Mechanical arm real-time tracking method based on binocular vision guidance

A technology of real-time tracking and binocular vision, applied in the field of robot vision, can solve the problems of failure to provide robotic arm vision guidance solutions, poor tracking effect, etc.
CN112132894AActive Publication Date: 2020-12-25DALIAN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
DALIAN UNIV OF TECH
Publication Date
2020-12-25

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Abstract

The invention discloses a mechanical arm real-time tracking method based on binocular vision guidance, belongs to the technical field of robot vision, and relates to the field of industrial robots. The method comprises the steps: carrying out binocular stereo vision calibration, correction and matching and mechanical arm forward and reverse kinematics modeling; secondly, establishing a coordinateconversion relationship between the binocular camera and the mechanical arm, and quickly acquiring an image sequence through the binocular camera; processing an image sequence acquired by the camera by utilizing linear kernel correlation filtering, converting the image sequence into a robot base coordinate system {B}, and obtaining mechanical arm motion control parameters through kinematics calculation; finally, enabling the mechanical arm controller, the mechanical arm body and the actuator to complete related operation tasks. The tracking method provided by the invention can adapt to the change of the workpiece scale, considers the instantaneity and robustness, greatly weakens the influence of uncertainty factors on the system, and has the characteristics of high intelligence and high systematization degree.
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Description

technical field

[0001] The invention belongs to the technical field of robot vision, and relates to a real-time tracking method of a manipulator based on binocular vision guidance in the field of industrial robots. Background technique

[0002] At present, the intelligent manufacturing model represented by robot technology is developing rapidly. Machine vision perception is a high-precision, non-contact and widely used technology, which can greatly improve the automation and intelligence of production. However, the traditional manipulator uses trial teaching or offline programming to control the manipulator to complete processing, assembly, handling, grasping and other tasks in accordance with the prescribed actions. In a complex and changeable environment, the position and posture of the workpiece cannot be determined. It is impossible to locate in real time. Provide the position and orientation of the workpiece to the robotic arm according to the visual information and gu...

Claims

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