A processing method and system for integrating robot vision measurement and motion control

Abstract

The present invention discloses a processing method and system for integrating robot visual measurement and motion control, relating to the field of robotics. The method comprises: collecting environmental images through the robot's visual sensor to obtain the position information and geometric information of an object; generating a spatial position dynamic adjustment coordinate set based on the object's position information through a spatial position dynamic adjustment algorithm; generating a robot posture adjustment data set based on the object's geometric information; generating a posture motion trajectory based on the spatial position dynamic adjustment coordinate set and the robot posture adjustment data set; when performing a task according to the posture motion trajectory, collecting local position environmental images in real time; and optimizing the posture motion trajectory in real time through visual feedback technology. The present invention enables the robot to perform tasks with high precision, improves system operating efficiency, reduces data processing delays, reduces task failure rates, and enhances the stability and reliability of the robot's operation in complex environments.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a processing method and system for integrating robot vision measurement and motion control. Background Art

[0002] In areas such as intelligent manufacturing and logistics automation, robots need to quickly and accurately complete tasks such as grasping and assembly in complex environments. Traditional robot vision measurement and motion control methods have obvious shortcomings. On the one hand, most technologies separate visual measurement from motion control, and vision is only used for static positioning, which cannot adapt to dynamic environmental changes, resulting in a lack of real-time and flexibility in motion trajectory planning; on the other hand, existing methods are prone to posture estimation deviations or grasping failures when dealing with irregularly shaped objects or complex lighting scenes. In addition, some technologies rely on preset models during trajectory execution and lack an effective visual feedback mechanism. They are unable to dynamically correct errors, which limits the robot's task execution accuracy and stability. Therefore, there is an urgent need for an integrated processing method that can deeply integrate visual measurement and motion control and adapt to dynamic environments. Summary of the Invention

[0003] The present invention provides a processing method for integrating robot vision measurement and motion control, comprising:

[0004] Step S1: collecting environmental images through the robot's visual sensor;

[0005] Step S2: obtaining the position information and geometric information of the object from the environment image;

[0006] Step S3: Generate a spatial position dynamic adjustment coordinate set based on the position information of the object through a spatial position dynamic adjustment algorithm, and generate a robot posture adjustment data set based on the geometric information of the object;

[0007] Step S4: dynamically adjusting the coordinate set and the robot's posture adjustment data set according to the spatial position to generate a posture motion trajectory;

[0008] Step S5: When executing the task according to the posture motion trajectory, the local position environment image is collected in real time, and the posture motion trajectory is adjusted in real time through visual feedback technology.

[0009] The above-mentioned processing method for integrating robot visual measurement and motion control, wherein a spatial position dynamic adjustment coordinate set is generated based on the position information of the object by a spatial position dynamic adjustment algorithm, and a robot posture adjustment data set is generated based on the geometric information of the object, includes the following sub-steps:

[0010] Step S31: Generate a spatial position dynamic adjustment coordinate set using a spatial position dynamic adjustment algorithm based on the position information of the object;

[0011] Step S32: dynamically adjust the coordinate set and the geometric information of the object according to the spatial position, and generate a posture adjustment data set of the robot through a posture adjustment algorithm.

[0012] The processing method for integrating robot visual measurement and motion control as described above, wherein dynamically adjusting the coordinate set and the robot's posture adjustment data set according to the spatial position to generate the posture motion trajectory includes the following sub-steps:

[0013] Step S41, generating a motion control parameter set according to the spatial position dynamic adjustment coordinate set and the robot posture adjustment data set;

[0014] Step S42: Generate a posture motion trajectory according to the motion control parameter set.

[0015] The above-mentioned processing method for integrating robot visual measurement and motion control, wherein, when executing a task according to a posture motion trajectory, real-time acquisition of local position environment images and real-time adjustment of the posture motion trajectory through visual feedback technology, includes the following sub-steps:

[0016] Step S51: When executing the task according to the posture motion trajectory, the local position environment image is collected in real time by the visual sensor;

[0017] Step S52: obtaining a local trajectory correction element from the local position environment image and calculating a local trajectory correction value;

[0018] Step S53: Correct the posture motion trajectory in real time using visual feedback technology according to the local trajectory correction value.

