Stereoscopic vision servo-based operating method and mechanism for pivoting mechanism

A technology of rotating around an axis and stereoscopic vision, which is applied to manipulators, program-controlled manipulators, image data processing, etc., and can solve problems such as low automation, low efficiency, and high cost

Active Publication Date: 2019-01-11
YIJIAHE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The efficiency of this method of operation is not high, and the operator needs to look at the readings in real time to operate, and the degree of automation is low
In addition, through the preset equipment parameters, the end of the mechanical arm can automatically reach the position of the rotation mechanism for rotation operation. Although this solution solves the problem of automatic operation, the precision of the mechanical assembly is high and the cost is high. Parameters need to be pre-set, less flexible

Method used

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  • Stereoscopic vision servo-based operating method and mechanism for pivoting mechanism
  • Stereoscopic vision servo-based operating method and mechanism for pivoting mechanism
  • Stereoscopic vision servo-based operating method and mechanism for pivoting mechanism

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Embodiment 1

[0056] The mechanism used in this embodiment to operate the axis-rotating mechanism includes a depth information collection unit, an optical collection unit, a calibration module and a mechanical arm. The depth information collection unit is used to collect depth information, and the optical collection unit is used to collect optical images. The depth information collection unit and the optical collection unit can be realized by a depth camera. The structure of the mechanical arm is as figure 2 As shown, it includes the main base 2 of the mechanical arm and the screw rod 3 installed on the main base 2 of the mechanical arm. The screw rod 3 can rotate and stretch accordingly under a controlled state. The depth camera 1 is fixed on the main base 2 of the robotic arm, and its information collection field of view includes the end of the robotic arm 2 and the target in front of the robotic arm 2 . The calibration module is a cube fixed at the end of the screw 3, and its normal ...

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Abstract

The invention discloses a stereoscopic vision servo-based operating method and mechanism for a pivoting mechanism, and belongs to the technical field of industrial control equipment. The operating mechanism comprises a deep information acquisition unit, an optical acquisition unit, a calibration module and a mechanical arm. The operating method comprises the following steps that the mapping relation is constructed, transformation parameters are obtained, coarse positioning is performed on a target, accurate positioning is performed on the target, three-dimensional coordinates of the rotation center are calculated, and the pivoting mechanism is operated. By the aid of the operating method and mechanism, spatial positioning of the pivoting mechanism is realized, the automation degree of a system is increased, the operation process is simplified, and operation can be completed accurately and efficiently.

Description

technical field [0001] The invention belongs to the technical field of industrial control equipment, and in particular relates to an operating method and an operating mechanism of an axis-circling mechanism based on stereo vision servo. Background technique [0002] As a switch design, the pivoting mechanism has the advantages of simple structure, convenient operation and the ability to control the switching of various states. Therefore, in petrochemical, electric energy, and electrical machinery control equipment, the pivoting mechanism is widely used to control the on-off of the circuit, switch the working state of the equipment, and so on. [0003] However, the control of these revolving mechanisms requires the manual intervention of the operator to make the toggle selection, which is cumbersome and inefficient. In some unconventional environments, the direct intervention of operators also has potential safety hazards, such as equipment leakage, harsh operating environme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/10G06T7/70
CPCB25J9/10B25J9/1664G06T7/70
Inventor 程敏王松张国良项导王锋毛成林林欢
Owner YIJIAHE TECH CO LTD
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