Kinect visual information-based robot environment identification and operation control method

A technology of environmental recognition and visual information, applied in general control systems, control/adjustment systems, instruments, etc., can solve problems such as difficult to achieve scheduled tasks, unstable operation control, long time required, etc., to achieve stability and Less precision, less control over intricate details, avoiding the effect of instability

Active Publication Date: 2016-02-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of low stability and precision in the sensor system of the existing robot and the instability of the operation control, it is difficult to achieve the predetermined

Method used

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  • Kinect visual information-based robot environment identification and operation control method
  • Kinect visual information-based robot environment identification and operation control method
  • Kinect visual information-based robot environment identification and operation control method

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specific Embodiment approach 1

[0026] The specific embodiment one, a kind of robot environment recognition and operation control method based on Kinect visual information described in this embodiment is realized based on the hardware system comprising Kinect sensor a, robot body b, upper computer c and display screen d; Kinect The sensor a, the robot body b and the display screen d are all connected to the upper computer c;

[0027] A software system comprising a human-computer interaction interface 1, an image and information display module 2, a key point information acquisition and an instruction sending module 3 is installed in the host computer c; the human-computer interaction interface 1 completes the image and information display module 2 and the key The call of point information acquisition and instruction sending module 3; the image and information display module 2 realizes the acquisition and display of color image and depth information, and the acquisition of the three-dimensional coordinates of t...

specific Embodiment approach 2

[0039] Embodiment 2. This embodiment is a further description of the Kinect visual information-based robot environment recognition and operation control method described in Embodiment 1. The upper computer c is also connected to a keyboard and a mouse.

specific Embodiment approach 3

[0040] Specific embodiment three, this embodiment is a further description of a kind of robot environment recognition and operation control method based on Kinect visual information described in specific embodiment one or two, Kinect sensor a described in step one, with 30Hz The frequency sends back a color image and depth information of the robot's surroundings.

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Abstract

The invention relates to the field of robot operation, and particularly relates to a Kinect visual information-based robot environment identification and operation control method. The invention is aimed to solve the problem of the low stability and the low accuracy of the conventional robot sensing systems and to solve the problems that a preset task is difficult to fulfill due to the instability of operation control or the required time is too long, and an operation process is complicated. The Kinect visual information-based robot environment identification and operation control method includes the following steps: 1 acquiring color images and depth information by a Kinect sensor a; 2 displaying the aligned color images and depth information; 3 acquiring environment information of a robot; 4 acquiring three-dimensional coordinate information of key points; 5 calculating a required motion track of the robot based on the coordinate information of the key points; 6 issuing a specific motion instruction to the robot. The Kinect visual information-based robot environment identification and operation control method is suitable for the field of the robot operation.

Description

technical field [0001] The invention relates to the field of robot operations, in particular to a robot environment recognition and operation control method based on Kinect visual information. Background technique [0002] With the development of robot technology, more and more robots are used in dynamic and unstructured task environments outside factories, such as disaster relief, medical treatment, and disability assistance. The complex environment puts forward higher requirements for the sensor system of the robot. In terms of hardware, commonly used CCD cameras and 3D lidars are expensive and difficult to popularize, and traditional environment recognition technologies have problems of low stability and accuracy. [0003] In terms of operation, traditional robot operating systems often have one of the following two problems: (1) excessive reliance on program automatic control. This method is very effective in large-scale industrial production, but it is easy to cause t...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 丁亮陶建国黎佳骏高海波邓宗全
Owner HARBIN INST OF TECH
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