[0019] The present invention also provides a processing system integrating robot vision measurement and motion control, comprising:

[0020] Environmental image acquisition module, which collects environmental images through the robot's visual sensor;

[0021] Object information acquisition module, which obtains the position information and geometric information of objects from the environment image;

[0022] The position and posture calculation module generates a spatial position dynamic adjustment coordinate set based on the object's position information through a spatial position dynamic adjustment algorithm, and generates a robot posture adjustment data set based on the object's geometric information;

[0023] The trajectory generation module dynamically adjusts the coordinate set and the robot's posture adjustment data set according to the spatial position to generate the posture motion trajectory;

[0024] The trajectory tuning module collects local position environment images in real time when performing tasks according to the posture motion trajectory, and adjusts the posture motion trajectory in real time through visual feedback technology.

[0025] In the above-mentioned processing system integrating robot vision measurement and motion control, the position and posture calculation module specifically includes:

[0026] The spatial position dynamic adjustment coordinate value calculation submodule generates a spatial position dynamic adjustment coordinate set based on the position information of the object through the spatial position dynamic adjustment algorithm;

[0027] The posture adjustment value calculation submodule dynamically adjusts the coordinate set and the geometric information of the object according to the spatial position and generates the robot's posture adjustment data set through the posture adjustment algorithm

[0028] In the above-mentioned processing system integrating robot vision measurement and motion control, the trajectory generation module specifically includes:

[0029] The motion control parameter acquisition submodule generates a motion control parameter set based on the spatial position dynamic adjustment coordinate set and the robot's posture adjustment data set;

[0030] The gesture motion trajectory generation submodule generates the gesture motion trajectory according to the motion control parameter set.

[0031] In the above-mentioned processing system integrating robot vision measurement and motion control, the trajectory tuning module specifically includes:

[0032] The local position environment image acquisition submodule collects local position environment images in real time through visual sensors when performing tasks according to the posture motion trajectory;

[0033] The local trajectory correction value calculation submodule obtains the local trajectory correction elements from the local position environment image and calculates the local trajectory correction value;

[0034] The trajectory local tuning submodule corrects the posture motion trajectory in real time based on the local trajectory correction value through visual feedback technology.

[0035] The beneficial effects achieved by the present invention are as follows: the present invention enables the robot to perform tasks with high precision, ensuring that the robot completes operations such as grasping and assembly in the optimal posture; it can quickly respond to environmental changes, flexibly adjust the motion trajectory in dynamic scenes, and effectively avoid moving obstacles or adapt to changes in the position of objects; the integrated design from image acquisition, trajectory planning to execution tuning can improve system operation efficiency, reduce data processing delays, reduce task failure rates, and enhance the stability and reliability of the robot's operation in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0037] Figure 1 This is a flow chart of a processing method for integrating robot visual measurement and motion control provided in Example 1 of the present application;

[0038] Figure 2 This is a schematic diagram of a processing system integrating robot vision measurement and motion control provided in Example 2 of the present application. DETAILED DESCRIPTION

[0039] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. Example

[0040] like Figure 1 As shown, the first embodiment of the present application provides a processing method for integrating robot visual measurement and motion control, which includes the following steps:

[0041] Step S1: collecting environmental images through the robot's visual sensor;

[0042] Specifically, the robot's visual sensor collects multiple environmental images from all directions and angles around the robot at preset time intervals, and each environmental image is processed using preprocessing technology to eliminate invalid data and unify the image format.

[0043] Step S2: obtaining the position information and geometric information of the object from the environment image;

[0044] Specifically, the position information and geometric information of objects are extracted from the environmental image. The objects include the target object and other objects in the environment. The position information includes the coordinates of the target object and other objects in the environment, their orientation, spatial relationship and other elements. The geometric information includes the shape, size, structure, texture and other elements of the target object and other objects in the environment.

