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Visual servo approaching method for mobile columnar assembly

A technology of visual servoing and assembly, applied in the field of visual servoing control

Active Publication Date: 2020-11-13
HUNAN NORMAL UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a visual servo approach method for moving columnar assemblies, which can solve the problem of visual servo approach for special columnar assemblies and their mobility in the prior art

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  • Visual servo approaching method for mobile columnar assembly
  • Visual servo approaching method for mobile columnar assembly
  • Visual servo approaching method for mobile columnar assembly

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Embodiment Construction

[0069] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0070] The present invention provides a visual servo approach method for moving columnar assemblies, such as figure 1 shown, including the following steps:

[0071] S101. Establishing the relationship between the visual information of the columnar composite target, the target model parameters and the imaging model;

[0072] S102. According to the established relationship, extract the coordinates of at least four pixel points within the range of the imaging vi...

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Abstract

The invention discloses a visual servo approaching method for a mobile columnar assembly. The method comprises the following steps: establishing a relationship among visual information of a columnar assembly target, target model parameters and an imaging model; extracting coordinates of at least four pixel points in an imaging visual angle range, and constructing a visual servo control input feature vector for the columnar assembly target and a Jacobi transformation matrix corresponding to the visual servo control input feature vector; in view angle constraint, performing adaptive recombination on the constructed control input feature vector and the reference feature vector, and obtaining a feature Jacobi conversion matrix corresponding thereto; and adjusting and compensating for the output of a visual servo controller, so that the visual servo system approaches the mobile columnar assembly target. In this way, redundant visual information of columnar assembly target imaging is fully utilized, the robustness of a servo system for image noise, the adaptability for view angle constraint and the applicability for columnar assembly movement can be improved, and global convergence of visual servo control for a moving target is promoted.

Description

technical field [0001] The invention relates to the technical field of visual servo control, in particular to a visual servo approach method for moving columnar assemblies. Background technique [0002] Visual features, including visual information acquisition, matching, tracking and control input features constructed accordingly, have always been one of the bottlenecks restricting visual servo control technology. The construction of control input features and their corresponding Jacobian transformation matrix determine the degree of decoupling of camera motion control, the approximate linearity of the transformation between Cartesian rate and feature error, and the robustness of the servo system against image noise and camera calibration errors Etc.; too much noise introduced by feature construction can cause problems such as approximate singularity, no convergence at all, or local convergence in the calculation of the Jacobian transformation matrix in the servo process, es...

Claims

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Application Information

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IPC IPC(8): G06F30/20B25J9/16G06F111/04
CPCB25J9/16G06F30/20G06F2111/04
Inventor 沈添天袁思敏陈中祥阳春华骆明锐
Owner HUNAN NORMAL UNIVERSITY
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