Mechanical arm positioning method and positioning mechanical arm

A positioning method and robotic arm technology, applied in image data processing, instruments, calculations, etc., can solve complex problems, achieve the effects of reducing complexity, ensuring real-time performance and accuracy, and improving environmental perception and intelligent decision-making capabilities

Inactive Publication Date: 2018-03-30
CHINA HEFEI TAIHE OPTOELECTRONICS TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This visual positioning method requires complex algorithm support, and at the same time, it is necessary to provide

Method used

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  • Mechanical arm positioning method and positioning mechanical arm
  • Mechanical arm positioning method and positioning mechanical arm
  • Mechanical arm positioning method and positioning mechanical arm

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Example

[0038] First embodiment

[0039] See figure 1 with image 3 This embodiment provides a robotic arm positioning method, which can meet real-time requirements, has a certain ability to resist environmental background light interference, and does not require an external mechanical scanning structure. The robot arm positioning method provided in this embodiment can reduce the complexity of robot arm positioning, and improve the robot arm's environmental perception ability and intelligent decision-making ability.

[0040] The robot arm positioning method provided in this embodiment includes: obtaining the first coordinates of the image of the target object 300 in the image coordinate system. According to the depth information and the first coordinates of the target object 300, the second coordinates of the target object 300 in the camera coordinate system are obtained. Convert the second coordinate to the third coordinate in the robotic arm coordinate system.

[0041] The image coordina...

Example

[0085] Second embodiment

[0086] See image 3 or Figure 4 This embodiment provides a positioning robot arm 10 for implementing the robot arm positioning method provided in the first embodiment. The positioning manipulator 10 includes a manipulator system 100 and a depth camera 200, and the manipulator system 100 is communicatively connected with the depth camera 200 to transmit data of the second coordinate in the camera coordinate system to the manipulator system 100.

[0087] The positioning manipulator 10 provided in this embodiment can reduce the complexity of positioning of the manipulator, and improve the environmental perception and intelligent decision-making capabilities of the manipulator.

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Abstract

The invention discloses a mechanical arm positioning method and a positioning mechanical arm, and relates to the technical field of mechanical arm positioning. The mechanical arm positioning method includes the steps: acquiring a first coordinate of an image of a target object in an image coordinate system; acquiring a second coordinate of the target object in a camera coordinate system accordingto depth information and the first coordinate of the target object; transforming the second coordinate into a third coordinate in a mechanical arm coordinate system. The image coordinate system is built by taking a camera image plane of the image of the target object as reference, the camera coordinate system is built by taking a depth camera as reference, and the mechanical arm coordinate systemis built by taking the mechanical arm as reference. The positioning mechanical arm can be used for implementing the mechanical arm positioning method. According to the mechanical arm positioning method and the positioning mechanical arm, mechanical arm positioning complexity can be reduced, and the environmental perception capacity and the intelligent decision-making capacity of the mechanical armare improved.

Description

technical field [0001] The invention relates to the technical field of manipulator positioning, in particular, to a manipulator positioning method and a manipulator positioning method. Background technique [0002] This section is intended to provide a background or context for implementations of the invention that are set forth in the claims and detailed description. The descriptions herein are not admitted to be prior art by inclusion in this section. [0003] Robotics has a wide range of applications in advanced manufacturing, logistics, agriculture, medical care and services, and the robotic arm is the most widely used automation device in robotics. For the manipulator, how to realize the precise positioning of the processed target in the unstructured unknown environment is related to whether the next processing operation can be successfully executed, so it is particularly important. [0004] Due to limited conditions, the intelligence of the robotic arm is not high en...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T7/80
CPCG06T7/73G06T7/80G06T2207/10028
Inventor 石江涛陈晓东张如意汪亚夫
Owner CHINA HEFEI TAIHE OPTOELECTRONICS TECH
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