[0045] Step S3: Generate a spatial position dynamic adjustment coordinate set based on the position information of the object through a spatial position dynamic adjustment algorithm, and generate a robot posture adjustment data set based on the geometric information of the object;

[0046] Furthermore, generating a spatial position dynamic adjustment coordinate set based on the position information of the object through a spatial position dynamic adjustment algorithm, and generating a robot posture adjustment data set based on the geometric information of the object includes the following sub-steps:

[0047] Step S31: Generate a spatial position dynamic adjustment coordinate set using a spatial position dynamic adjustment algorithm based on the position information of the object;

[0048] Specifically, the specific implementation method of the spatial position dynamic adjustment algorithm is as follows: generate a static motion trajectory from the robot position to the target object position according to the position information of the object, and obtain the dynamic obstacle position coordinate information, extract the position coordinate information and measurement error information of each trajectory point from the static motion trajectory, obtain the robot performance data from the robot's operating instructions, collect the robot's operating environment information, extract the environmental interference information, and dynamically adjust the spatial position according to the spatial position coordinate information, measurement error information, dynamic obstacle position coordinate information, robot performance data and environmental interference information. Calculate the spatial position dynamic adjustment coordinate value of each trajectory point position coordinate, where: Dynamically adjust the coordinate set for spatial position, is the number of trajectory point coordinates, The value range is , For the The position coordinates of the trajectory points, For the Dynamic adjustment weight coefficient of the robot performance influencing factor of each trajectory point, For the The number of robot performance influencing factors at each trajectory point, The value range is , For the The first trajectory point Robot performance parameters, For the The first trajectory point The impact of robot performance, For the The dynamic adjustment weight coefficient of the environmental interference factor of each trajectory point, For the The number of environmental interference factors at each trajectory point, The value range is , For the The first trajectory point Environmental interference parameters, For the The first trajectory point The degree of environmental interference, For the The number of dynamic obstacles within the preset range of each trajectory point, For the The number of dynamic obstacles within the preset range of each trajectory point, The value range is , For the The first track point within the preset range Dynamic obstacle impact value, For the The first track point within the preset range Dynamic obstacle avoidance rate, For the The measurement error adjustment degree of each trajectory point is For the The error adjustment parameters of each trajectory point.

[0049] Step S32: dynamically adjusting the coordinate set and the geometric information of the object according to the spatial position to generate a posture adjustment data set of the robot through a posture adjustment algorithm;

[0050] Specifically, the coordinate set is dynamically adjusted according to the spatial position And the geometric information of the object is adjusted by the posture formula Computing Robots The attitude adjustment value of the attitude parameter, where For the The attitude adjustment value of each attitude parameter, The value range is , is the number of posture parameters that need to be adjusted, For the The initial posture values of the posture parameters, For the The normalized attitude adjustment influence value of the attitude parameters, attitude adjustment influence value The calculation formula is , For the The number of geometric factors that influence the attitude parameters, The value range is , For the The first attitude parameter The parameters of the geometric elements, For the The first attitude parameter The attitude influence value of each geometric element, Dynamically adjust coordinate sets for spatial positions The number of coordinate values of the spatial position is dynamically adjusted. The value range is , Indicates dynamic adjustment of coordinate sets from spatial positions Extract the Dynamically adjust the coordinate values of spatial positions , For the The robot needs to adjust the posture parameters in the Dynamically adjust the coordinate values of spatial positions The attitude adjustment influence factor at the position is calculated as the attitude adjustment influence value Perform normalization. Adjust the attitude values of all attitude parameters The robot posture adjustment parameters to be adjusted include but are not limited to position parameters, rotation angle parameters, and posture adjustment speed parameters.

[0051] Step S4: dynamically adjusting the coordinate set and the robot's posture adjustment data set according to the spatial position to generate a posture motion trajectory;

[0052] Furthermore, dynamically adjusting the coordinate set and the robot's posture adjustment data set according to the spatial position to generate the posture motion trajectory includes the following sub-steps:

[0053] Step S41, generating a motion control parameter set according to the spatial position dynamic adjustment coordinate set and the robot posture adjustment data set;

[0054] Specifically, according to the robot's operating instructions, the robot's motion factor restriction factors and the parameter range of the motion factors are obtained, and the coordinate set and the robot's posture adjustment data set are dynamically adjusted according to the spatial position. The motion factor restriction factors are calculated through the dynamic motion restriction formula. Generate the robot's dynamic motion constraint parameter set, where is the robot's dynamic motion constraint parameter set, is the number of trajectory point coordinates, The value range is , is the number of attitude adjustment values in the attitude adjustment dataset, The value range is , is the number of motion factor constraints of the robot, The value range is , For the robot Attitude adjustment value, For the The weight coefficient of the limiting factor of each movement element, Indicates that the first Track points , Indicates that the first Track points , Indicates the trajectory point Move to the trajectory point The first The motion limiting factors of the robot include but are not limited to speed limiting factors, acceleration limiting factors, and rotation angle limiting factors.

