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Manipulator control method and system based on machine vision

A technology of machine vision and manipulators, applied in manipulators, program-controlled manipulators, comprehensive factory control, etc., can solve problems such as high-efficiency completion, inability to accurately control manipulators, and unsmooth tasks of manipulators, so as to improve quality and efficiency and complete efficiently Effect

Active Publication Date: 2022-07-15
苏州上舜精密工业科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of this application is to provide a machine vision-based manipulator control method and system to solve the problem that manpower cannot quickly perform adaptive control adjustments to meet the real-time work requirements of the manipulator after the manipulator encounters an accidental collision during actual work in the prior art. As a result, the manipulator cannot be precisely controlled, resulting in technical problems that the work tasks of the manipulator cannot be completed smoothly and efficiently.

Method used

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  • Manipulator control method and system based on machine vision
  • Manipulator control method and system based on machine vision
  • Manipulator control method and system based on machine vision

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Embodiment 1

[0030] Please see attached figure 1 , an embodiment of the present application provides a machine vision-based manipulator control method, wherein the method is applied to a machine vision-based manipulator control system, and the method specifically includes the following steps:

[0031] Step S100: Obtain mechanical structure information of the first manipulator, wherein the mechanical structure information includes joint structure information, execution structure information and base structure information;

[0032] Specifically, the machine vision-based manipulator control method is applied to the machine vision-based manipulator control system, and a corresponding manipulator touch-stop detection model can be constructed based on the actual working conditions of the manipulator, thereby intelligently collecting , Analyze the accidental collision situation when the manipulator performs work tasks, and then adjust the control tasks of the manipulator in a targeted manner to e...

Embodiment 2

[0095] Based on the same inventive concept as a machine vision-based manipulator control method in the foregoing embodiment, the present invention also provides a machine vision-based manipulator control system, please refer to the appendix Figure 5 , the system includes:

[0096] a first obtaining unit 11, the first obtaining unit 11 is configured to obtain mechanical structure information of the first manipulator, wherein the mechanical structure information includes joint structure information, execution structure information and base structure information;

[0097] The second obtaining unit 12, the second obtaining unit 12 is configured to, according to the first image capturing device, perform image capturing and attribute information entry of the execution object of the first manipulator to obtain the first image information database;

[0098] a third obtaining unit 13, the third obtaining unit 13 is configured to obtain a first feature set based on the first image info...

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Abstract

The invention discloses a mechanical arm control method and system based on machine vision. The method comprises the steps that mechanical structure information of a first mechanical arm is obtained; obtaining a first image information base according to the first image acquisition device; obtaining a first feature set; constructing a touch stop detection model according to the mechanical structure information and basic data generated by the first feature set; obtaining a real-time position data set according to the position detection device; inputting a real-time stress detection set of the real-time position data set into the touch stop detection model, and further judging whether a first touch stop instruction is triggered or not; and if the first touch stop instruction is not triggered, priority adjustment is carried out on an initial control task of the first manipulator, and the first manipulator is controlled according to the adjustment control task. The technical problem that in the prior art, after a manipulator encounters accidental collision during actual work, the manipulator cannot be accurately controlled, and consequently the work task of the manipulator cannot be smoothly and efficiently completed is solved.

Description

technical field [0001] The present application relates to the technical field of computer applications, and in particular, to a method and system for controlling a manipulator based on machine vision. Background technique [0002] With the continuous improvement of the level of science and technology, manipulators have been widely used in the construction of various industries. At present, manipulators are mainly divided into two categories: one is a multi-purpose manipulator, which can hold various objects of different shapes, sizes and weights by improving the dexterity of the manipulator; the other is a special manipulator to meet specific tasks, used for Grip items for movement and transfer. The rapid development of manipulators has effectively promoted the process of automation. However, when the manipulator in the prior art performs work tasks, based on the real-time work task type of the manipulator, intelligently analyzes the accidental collision of the manipulator...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/1697B25J9/1605B25J9/1602B25J9/1674B25J9/161B25J13/00B25J13/08Y02P90/02
Inventor 许理浩
Owner 苏州上舜精密工业科技有限公司