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A Robot Vision Control Method Based on Rectangular Features

A technology of robot vision and control methods, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of difficult to guarantee positioning accuracy and low feature accuracy, and achieve the effects of improving robustness, facilitating popularization and application, and convenient use

Active Publication Date: 2021-08-24
HENAN INST OF ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method uses the contour to fit the minimum circumscribed rectangle, and the feature accuracy is not high, so the positioning accuracy of the system is difficult to guarantee

Method used

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  • A Robot Vision Control Method Based on Rectangular Features
  • A Robot Vision Control Method Based on Rectangular Features
  • A Robot Vision Control Method Based on Rectangular Features

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Embodiment Construction

[0086] Embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, in conjunction with detailed implementation methods and specific operating procedures, but the scope of protection of the present invention is not limited to the following Example.

[0087] The invention discloses a robot vision control method based on a rectangle feature. The rectangle is used as the visual feature, and the vision control is performed by using the apex, the area and the angle between two diagonal lines of the rectangle. According to the deviation between the current coordinates of the vertex and the expected coordinates, the position deviation of the robot is obtained, and according to the deviation between the current area and the expected area, and the deviation between the current angle and the expected angle of the diagonal, the attitude dev...

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Abstract

The invention discloses a robot vision control method based on a rectangle feature. The method uses a rectangle as a visual feature, and uses the apex, area, and angle of the diagonal to perform visual control; Deviation, get the position deviation of the robot, according to the deviation between the current area of ​​the rectangle and the expected area, and the deviation between the current angle of the diagonal and the expected angle, get the attitude deviation of the robot, and finally realize the six-degree-of-freedom control of the robot; Decoupling from rotational motion makes the control process more stable and reliable; solves the problem that traditional visual control is easily affected by the shape, texture, noise, and lighting conditions of the target object due to the extraction of simple features such as points, edges, and lines.

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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 卢金燕郭壮志黄全振
Owner HENAN INST OF ENG