Robot vision control method based on rectangle feature

Abstract

The invention discloses a robot vision control method based on the rectangle feature. The robot vision control method comprises the steps that taking a rectangle as the visual feature, visual controlis conducted through vertexes, the area and included angles of diagonal lines of the rectangle; according to the deviation between the current coordinates of the vertexes of the rectangle and the expected coordinates, the position deviation of the robot is obtained, according to the deviation between the current area of the rectangle and the expected area, as well as the deviation between the current included angles and the expected included angles of the diagonal lines, the attitude deviation of the robot is obtained, and finally six-degree-of-freedom control of the robot is achieved; and translation motion and rotational motion are decoupled, and the control process is more stable and more reliable. The problem that traditional visual control is prone to being affected by the shape, thetexture, noise, the lighting condition and the like of a target object due to the fact that the simple features such as points, edges and straight lines are extracted is solved.

Description

technical field [0001] The invention belongs to the field of robot control, and more specifically relates to a visual control method based on rectangular features. Background technique [0002] With the continuous improvement of automation requirements in the industrial field, the tasks faced by robots are becoming more and more complex and diverse. In order to improve the robot's learning ability and intelligence level, so that it can work in a dynamic and uncertain environment, the robot body must be equipped with various sensors to obtain external environmental information. At present, vision sensors are widely used in robot control due to their characteristics of large amount of information, wide application range, and non-contact, and vision-based robot control has gradually developed into one of the most active research directions in the field of robotics. [0003] Vision-based robot control uses visual information as feedback to indirectly detect the current pose of ...

AI Technical Summary

Problems solved by technology

This method uses the contour to fit the minimum circumscribed rectangle, and the feature

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