Binocular Stereo Camera Robot Vision Servo Control Device and Using Method

A servo control device and robot vision technology, applied in the field of medical robots, can solve the problems of large field of view, large amount of image processing and calculation, target loss, etc., and achieve the effect of reducing surgical risk factor, improving accuracy and ensuring safety.

Inactive Publication Date: 2017-09-29
THE FIRST TEACHING HOSPITAL OF XINJIANG MEDICAL UNIVERCITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a binocular stereo camera robot visual servo control device and usage method, which overcomes the above-mentioned deficiencies in the prior art, and can effectively solve the problems of the prior art. Using the hand-eye system to collect target images with a large field of view can easily lead to target loss, and more effectively solves the problem of large amount of image processing calculations due to the fact that the camera imaging depth needs to continuously change with the robot's movement to collect targets.

Method used

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  • Binocular Stereo Camera Robot Vision Servo Control Device and Using Method
  • Binocular Stereo Camera Robot Vision Servo Control Device and Using Method
  • Binocular Stereo Camera Robot Vision Servo Control Device and Using Method

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Embodiment 1

[0029] Example 1: As attached figure 1 , 2 As shown, the binocular stereo camera robot visual servo control device includes a robot subsystem and a vision control subsystem. The robot subsystem includes a robot controller 1 and an articulated six-degree-of-freedom robot 2. The vision controller The system includes a binocular stereo camera 3 and a vision controller 4; the output terminal of the robot controller 1 is electrically connected with the input terminal of the articulated six-degree-of-freedom robot 2, and the robot controller 1 and the vision controller 4 are in two-way communication connection , The output terminal of the binocular stereo camera 3 and the input terminal of the vision controller 4 are electrically connected. In practical applications, the articulated six-degree-of-freedom robot 2 can be a UR5 robot produced by Universal Robots, Denmark, with compact structure, light weight, and high safety; the robot controller 1 is developed based on the Linux system ...

Embodiment 2

[0034] Embodiment two: such as figure 1 , 2 As shown in 3, a method for using the above-mentioned binocular stereo camera robot visual servo control device includes the following steps:

[0035] Step 1: Start the robot subsystem and the visual control subsystem, adjust the position of the binocular stereo camera 3 to ensure that the end effector optical target 5 and the target moving body optical target 6 are both within the field of view of the binocular stereo camera 3, and then enter Step 2;

[0036] Step 2: Collect the position information images of the end effector optical target 5 and the target moving body optical target 6 in the initialization state through the binocular stereo camera 3, and calculate the position of the end effector optical target 5 in the camera coordinate system V according to the camera model Pose homogeneous matrix expression And the pose homogeneous matrix expression of the optical target 6 in the camera coordinate system V , Then go to step 3;

[00...

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Abstract

The invention relates to the technical field of medical robots, in particular to a robot vision servo control device of a binocular three-dimensional video camera and an application method of the robot vision servo control device. The robot vision servo control device comprises a robot subsystem and a vision control subsystem. The robot subsystem comprises a robot controller and a knuckle type six-freedom-degree robot. The vision control subsystem comprises the binocular three-dimensional video camera and a vision controller. The output end of the robot controller is electrically connected with the input end of the knuckle type six-freedom-degree robot. The robot controller and the vision controller are connected through both-way communication. The output end of the binocular three-dimensional video camera is electrically connected with the input end of the vision controller. The relative position of the robot and a target is detected in real time through the fixed type binocular three-dimensional video camera, the position error is calculated, and following rapidness and accuracy of the robot are guaranteed. Collisions are avoided, the target tracking accuracy of the robot in the medical surgery is effectively improved, the surgery safety is ensured, and the risk coefficient of the surgery is lowered.

Description

Technical field [0001] The invention relates to the technical field of medical robots, and is a binocular stereo camera robot visual servo control device and a use method thereof. Background technique [0002] At this stage, the vision sensor is one of the most important sensors in the robot system. Its introduction has changed the robot's requirements for accurate modeling of the operating objects and the environment. Relying on the feedback of visual information, the robot can achieve dynamic operations. [0003] In the medical field, visual servoing technology assists doctors in performing complex surgical operations by obtaining the relative positional relationship between surgical instruments and patients. For example, when performing thoracic surgery and brain surgery, with the help of the characteristics of machine vision, it is possible to use radiographic images and MRI images to analyze and locate the lesion in detail, and to control the end of the robot to perform the s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/08
Inventor 曹力胡磊阿斯哈尔江·买买提依明沈晨张晓岗李国庆杨德盛胥伯勇
Owner THE FIRST TEACHING HOSPITAL OF XINJIANG MEDICAL UNIVERCITY
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