[0055] According to the robot's dynamic motion control limit parameter set The motion control parameter set is generated based on the motion allowable range of the motion element. The motion control parameter set includes but is not limited to motion control parameters of motion speed, rotation angle, and posture adjustment degree at each trajectory point.

[0056] Step S42: generating a posture motion trajectory according to the motion control parameter set;

[0057] Specifically, a posture motion trajectory is generated according to the motion control parameter set, so that the robot performs the task according to the posture motion trajectory.

[0058] Step S5: When executing the task according to the posture motion trajectory, the local position environment image is collected in real time, and the posture motion trajectory is adjusted in real time through visual feedback technology;

[0059] Furthermore, when executing a task according to the posture motion trajectory, real-time acquisition of local position environment images and real-time optimization of the posture motion trajectory through visual feedback technology include the following sub-steps:

[0060] Step S51: When executing the task according to the posture motion trajectory, the local position environment image is collected in real time by the visual sensor;

[0061] Specifically, while the robot is moving along the posture motion trajectory, the visual sensor collects multiple local position environment images at various angles within the preset local range of the robot in real time, and pre-processes each environment image to provide a data basis for the next operation.

[0062] Step S52: obtaining a local trajectory correction element from the local position environment image and calculating a local trajectory correction value;

[0063] Specifically, the local position environment image is analyzed to extract the local influencing factors that affect the robot's motion, and the local trajectory correction factors are generated by combining the image acquisition error and the environmental interference factors. Calculate motion trajectory points The local trajectory correction value is, where The motion trajectory point The local trajectory correction value at The motion trajectory point The number of local trajectory correction elements at , The value range is , For the The correction weight coefficient of each local trajectory correction factor, The motion trajectory point The first The correction parameters of the local trajectory correction elements, For the The correction index of the local trajectory correction element. The calculated motion trajectory point The value of is determined according to the actual motion state of the robot, and the local trajectory correction factors include but are not limited to speed correction, angle correction, and posture correction.

[0064] Step S53: Correcting the posture motion trajectory in real time using visual feedback technology based on the local trajectory correction value;

[0065] Specifically, the local trajectory correction value Through visual feedback technology, the posture motion trajectory is synchronized in real time, and the posture motion trajectory is corrected and optimized, so that the robot can perform tasks according to the optimized motion trajectory.

[0066] Example 2

[0067] like Figure 2 As shown, the second embodiment of the present application provides a processing system for integrating robot vision measurement and motion control, including:

[0068] The environment image acquisition module 21 collects environment images through the robot's visual sensor;

[0069] Specifically, the robot's visual sensor collects multiple environmental images from all directions and angles around the robot at preset time intervals, and each environmental image is processed using preprocessing technology to eliminate invalid data and unify the image format.

[0070] The object information acquisition module 22 acquires the position information and geometric information of the object from the environment image;

[0071] Specifically, the position information and geometric information of objects are extracted from the environmental image. The objects include the target object and other objects in the environment. The position information includes the coordinates of the target object and other objects in the environment, their orientation, spatial relationship and other elements. The geometric information includes the shape, size, structure, texture and other elements of the target object and other objects in the environment.

