Human eye-like visual tracking device and control method thereof

A technology of visual tracking and control method, applied in the direction of program control manipulator, manufacturing tool, image data processing, etc., can solve the problems of high complexity of calculation, achieve the effect of simple calculation and high solution efficiency

Active Publication Date: 2019-04-30
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

However, this method needs to dynamically estimate the Jacobian of the image, which n

Method used

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  • Human eye-like visual tracking device and control method thereof
  • Human eye-like visual tracking device and control method thereof
  • Human eye-like visual tracking device and control method thereof

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Embodiment

[0077] The entire head and neck robot visual servo control process can be implemented according to the following steps. Here is a specific example, such as tracking an object moving from spatial coordinates S (30, -20, 40) to D (20, 10, -20). The tracking process is as follows:

[0078] Such as Figure 5 Shown is a schematic diagram of the calculation geometry of the horizontal rotation joint of the present invention.

[0079] First, use the DH method to establish the linkage coordinate system of the robot. The reference coordinate system is {0}, and the coordinate system of each joint is marked as {i}. i represents the i-th joint, namely {1}, {2}, { 3} represents the coordinate system of joints 1, 2 and 3 respectively. The coordinate value relative to the i coordinate system is expressed as (x i ,y i ,z i ). According to the D-H parameters, the transformation relationship between each joint coordinate system can be obtained. Represents the transformation relationship of the coo...

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Abstract

The invention relates to a human eye-like visual tracking device and a control method thereof. The device includes a head and neck robot body which includes rotation joints of three degrees of freedomand a CCD camera and is used for adjusting the orientation of the CCD camera to directly face a tracked target through the rotation joints, a vision calculating module which is used for calculating position information of the tracked target according to image information collected by the CCD camera and returning the position information to a robot controller, and the robot controller which is used for calculating joint angles that need to be rotated for tracking the target in real time and sending the joint angles to a joint controller for tracking. The human eye-like visual tracking device and the control method thereof adopt a geometrically decomposed joint angle solving method, which is different from a commonly used virtual connecting rod method and avoids the multi-solution problem of inversion solution of a robot of redundant degrees of freedom, are simple in calculation and high in solving efficiency, are introduced with a comfort angle optimization model, and most efficientlyutilize the dynamic characteristics of the robot on the basis of guaranteeing a feasible solution.

Description

Technical field [0001] The invention relates to the fields of machine vision, robot control and adaptive control, and in particular to a visual tracking device for imitating human eyes and a control method thereof. Background technique [0002] It has always been a human dream to make machines that can replace human labor. But at present, even the most intelligent robots in the world have very limited adaptability to changes in the external environment, and there is still a long way from people's expected goals, which greatly affects the promotion and use of robots. One of the important reasons is that robots lack the perception ability like humans. [0003] With the rapid development of machine vision, vision has been applied to many fields as a beneficial way of obtaining information, which also brings opportunities for robot perception. The visual sensor on the human-like robot device can obtain a wide range of environmental information, but how to perform flexible target obse...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J17/00
CPCB25J9/16B25J9/1679B25J17/00G06T7/70
Inventor 张会文张伟付明亮陈正仓冷雨泉蔺兆宝韩小宁
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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