Robotic arm target guiding system and method based on visual servo

Abstract

The invention belongs to the field of visual servo and particularly relates to a robotic arm target guiding system and method based on visual servo. The robotic arm target guiding system and method aim to solve the problems that the target imaging has the occlusion and out-of-field-of-view problems in the visual servo. The system method comprises the steps that marker images of a robot arm body and a captured target are acquired, feature points are extracted, and a relative pose between the markers is calculated; based on the relative pose, the metric function is used to obtain the best observation position of a pan-tilt camera platform; a cart is moved to the best observation position based on the horizontal and vertical field of view range constraints of the pan-tilt camera platform; based on the horizontal and vertical field of view range constraints of a camera of the pan-tilt camera platform and the relative pose, the functional part of the robotic arm body is controlled to move to the target object. By the adoption of the robotic arm target guiding system and method based on visual servo, the situations that the target imaging appearing in the conventional visual servo is occluded, the size is not suitable and the target is out of the camera field of view can be avoided.

Description

technical field [0001] The invention belongs to the field of visual servoing, and in particular relates to a visual servoing-based manipulator target guidance system and method. Background technique [0002] With the development of robot technology, robots have gradually developed into machine systems that fully simulate human beings in terms of perception, thinking, and effects, and undertake more and more complex and diverse tasks. Traditional robots have relatively single functions in perception, recognition, reasoning, planning, etc., have strong limitations, and are only suitable for specific tasks in specific environments. The visual servo control system makes full use of the development of computer technology and image processing technology, and provides feedback based on visual information. After visual signal processing, it can control the robot more accurately, flexibly, and autonomously, so that it has the ability to operate in a non-specific environment. [0003...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the target imaging in visual servoing is blocked and out of view, the first aspect of the present invention proposes a visual servo-based robotic arm target guidance system. The system includes a mobile robot and a robotic arm system; the mobile robot includes a pan-tilt camera platform and a differential mobile trolley; the robotic arm system includes a robotic arm body and a robotic arm control system; the movable end of the robotic arm body Markers are set at the end of the

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