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A visual servo tracking method, device and system

A visual servo and visual controller technology, applied in the field of visual servo control, can solve problems such as poor reliability and low stability, and achieve the effect of improving stability and reliability

Active Publication Date: 2021-01-29
SHENZHEN HANWUJI INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a visual servo tracking method, device and system to alleviate the problems of low stability and poor reliability in the prior art

Method used

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  • A visual servo tracking method, device and system
  • A visual servo tracking method, device and system

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Experimental program
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Effect test

Embodiment 1

[0032] An embodiment of the present invention provides a visual servo tracking method, which is applied to a visual controller, wherein the visual controller may be a visual controller of a robot control system, and is used to control the joint angles of the robot.

[0033] see figure 1 A flow chart of a visual servo tracking method shown, the method includes the following steps:

[0034] Step S101, acquiring video frame data;

[0035] Specifically, the video frame data may be video data captured by the camera device of the robot system, and the vision controller may extract the video data, process and analyze the video frame data, and then obtain the video frame data.

[0036] Step S102, if there is an image of the target object in the video frame data, extract the centroid coordinates of the image, wherein the centroid coordinates are the position coordinates of the centroid of the image in the pixel plane space;

[0037] Generally, when detecting an image of a target obje...

Embodiment 2

[0087] On the basis of the above-mentioned embodiments, the embodiment of the present invention provides a visual servo tracking device, which is set on the visual controller and used to control the joint angle of the robot, such as image 3 A schematic diagram of the structure of a visual servo tracking device shown, the device includes the following modules:

[0088] Data acquisition module 30, for acquiring video frame data;

[0089] The extraction module 32 is used to extract the centroid coordinates of the image if there is an image of the target object in the video frame data; wherein the centroid coordinates are the position coordinates of the centroid of the image in the pixel plane space;

[0090] The first calculation module 34 is used to calculate the coordinate difference between the centroid coordinates and the center of the pixel plane space;

[0091] A judging module 36, configured to judge whether the centroid coordinates are located in a preset stable region ...

Embodiment 3

[0099] On the basis of the above embodiments, the embodiment of the present invention provides a visual servo tracking system, such as Figure 4 A schematic structural diagram of a visual servo tracking system is shown, the system includes a visual controller 400, a joint controller 401 and an image acquisition module 402 connected to the visual controller 400, wherein the above visual controller is provided with a visual servo tracking device.

[0100] During specific implementation, the visual servo tracking system may be a system configured on a robot, and the image acquisition module may acquire video images triggered by the robot controller and transmit them to the vision controller for feature extraction. The method calculates the joint angle and transmits it to the joint controller, so as to control the joint motion of the robot.

[0101] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of...

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Abstract

The invention provides a vision servo tracing method, device and system and relates to the technical field of vision servo control. The vision servo tracing method comprises the steps that video framedata are obtained, and if an image of a target object exists in the obtained video frame data, a centroid coordinate of the image is obtained; a coordinate difference value of the centroid coordinateand the center of a pixel plane space is calculated, according to the coordinate difference value, whether the centroid coordinate is located in a preset stable area or not is judged, and if not, thejoint angle of a robot is calculated according to the coordinate difference value; the joint angle is subjected to filtering treatment, and the expected joint angle is generated; and the expected joint angle is sent to a joint controller so as to trace the target object. According to the vision servo tracing method, device and system, sudden shaking caused by mutation of the joint angle can be avoided, and certain stability and reliability are achieved, and meanwhile, the calculation complexity is lowered.

Description

technical field [0001] The present invention relates to the technical field of visual servo control, in particular to a visual servo tracking method, device and system. Background technique [0002] Visual servoing is the process of automatically acquiring and analyzing images for the purpose of robot control. For the tracking of target objects such as human faces, the image-based visual servoing tracking method is usually used. [0003] At present, similar applications include pan-tilt cameras in the security field, which can follow target objects. Among them, binocular pan-tilt cameras are relatively common and simple to implement, but binocular cameras are more expensive, and camera calibration and data processing are more complicated. , so the monocular camera has become a hot spot of attention. Because the monocular camera lacks depth information, it cannot accurately obtain the position and motion information of the target object, which reduces the stability and reliab...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G06T7/246G06T7/66
CPCB25J9/1628B25J9/1697G06T2207/10016G06T7/246G06T7/66
Inventor 张学武宋洋鹏严盼辉
Owner SHENZHEN HANWUJI INTELLIGENT TECH CO LTD