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A hand-eye coordination method for a dual-arm robot based on multi-eye vision

A robot hand and multi-eye vision technology, applied in the field of robot vision, can solve the problems of blind spots of target objects, binocular cameras cannot capture target objects at the same time, and mechanical arm grasping failures, etc., so as to improve the probability of successfully capturing the target and improve Accuracy, the effect of solving visual blind spots

Active Publication Date: 2020-09-11
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the actual ranging process, there is often a visual blind spot problem for capturing the target object, that is, the binocular camera cannot capture the target object at the same time, so the robot arm fails to capture

Method used

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  • A hand-eye coordination method for a dual-arm robot based on multi-eye vision
  • A hand-eye coordination method for a dual-arm robot based on multi-eye vision
  • A hand-eye coordination method for a dual-arm robot based on multi-eye vision

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Experimental program
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Effect test

Embodiment 1

[0072] Such as Figure 4 As shown in Fig. 1, a stereo vision model of two cameras with random positions is established, and two single cameras are randomly placed. In the traditional binocular system, the world coordinate system is set on a camera coordinate system to reduce the amount of calculation, but in the present invention, the camera that collects the image is unknown, so it is meaningless to set the origin of the world coordinate system on the camera coordinate system , so the present invention establishes a world coordinate system with the end of any robot arm as the origin.

[0073] The two images with target features used in this embodiment are taken by two cameras on the same robotic arm, and the end of the robotic arm is used as the origin of the world coordinate system, then according to the image coordinate system of the target object p in the two images respectively The coordinates (x, y) in the coordinates (x, y) of the target object p in the two camera coor...

Embodiment 2

[0077] The two images with target features used in this embodiment are captured by the cameras on the two mechanical arms respectively, and one of the images is captured by the camera on the mechanical arm that establishes the world coordinate system, then the target object is in the camera coordinate system The relationship between the coordinates in and the coordinate system in the world coordinate system is:

[0078]

[0079] The other picture comes from another robot arm, at this time the matrix M=M 2 T 1 T 2 T 3 , where T 1 Indicates the transformation matrix from the end of another robot arm to the base, T 2 Denotes the transformation matrix between the bases of the two manipulators, T 3 Indicates the transformation matrix from the base of the manipulator establishing the world coordinate system to the end of the manipulator, M 2 Indicates the transfer matrix from the camera on the robotic arm of the world coordinate system to the end of the robotic arm, then th...

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Abstract

The invention discloses a multi-vision based both-arm robot hand-eye coordination method, and belongs to the field of robot vision. Two multi-vision cameras are used for target positioning, a mechanical arm close to a target object is selected for grabbing, meanwhile, the target object can be positioned again, and the target object is grabbed to be fed to a fixed zone. According to the multi-vision based both-arm robot hand-eye coordination method, the problem that in the existing scheme, only one camera in binocular cameras shoot the object, and consequently the binocular distance measurement and positioning cannot be achieved is solved, and the accuracy of target object grabbing by the mechanical arm is improved.

Description

technical field [0001] The invention relates to the field of robot vision, in particular to a method for hand-eye coordination of a dual-arm robot based on multi-eye vision. Background technique [0002] Computer vision refers to using cameras instead of human eyes to identify, track and measure targets. As the most cutting-edge research hotspot at present, robot technology based on computer vision is widely used in the field of robot control. Binocular stereo vision is to use imaging equipment to obtain two images of the measured object from different positions, and obtain the three-dimensional geometric information of the object by calculating the position deviation between the corresponding points of the image. Vision can provide robots with rich environment and target information, and provide a basis for the judgment and decision-making of robots. [0003] In the actual operation process, there are various problems in the distance measurement using parallel fixed binocu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 罗雨龙崔宪阳虞文杰吴巍郭毓黄颖苏鹏飞郭飞陈宝存肖潇
Owner NANJING UNIV OF SCI & TECH
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