Mechanical arm pose real-time detection method based on perspective multi-point projection

Abstract

The invention discloses a mechanical arm pose real-time detection method based on perspective multi-point projection. The method comprises the steps of conducting internal and external parameter calibration on a monocular camera; generating and detecting a mark code; and calculating relative coordinates and converting a coordinate system by using a PnP algorithm. According to the method, a calibrated monocular camera is used for detecting a mark code on the surface of a mechanical arm, three-dimensional coordinates and two-dimensional coordinates in space are matched, under the condition thatinternal parameters of the camera are known, external parameters of the camera are obtained by solving a minimized reprojection error, a rotation matrix of an object coordinate system relative to a standard coordinate system is obtained, and an Euler angle of the object is solved; meanwhile, multiple experiments prove that the algorithm used for solving the minimized reprojection error can achievebetter balance precision and execution efficiency.

Description

technical field [0001] The invention relates to the fields of numerical optimization and image processing, in particular to a method for real-time detection of the pose of a mechanical arm based on perspective multi-point projection. Background technique [0002] When performing surgery or other non-cooperative operations, the robotic arm often needs accurate pose information. At the same time, it is not suitable to install other target tools in the six-axis robotic arm when performing surgery or other operations that require high precision error control, and It is too difficult to extract surface features directly from the tool end of the manipulator. The pose detection of the manipulator is mainly to detect the six degrees of freedom of the tool at the tip of the manipulator, that is, three Euler angles pitch (pitch angle), yaw (yaw angle), roll (roll angle) and X, Y The displacement relative to the origin of the basic coordinate system in the three directions of , and Z....

AI Technical Summary

Problems solved by technology

In order to obtain the position of the object in the three-dimensional space, but due to the high cost of the binocular vision system, and the two cameras are strongly affected by light and have a narrow field of view, the robustness of the system is not very good, and the applicable fields are not wide

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