Mobile vision robot and measurement and control method thereof

A measurement and control method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large GPS guidance errors, high requirements on the working environment, fixed moving paths, etc., and achieve strong anti-interference ability and small environmental requirements Effect

Inactive Publication Date: 2017-05-03
XI AN JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the guidance methods of existing mobile robots have great limitations. The GPS guidance error is very large, and precise movement and operation cannot be performed. The common electromagnetic induction or similar guidance has high requirements on the working environment, and the movement The path is almost completely fixed

Method used

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  • Mobile vision robot and measurement and control method thereof
  • Mobile vision robot and measurement and control method thereof
  • Mobile vision robot and measurement and control method thereof

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Embodiment Construction

[0023] The following describes the implementation of the present invention in detail with reference to the drawings and embodiments.

[0024] The measurement and control method of the mobile vision robot of the present invention is mainly to give specific robot action instructions. The instructions include what kind of object to perform which action, and the coordinate position of the target object; calculate and plan the actual movement path of the mobile platform 1, and the industrial computer 6 is based on The path generation operation command controls the mobile platform 1 to turn to the target position; the robot moves to the target position, and the camera 1 4 and camera 2 5 collect images on the moving path in real time, correct the direction deviation and avoid collision; after one or more moves close to the target position , Judging the specific azimuth coordinates of the target object according to the image collected by camera one 4, and correcting the movement path; aft...

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Abstract

The invention provides a mobile vision robot and a measurement and control method thereof. Positioning and state information of the mobile robot and a robot operating target is obtained through a machine vision detection method, and meanwhile, movement and other operation of the robot are controlled according to information provided by vision images; and the robot vision images are provided by two cameras, one camera is fixed to a mobile platform and used for acquiring images on the robot movement path, and the other camera is fixed to the tail end of a manipulator and used for acquiring detailed images of a manipulator operating target. According to the mobile vision robot and the measurement and control method thereof, the positioning and state information of the mobile robot and the specific target are calculated through an image distortion correcting and mode recognizing method according to the obtained image information, and then the robot is controlled to complete instructed action on a target object. Meanwhile, the invention provides a method for eliminating accumulative errors generated in the operating process of the robot through vision images. The mobile vision robot has the characteristics of high precision and high anti-interference capacity, complex environment support is not needed, and the mobile vision robot is suitable for various laboratories and factory environments.

Description

Technical field [0001] The invention belongs to the technical field of machine vision image measurement and automatic control, and particularly relates to a mobile vision robot and a measurement and control method thereof. Background technique [0002] With the continuous improvement of robot performance, the application range of mobile robots will expand accordingly. They are not only widely used in industries such as industry, agriculture, medical care, and services, but also in hazardous and dangerous situations such as urban security, national defense, and space detection. Very good application. Therefore, mobile robot technology has received widespread attention from countries all over the world. Mobile robots have played a very good role in replacing manual labor and working in dangerous environments. Therefore, an efficient, safe and reliable mobile robot is very important for automated industrial production. However, the existing guidance methods of mobile robots have g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1697B25J13/089
Inventor 韩九强郭宇喆张新曼
Owner XI AN JIAOTONG UNIV
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