Mechanical arm intelligent control system based on multi-view stereoscopic vision

Abstract

The invention discloses a mechanical arm intelligent control system based on multi-view stereoscopic vision. The system comprises a mechanical hand and a mechanical hand controller, wherein the mechanical hand controller is in signal connection with the mechanical hand. The periphery of the mechanical hand is fixedly provided with a binocular camera image acquisition unit acting on a target object, and the binocular camera image acquisition unit is connected with an upper computer through a data line; the binocular camera image acquisition unit adopts the improved algorithm combining cross-scale guided filtering with weighted median filtering parallax detailing, three-dimensional reconstruction of the target object is realized, coarse positioning of the target object is completed, and mechanical arm motion trajectory planning is carried out by adopting a 5-3-5 polynomial interpolation trajectory planning method; a monocular camera image acquisition unit is arranged at a clamping jaw ofthe mechanical hand and moves along with a mechanical arm to acquire an image; and the monocular camera image acquisition unit is in communication with the upper computer through a wireless transmission module, and the monocular camera image acquisition unit adopts a template matching method based on SURF for accurately positioning the target object.

Description

technical field [0001] The invention relates to the technical fields of image recognition and mechanical arm, in particular to an intelligent control system of a mechanical arm based on multi-eye stereo vision. Background technique [0002] Since the advent of the world's first robot in the 1960s, the research and application of robot technology has been widely concerned and developed rapidly for nearly 60 years. Application scenarios of various types of robots have emerged. As a big manufacturing country, my country has a lot of large-scale industrial production. In many scenarios, it is necessary to detect, identify, classify and assemble products in real time, which will lead to rapid development of robot technology. [0003] At present, due to errors in image processing, the robotic arm cannot achieve accurate grasping. Furthermore, during the grasping process of the manipulator, there is jumping between the joints, which will seriously damage the manipulator and the m...

AI Technical Summary

Problems solved by technology

[0003] At present, the robotic arm cannot achieve accurate grasping due to image processing errors

Furthermore, during the grasping process of the manipulator, there is a jumping phenomenon between the joints, which will seriously damage the manipulator and the motor.

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