A method and system for target tracking based on a delta robot

A target tracking and robot technology, applied in the field of intelligent manufacturing, can solve problems such as low versatility and poor versatility, and achieve the effect of shortening execution time and reducing tracking error

Active Publication Date: 2019-06-21
广东智投科技有限公司
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Problems solved by technology

[0003] At present, the control system of DELTA robots of various manufacturers is a robot control system constructed by using its own dedicated robot controller. This kind of control system using a dedicated controller has poor versatility.
A general DELTA robot control system is composed of a controller, a servo system, a visual tracking system and a conveyor belt tracking system, but the topological connection methods of each component of the control system vary greatly, and its internal core control algorithm and tracking algorithm are also different. Therefore, the versatility is not high

Method used

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  • A method and system for target tracking based on a delta robot
  • A method and system for target tracking based on a delta robot
  • A method and system for target tracking based on a delta robot

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Embodiment Construction

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0059] corresponding, figure 1 Shown is the method flowchart based on the target tracking under Delta robot in the embodiment of the present invention, specifically comprises the following steps:

[0060] start;

[0061] S101. Based on the infrared sensor on the Delta robot, it is judged whether there is someone entering the target area. If there is someone entering, go to S102, otherwise continue this step;

[0062] S102, when it is judged that someone enters, s...

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Abstract

The invention discloses a Delta robot-based target tracking method and system. The method comprises the steps of judging whether a person enters a target region or not based on an infrared sensor on a Delta robot; detecting a human body target object in the target region by adopting a region-based method; starting visual tracking, and locating the human body target object by a coplanar P4P-based monocular vision locating principle; after the locating of the human body target object is finished, performing video tracking on the human body target object by a structure similarity-based video tracking method; and transmitting a video obtained by video tracking to a control room in real time, and cautioning a state of the human body target object in video display. Through the method and the system provided by embodiments of the invention, a person object can be effectively detected, so that the target is located, the visual tracking effect in an industrial control process is ensured, and preparations are made for accurate understanding and optimization of a person.

Description

technical field [0001] The invention relates to the technical field of intelligent manufacturing, in particular to a method and system for target tracking based on a Delta robot. Background technique [0002] The DELTA robot is a kind of parallel robot. The DELTA robot drives 3 parallelogram branch chains through the outer rotation pair, plus a rotating drive shaft in the middle, which can realize the spatial four-dimensional movement of its end effector. After configuring the vision system, It is widely used in sorting and packaging in the fields of electronics, light industry, food and medicine. [0003] At present, the control systems of DELTA robots of various manufacturers are robot control systems constructed by using their own dedicated robot controllers. This kind of control system using dedicated controllers has poor versatility. A general DELTA robot control system is composed of a controller, a servo system, a visual tracking system and a conveyor belt tracking s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/254G06T7/277G06T7/246G06T7/73
CPCG06T2207/10016G06T2207/20224G06T2207/30196G06T2207/30232
Inventor 王亚梅黄丹徐利华
Owner 广东智投科技有限公司
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