperation of mechanical arm
  • Multi-camera combined initiative object tracking method for teleoperation of mechanical arm
  • Multi-camera combined initiative object tracking method for teleoperation of mechanical arm

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Embodiment Construction

[0042] The multi-camera joint active tracking target method for the teleoperation of the mechanical arm proposed by the present invention comprises the following steps:

[0043] (1) Place multiple cameras on the upper left, upper right and front of the robotic arm, calibrate the cameras, and obtain the internal parameter matrix M of multiple cameras respectively 1 , external parameter matrix M 2 , distortion coefficient and pose transformation matrix T 12 , T 23 , T 34…… ,Specific steps are as follows:

[0044] (1-1) If figure 1 As shown, let the coordinates of the spatial point P in the camera coordinate system be P(x C ,y C ,z C ), so that the spatial point P is projected onto an image plane along the ray passing through the optical center, an image coordinate system is established in the image plane, and the projected coordinates of the spatial point P in the image coordinate system are P(x, y), The projection coordinates are expressed as coordinates in the computer...

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Abstract

The invention relates to a multi-camera combined initiative object tracking method for teleoperation of a mechanical arm, which belongs to the field of the teleoperation of the mechanical arm. The method comprises the steps of installing a plurality of cameras in different angles on the basis of the teleoperation, calibrating each camera, realizing the combined initiative tracking by adopting the matching of particle filter and sift local characteristics, enabling a to-be-tracked target to always stay in the center of a view field, and monitoring each angle of the mechanical arm, so that the tracking failure caused by factors such as the shielding can be avoided, and the tracking robustness can be improved by adding the human-machine interaction. According to the method, in the teleoperation process, a new target is marked in a human-machine interaction way, so that the target always stays in an observation area of an operator, or the target is updated, so that a subsequent control strategy can be made by the operator.

Description

technical field [0001] The invention relates to a multi-camera joint active tracking target method for remote operation of a mechanical arm, belonging to the field of remote operation of a mechanical arm. Background technique [0002] For the teleoperation of the manipulator, the vision system is a key technology in the teleoperation of the manipulator, which provides real-time image information and space pose information of the target object for the manipulator. At the same time, the vision system also provides intuitive feedback to the ground operator on the state, environment, and working stage of the manipulator arm. [0003] In the current teleoperation method, the camera provides image information, and the image information is not used to realize the active tracking of a specific target during the working process of the manipulator, and the camera remains unchanged, and the angle of view cannot be adjusted actively, and the movement of the manipulator beyond the camera...

Claims

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Application Information

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IPC IPC(8): B25J13/08
Inventor 孙富春刘华平滕辉
Owner TSINGHUA UNIV
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