A calibration method suitable for visual servo plugging and unplugging

A visual servo and calibration method technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of low precision of servo alignment control, poor plugging operation effect, etc., achieve good visual servo effect, improve operation accuracy, The effect of extending the service life

Active Publication Date: 2021-03-12
HARBIN INST OF TECH
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems of low accuracy of servo alignment control based on visual servoing and poor effect of plugging and unplugging operations of open-loop control during the plugging and unplugging stage, and propose a calibration method suitable for visual servoing plugging and unplugging operations

Method used

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  • A calibration method suitable for visual servo plugging and unplugging
  • A calibration method suitable for visual servo plugging and unplugging
  • A calibration method suitable for visual servo plugging and unplugging

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specific Embodiment approach 1

[0041] A calibration method suitable for visual servo plugging and unplugging operations in this embodiment, the method includes the following steps, such as figure 1 Shown:

[0042] Step 1. Calibration preparation:

[0043] Set a plug clamping device for the end joint of the robot arm, and set a calibration plate on the two symmetrical clips of the plug clamping device, as shown in figure 2 As shown, a camera is also installed on the robotic arm of the robot, and the camera is aimed at the target, and the socket and plug clamping device are included in the field of view of the camera; where, the target refers to the socket where the pin is inserted;

[0044] Step 2, using the camera to collect images including pins, sockets and plug holding devices; wherein, during the image collection process, a laser light source is used to provide illumination, and the laser light source is aligned with the plug holding device and the socket;

[0045] Step 3: Use the deep learning algor...

specific Embodiment approach 2

[0054] The difference from Embodiment 1 is that this embodiment is a calibration method suitable for visual servo plugging and unplugging operations. In the first step, a camera is also installed on the robotic arm of the robot. Specifically, a camera is installed on the end joint of the robot arm. A camera is installed.

specific Embodiment approach 3

[0056] The difference from the specific embodiment 1 or 2 is that in this embodiment, a calibration method suitable for visual servo plugging and unplugging operations, in the step 3, when using the deep learning algorithm for feature recognition, the neural network built by pyTorch is used to The position of the socket and the position of the plug holder are identified. PyTorch belongs to a neural network architecture, similar to building blocks, and uses it to build neural networks. PyTorch is a GPU- and CPU-optimized tensor library for deep learning. It is a python-based scientific computing package that mainly has the following two functions:

[0057] A deep learning research platform that provides maximum flexibility and speed as an alternative to the numpy library when using GPUs.

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Abstract

A calibration method suitable for visual servo plugging and unplugging operations belongs to the field of image recognition. The accuracy of the servo alignment control based on visual servoing is low, and the effect of the plugging and unplugging operation of the open-loop control during the plugging and unplugging stage is poor. A calibration method suitable for visual servo plugging and unplugging operations, using a camera to collect images including pins, sockets, and plug clamping devices; using deep learning algorithms to obtain the center point of each pin in the socket and each pin on the plug clamping device The center point of a calibration board; then calculate the coordinates of the midpoint of the socket, the deflection angle of the socket, the midpoint of the plug clamping device, and the deflection angle of the plug clamping device; transfer the point coordinates to the end joint coordinate system of the robot arm; obtain the midpoint of the socket Coordinates in the end coordinate system of the robot; calculate the feature error of the visual servo image in the end coordinate system; send the visual servo feature to the robot visual servo algorithm to control the movement of the robot. The invention improves the working precision in the visual servo plugging and unplugging operation.

Description

technical field [0001] The invention relates to a calibration method suitable for visual servo plugging and unplugging operations. Background technique [0002] At present, various types of robots and mechanical arms are widely used in industrial automation, and the use of robots for assembly operations is even more widely used. However, getting the robot to precisely align with the slot in the assembly operation is a major difficulty in this operation. One of the more difficult assembly operations is the plug socket assembly operation. Most of the visual servoing technologies aim the target at a fixed position in the image, which is determined by humans based on specific experience or mechanical structure measurement. In order to protect the durability of the socket and the plug, we often use the visual servo method to make the plug accurately align with the socket. However, since the visual servo is an open-loop control during the insertion and removal process after ser...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1687B25J9/1697
Inventor 林伟阳邓肖珂邱剑彬佟明斯李湛高会军
Owner HARBIN INST OF TECH
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