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Hybrid vision servo system and method combining eye-to-hand and eye-in-hand structures

An eye-to-hand, eye-in-hand technology, applied in the field of visual servo control, can solve the problem of single function and achieve the effect of wide application range, large global field of view, and easy promotion and use

Inactive Publication Date: 2016-10-26
XI AN JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the systems currently developed combine industrial robots and visual servos, and their functions are relatively single.

Method used

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  • Hybrid vision servo system and method combining eye-to-hand and eye-in-hand structures

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Embodiment

[0037] see figure 2 , the following takes the task of automatic fruit and vegetable picking as an example to describe in detail the control method of the hybrid visual servo system combined with eye-to-hand and eye-in-hand structures of the present invention. In this embodiment, the task of the visual servo system is mainly to use the mature fruit as the target, and use the visual technology to detect, locate and guide the movement of the picking arm, so as to accurately grasp the target fruit. The motion execution module selects a dexterous manipulator with multiple degrees of freedom. The precise positioning and tracking of the hybrid visual servo system based on eye-to-hand and eye-in-hand structures can be achieved through the following five steps:

[0038] (1) Target detection in the global field of view: using image features such as the color and size of ripe fruit as a template, search for a target in the global field of view covered by the eye-to-hand camera 6 to rea...

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Abstract

The invention discloses a hybrid vision servo system and method combining eye-to-hand and eye-in-hand structures. According to the hybrid vision servo system and method, information of a to-be-identified target is acquired through an eye-to-hand camera and an eye-in-hand camera; position calculation is performed through a computer; and a driver is controlled to drive a mechanical arm to drive the eye-in-hand camera for precisely positioning the to-be-identified target. Compared with traditional vision servo based only on position and vision servo based on images, the hybrid vision servo system and method have higher positioning precision and flexibility; the characteristics that an overall vision field is large in range and a local vision field is high in precision are realized; the cost is low; the applicability is high; the application range is wide; great convenience can be brought to application in scientific research, target searching and positioning and the like; and the hybrid vision servo system and method have very important research value and practical significance.

Description

technical field [0001] The invention belongs to the field of visual servo control, in particular to a hybrid visual servo system and method combined with eye-to-hand and eye-in-hand structures. Background technique [0002] With the rapid development of science and technology and the expansion of robot application fields, people have put forward higher requirements for robot technology, hoping that robots have higher intelligence and stronger environmental awareness. Visual servoing uses visual information as feedback, has a larger amount of information, improves the flexibility and accuracy of the robot system, and plays an irreplaceable role in the field of robotics. [0003] Domestic research institutes and universities have carried out some research on visual servo system and achieved certain results. For example, the Shenyang Institute of Automation of the Chinese Academy of Sciences has carried out research on mobile robot visual navigation technology, Shenyang Xinson...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 王孙安罗亮张斌权谢向阳王冰心
Owner XI AN JIAOTONG UNIV
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