[0072] The position and posture calculation module 23 generates a spatial position dynamic adjustment coordinate set based on the position information of the object through a spatial position dynamic adjustment algorithm, and generates a robot posture adjustment data set based on the geometric information of the object;

[0073] Furthermore, the position and posture calculation module 23 includes the following submodules:

[0074] The spatial position dynamic adjustment coordinate value calculation submodule generates a spatial position dynamic adjustment coordinate set based on the position information of the object through the spatial position dynamic adjustment algorithm;

[0075] Specifically, the specific implementation method of the spatial position dynamic adjustment algorithm is as follows: generate a static motion trajectory from the robot position to the target object position according to the position information of the object, and obtain the dynamic obstacle position coordinate information, extract the position coordinate information and measurement error information of each trajectory point from the static motion trajectory, obtain the robot performance data from the robot's operating instructions, collect the robot's operating environment information, extract the environmental interference information, and dynamically adjust the spatial position according to the spatial position coordinate information, measurement error information, dynamic obstacle position coordinate information, robot performance data and environmental interference information. Calculate the spatial position dynamic adjustment coordinate value of each trajectory point position coordinate, where: Dynamically adjust the coordinate set for spatial position, is the number of trajectory point coordinates, The value range is , For the The position coordinates of the trajectory points, For the Dynamic adjustment weight coefficient of the robot performance influencing factor of each trajectory point, For the The number of robot performance influencing factors at each trajectory point, The value range is , For the The first trajectory point Robot performance parameters, For the The first trajectory point The impact of robot performance, For the The dynamic adjustment weight coefficient of the environmental interference factor of each trajectory point, For the The number of environmental interference factors at each trajectory point, The value range is , For the The first trajectory point Environmental interference parameters, For the The first trajectory point The degree of environmental interference, For the The number of dynamic obstacles within the preset range of each trajectory point, For the The number of dynamic obstacles within the preset range of each trajectory point, The value range is , For the The first track point within the preset range Dynamic obstacle impact value, For the The first track point within the preset range Dynamic obstacle avoidance rate, For the The measurement error adjustment degree of each trajectory point is For the The error adjustment parameters of each trajectory point.

[0076] The posture adjustment value calculation submodule dynamically adjusts the coordinate set and the geometric information of the object according to the spatial position and generates the robot's posture adjustment data set through the posture adjustment algorithm;

[0077] Specifically, the coordinate set is dynamically adjusted according to the spatial position And the geometric information of the object is adjusted by the posture formula Computing Robots The attitude adjustment value of the attitude parameter, where For the The attitude adjustment value of each attitude parameter, The value range is , is the number of posture parameters that need to be adjusted, For the The initial posture values of the posture parameters, For the The normalized attitude adjustment influence value of the attitude parameters, attitude adjustment influence value The calculation formula is , For the The number of geometric factors that influence the attitude parameters, The value range is , For the The first attitude parameter The parameters of the geometric elements, For the The first attitude parameter The attitude influence value of each geometric element, Dynamically adjust coordinate sets for spatial positions The number of coordinate values of the spatial position is dynamically adjusted. The value range is , Indicates dynamic adjustment of coordinate sets from spatial positions Extract the Dynamically adjust the coordinate values of spatial positions , For the The robot needs to adjust the posture parameters in the Dynamically adjust the coordinate values of spatial positions The attitude adjustment influence factor at the position is calculated as the attitude adjustment influence value Perform normalization. Adjust the attitude values of all attitude parameters The robot posture adjustment parameters to be adjusted include but are not limited to position parameters, rotation angle parameters, and posture adjustment speed parameters.

[0078] The trajectory generation module 24 dynamically adjusts the coordinate set and the robot's posture adjustment data set according to the spatial position to generate a posture motion trajectory;

[0079] Furthermore, the trajectory generation module 24 includes the following submodules:

[0080] The motion control parameter acquisition submodule generates a motion control parameter set based on the spatial position dynamic adjustment coordinate set and the robot's posture adjustment data set;

[0081] Specifically, according to the robot's operating instructions, the robot's motion factor restriction factors and the parameter range of the motion factors are obtained, and the coordinate set and the robot's posture adjustment data set are dynamically adjusted according to the spatial position. The motion factor restriction factors are calculated through the dynamic motion restriction formula. Generate the robot's dynamic motion constraint parameter set, where is the robot's dynamic motion constraint parameter set, is the number of trajectory point coordinates, The value range is , is the number of attitude adjustment values in the attitude adjustment dataset, The value range is , is the number of motion factor constraints of the robot, The value range is , For the robot Attitude adjustment value, For the The weight coefficient of the limiting factor of each movement element, Indicates that the first Track points , Indicates that the first Track points , Indicates the trajectory point Move to the trajectory point The first The motion limiting factors of the robot include but are not limited to speed limiting factors, acceleration limiting factors, and rotation angle limiting factors.

