A vision intelligent robot control system based on real-time analysis

Abstract

The invention discloses a visual intelligent robot control system based on real-time analysis. The visual intelligent robot control system comprises a light sensation collection module, a data collection module, an information collection module, a controller, a signal analysis module, a feedback execution module, a database and a data interconnection module. According to the invention, external interference factors and internal interference factors of the visual robot are combined; formulated analysis, comparative assignment and weighting processing are carried out; an interference signal associated with the real-time performance and various interference factors thereof are obtained; external interference factors and internal operation factors of the visual robot are combined; differentialcalibration and double verification formula analysis and comparison processing, so a verification signal associated with the robustness is obtained, corresponding reasonable adjustment operation is carried out through signal comparison, signal calling and signal execution, meanwhile, an early warning text is sent to related personnel, and then the real-time performance and the robustness of the visual robot are improved together according to an internal and external comprehensive superposition mode.

Description

technical field [0001] The invention relates to the technical field of visual robot analysis and control, in particular to a visual intelligent robot control system based on real-time analysis. Background technique [0002] Vision intelligent robot is applied to automatic handling in automated warehouse, construction, mining and other industries. It is an organic combination of robot vision and robot control. It is a nonlinear and strongly coupled complex system. Kinematics and dynamics, control theory and real-time computing, among many other research areas. [0003] Existing foreign language literature Kragic D, Christensen H I. Cue Integration for Visual Servoing [J]. IEEE Trans on Robotics and Automation, 2001, 17(1): 18-271, aiming at the characteristics of fast and accurate visual intelligent robot system, design A robot vision image processing system based on TMS320C6201 is developed, and the basic principle of vision intelligent robot method based on image Jacobian ...

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Problems solved by technology

[0005] According to the above analysis, it can be seen that there are not many researches on the real-time performance of the system at home and abroad. Usually, the real-time performance is considered when studying the control system. Common visual intelligent robots cannot work normally due to poor real-time performance. Some studies have been carried out on the robustness of robots, but the robot application environment considered is relatively simple and cannot adapt to changeable and complex application environments;

[0006] To sum up, although some research work has been done on the real-time and robustness of visual intelligence systems at home and abroad, but there are still some problems related to its key technologies, and the real-time performance of the system has never been used in applications. It can be solved very well, and there are many examples of failure due to poor real-time performance; while visual intelligence systems with poor robustness are not strong in vitality, especially cannot adapt to some changeable external environments and complex environments;

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