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Natural property based vision servo grabbing method of flying mechanical arm

A technology of visual servo and robotic arm, which is applied in the direction of manipulator, aircraft, program control manipulator, etc., to achieve the effect of high-efficiency grasping and great application value

Active Publication Date: 2019-06-18
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Abstract
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  • Claims
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This invention does not involve how to efficiently and accurately grasp the problem

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  • Natural property based vision servo grabbing method of flying mechanical arm
  • Natural property based vision servo grabbing method of flying mechanical arm
  • Natural property based vision servo grabbing method of flying mechanical arm

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Embodiment Construction

[0060] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0061] Such as figure 1 As shown, the flying robot arm includes a drone body 3 and a robot arm, on which a robot arm base 5, a number of evenly distributed propellers 1, and a propeller motor 2 for controlling the rotation of the propeller are arranged on the drone body 3; An accommodating space is formed between the arm base 5 and the drone body 3, the battery 4 is accommodated in the accommodating space, the mechanical arm is fixedly installed on the lower surface of the mechanical arm base 5, and the mechanical arm A plurality of revolving joints are set, and each revolving joint corresponds to a degree of freedom. Each revolving joint is provided with a steering gear, and a gripper 15 and a camera 13 are arranged at the end of the mechanical arm. There is a mechanical arm connection bracket 9, and a control system is arranged on the drone bod...

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Abstract

The invention provides a natural property based vision servo grabbing method of a flying mechanical arm. The method comprises the steps of extracting front end natural property points and resolving rear end vision servo; real-time images are matched with expected property points to obtain homography matrix transformation relation among the images; then the positions, in the real-time images, of angle points of the expected images are solved by affine transformation of a homography matrix; the difference between the real-time angle point positions obtained from the front end and the expected angle point position information is utilized to obtain servo speed of a camera; and then speed of an UAV and the mechanical arm can be controlled. The method is applicable to long-distance transportingand carrying tasks and solves the problem of vision servo without manual marking; in addition, the mechanical arm is efficient and accurate to grab, so that the method is high in application value.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a visual servo grasping method of a flying manipulator based on natural features. Background technique [0002] With the rapid development of robot technology, it has been widely used in industrial manufacturing, military operations, and civilian life. Regardless of military application or civilian use, the transportation of multi-rotor drones plays a very important role. They can take off, land, and hover vertically. Gradually, multi-rotor UAVs are not limited to transportation, and composite UAVs will become a new generation of air operation robots, which will replace humans to complete air operation tasks in dangerous and complex environments. [0003] In recent years, researchers hope that drones can use their arms to grab objects in the environment like humans, so the flying robotic arm was born. The flying manipulator is a complex underactuated system. At the same ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/02B64C39/02
Inventor 陈浩耀罗斌刘云辉
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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