[0082] According to the robot's dynamic motion control limit parameter set The motion control parameter set is generated based on the motion allowable range of the motion element. The motion control parameter set includes but is not limited to motion control parameters of motion speed, rotation angle, and posture adjustment degree at each trajectory point.

[0083] The posture motion trajectory generation submodule generates the posture motion trajectory according to the motion control parameter set;

[0084] Specifically, a posture motion trajectory is generated according to the motion control parameter set, so that the robot performs the task according to the posture motion trajectory.

[0085] The trajectory optimization module 25 collects local environment images in real time when executing tasks according to the posture motion trajectory, and optimizes the posture motion trajectory in real time through visual feedback technology;

[0086] Furthermore, the trajectory tuning module 25 includes the following submodules:

[0087] The local position environment image acquisition submodule collects local position environment images in real time through visual sensors when performing tasks according to the posture motion trajectory;

[0088] Specifically, while the robot is moving along the posture motion trajectory, the visual sensor collects multiple local position environment images at various angles within the local range of the robot in real time, and pre-processes each environment image to provide a data basis for the next operation.

[0089] The local trajectory correction value calculation submodule obtains the local trajectory correction elements from the local position environment image and calculates the local trajectory correction value;

[0090] Specifically, the local position environment image is analyzed to extract the local influencing factors that affect the robot's motion, and the local trajectory correction factors are generated by combining the image acquisition error and the environmental interference factors. Calculate motion trajectory points The local trajectory correction value is, where The motion trajectory point The local trajectory correction value at The motion trajectory point The number of local trajectory correction elements at , The value range is , For the The correction weight coefficient of each local trajectory correction factor, The motion trajectory point The first The correction parameters of the local trajectory correction elements, For the The correction index of the local trajectory correction element. The calculated motion trajectory point The value of is determined according to the actual motion state of the robot, and the local trajectory correction factors include but are not limited to speed correction, angle correction, and posture correction.

[0091] Step S53: Correcting the posture motion trajectory in real time using visual feedback technology based on the local trajectory correction value;

[0092] Specifically, the local trajectory correction value Through visual feedback technology, the posture motion trajectory is synchronized in real time, and the posture motion trajectory is corrected and optimized, so that the robot can perform tasks according to the optimized motion trajectory.

[0093] Corresponding to the above embodiment, an embodiment of the present invention provides a computer storage medium, comprising: at least one memory and at least one processor;

[0094] The memory is used to store one or more program instructions;

[0095] The processor is used to run one or more program instructions to execute a processing method for integrating robot vision measurement and motion control.

[0096] Corresponding to the above embodiment, an embodiment of the present invention provides a computer-readable storage medium, which contains one or more program instructions, and the one or more program instructions are used by a processor to execute a processing method for integrating robot visual measurement and motion control.

[0097] The embodiments disclosed in the present invention provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the above-mentioned processing method for integrating robot vision measurement and motion control.

[0098] In the embodiments of the present invention, the processor may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0099] The methods, steps, and logic diagrams disclosed in the embodiments of the present invention can be implemented or executed. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software modules can be located in a storage medium well-established in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The processor reads the information from the storage medium and, in conjunction with its hardware, completes the steps of the aforementioned methods.

[0100] The storage medium may be a memory and may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0101] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.

[0102] Volatile memory may be random access memory (RAM), which is used as an external cache memory. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM).

