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Robot movement control method, device, system and equipment based on binocular vision

A technology of binocular vision and control method, applied in the field of robot vision, can solve the problems of robots unable to automatically identify the operation position, time-consuming, low work efficiency, etc.

Pending Publication Date: 2021-11-05
GUANGDONG POWER GRID CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The embodiment of the present invention provides a robot movement control method, device, system and equipment based on binocular vision, which is used to solve the operation position that cannot be automatically recognized by existing robots, and requires manual control of robot movement, which takes a long time and has low work efficiency technical issues

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  • Robot movement control method, device, system and equipment based on binocular vision
  • Robot movement control method, device, system and equipment based on binocular vision
  • Robot movement control method, device, system and equipment based on binocular vision

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Embodiment 1

[0042] figure 1 It is a schematic structural diagram of the robot movement control device based on binocular vision described in the embodiment of the present invention.

[0043] Such as figure 1 As shown, the embodiment of the present invention provides a robot mobile control device based on binocular vision, including a mobile platform 10, a global binocular device 20, a target object 30 and a control module. A robot 11 is arranged on the mobile platform 10 . The control module is set on the control terminal of the mobile platform 10 .

[0044] It should be noted that the bottom of the mobile platform 10 is provided with movable universal wheels. The height of the support pole 12 is higher than that of the robot 11 . The control terminal can be an industrial computer, or a mobile terminal such as a PC. The mobile platform 10 is also provided with a router, laser radar, etc., wherein the router is mainly convenient for the user to remotely operate the control terminal to...

Embodiment 2

[0050] figure 2 It is a structural schematic diagram of a robot movement control device based on binocular vision according to another embodiment of the present invention.

[0051] Such as figure 2 As shown, the embodiment of the present invention provides a robot movement control device based on binocular vision, including a robot 11, a binocular device 13, a target object 30 and a control module.

[0052] In the embodiment of the present invention, the binocular device 13 is mainly used to obtain the spatial pose of the robot 11 and the target object 30

[0053] It should be noted that the binocular device 13 may be selected as a binocular camera. One side of the robot 11 is provided with a support pole 12 on which a binocular device 13 is installed.

[0054] In the embodiment of the present invention, the control module is mainly used to control the operation of the robot 11 .

[0055] In Embodiment 1 and Embodiment 2 of the present invention, the control module contr...

Embodiment 3

[0059] image 3 It is a flow chart of the steps of the binocular vision-based robot movement control method described in the embodiment of the present invention.

[0060] Such as image 3 As shown, the embodiment of the present invention provides a robot movement control method based on binocular vision, which is applied to a robot with binocular equipment, including the following steps:

[0061] S1. Obtain the working space pose of the robot manipulator and the space pose of the target object through the binocular device, and use the work space pose and the space pose of the target object to establish a visual space coordinate system; and obtain the machine of the robot manipulator itself spatial coordinate system.

[0062] It should be noted that the binocular camera is selected as the binocular device, and the acquisition of the working space pose of the robot arm and the space pose of the target object by the binocular camera is an existing technology, and will not be de...

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Abstract

The invention relates to a robot movement control method, device, system and equipment based on binocular vision. The method comprises the steps that an operation space pose of a robot mechanical arm and a space pose of a target object are obtained through binocular equipment, and a visual space coordinate system is built through the operation space pose and the space pose of the target object; a machine space coordinate system of the robot mechanical arm is obtained; space coordinates of the target object are extracted from the visual space coordinate system, the space coordinates of the target object are mapped to the machine space coordinate system through rotation and translation, and the space position of the target object is obtained; and the robot is controlled to move through the spatial position of the target object, automatic movement of the robot is achieved, the working efficiency of the robot is improved, and the technical problems that an existing robot cannot automatically recognize the operation position, movement of the robot needs to be controlled manually, consumed time is long, and working efficiency is low are solved.

Description

technical field [0001] The present invention relates to the technical field of robot vision, in particular to a robot movement control method, device, system and equipment based on binocular vision. Background technique [0002] With the continuous development of robot technology, the level of robot vision has been greatly improved. However, due to factors such as multi-information fusion and errors, the process from long-distance recognition of the target to the movement of the robot to the operating location has not been automated, and the operator needs to do it himself. Recognizing the spatial pose and controlling the movement of the robot consumes a lot of time and seriously affects the work efficiency of the robot. Contents of the invention [0003] The embodiment of the present invention provides a robot movement control method, device, system and equipment based on binocular vision, which is used to solve the operation position that cannot be automatically recogniz...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/162B25J9/1664B25J9/1697
Inventor 吴晖王杨施泽宇张晓晔
Owner GUANGDONG POWER GRID CO LTD