[0103] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0104] Those skilled in the art will appreciate that in one or more of the above examples, the functions described herein can be implemented using a combination of hardware and software. When software is used, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media includes any medium that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0105] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A processing method for integrating robot vision measurement and motion control, characterized in that: include: Step S1: collecting environmental images through the robot's visual sensor; Step S2: obtaining the position information and geometric information of the object from the environment image; Step S3, generating a spatial position dynamic adjustment coordinate set based on the position information of the object through a spatial position dynamic adjustment algorithm, and generating a robot posture adjustment data set based on the geometric information of the object, including the following sub-steps: Step S31: Generate a spatial position dynamic adjustment coordinate set using a spatial position dynamic adjustment algorithm based on the position information of the object; Specifically, the specific implementation method of the spatial position dynamic adjustment algorithm is as follows: generate a static motion trajectory from the robot position to the target object position according to the position information of the object, and obtain the dynamic obstacle position coordinate information, extract the position coordinate information and measurement error information of each trajectory point from the static motion trajectory, obtain the robot performance data from the robot's operating instructions, collect the robot's operating environment information, extract the environmental interference information, and dynamically adjust the spatial position according to the spatial position coordinate information, measurement error information, dynamic obstacle position coordinate information, robot performance data and environmental interference information. Calculate the spatial position dynamic adjustment coordinate value of each trajectory point position coordinate, where: Dynamically adjust the coordinate set for spatial position, is the number of trajectory point coordinates, The value range is , For the The position coordinates of the trajectory points, For the Dynamic adjustment weight coefficient of the robot performance influencing factor of each trajectory point, For the The number of robot performance influencing factors at each trajectory point, The value range is , For the The first trajectory point Robot performance parameters, For the The first trajectory point The impact of robot performance, For the The dynamic adjustment weight coefficient of the environmental interference factor of each trajectory point, For the The number of environmental interference factors at each trajectory point, The value range is , For the The first trajectory point Environmental interference parameters, For the The first trajectory point The degree of environmental interference, For the The number of dynamic obstacles within the preset range of each trajectory point, For the The number of dynamic obstacles within the preset range of each trajectory point, The value range is , For the The first track point within the preset range Dynamic obstacle impact value, For the The first track point within the preset range Dynamic obstacle avoidance rate, For the The measurement error adjustment degree of each trajectory point is For the Error adjustment parameters for each trajectory point; Step S32: dynamically adjusting the coordinate set and the geometric information of the object according to the spatial position to generate a posture adjustment data set of the robot through a posture adjustment algorithm; Specifically, the coordinate set is dynamically adjusted according to the spatial position And the geometric information of the object is adjusted by the posture formula Computing Robots The attitude adjustment value of the attitude parameter, where For the The attitude adjustment value of each attitude parameter, The value range is , is the number of posture parameters that need to be adjusted, For the The initial posture values of the posture parameters, For the The normalized attitude adjustment influence value of the attitude parameters, attitude adjustment influence value The calculation formula is , For the The number of geometric factors that influence the attitude parameters, The value range is , For the The first attitude parameter The parameters of the geometric elements, For the The first attitude parameter The attitude influence value of each geometric element, Dynamically adjust coordinate sets for spatial positions The number of coordinate values of the spatial position is dynamically adjusted. The value range is , Indicates dynamic adjustment of coordinate sets from spatial positions Extract the Dynamically adjust the coordinate values of spatial positions , For the The robot needs to adjust the posture parameters in the Dynamically adjust the coordinate values of spatial positions The attitude adjustment influence factor at the position is calculated as the attitude adjustment influence value Perform normalization processing; adjust the posture values of all posture parameters Collect and generate the robot's posture adjustment data set; Step S4: dynamically adjusting the coordinate set and the robot's posture adjustment data set according to the spatial position to generate a posture motion trajectory; Step S5: When executing the task according to the posture motion trajectory, the local position environment image is collected in real time, and the posture motion trajectory is adjusted in real time through visual feedback technology.

2. A processing method for integrating robot vision measurement and motion control according to claim 1, characterized in that: Dynamically adjust the coordinate set and the robot's posture adjustment data set according to the spatial position to generate the posture motion trajectory, which includes the following sub-steps: Step S41, generating a motion control parameter set according to the spatial position dynamic adjustment coordinate set and the robot posture adjustment data set; Step S42: Generate a posture motion trajectory according to the motion control parameter set.

3. A processing method for integrating robot vision measurement and motion control according to claim 1, characterized in that: When executing a task according to the posture motion trajectory, real-time acquisition of local position environment images and real-time optimization of the posture motion trajectory through visual feedback technology include the following sub-steps: Step S51: When executing the task according to the posture motion trajectory, the local position environment image is collected in real time by the visual sensor; Step S52: obtaining a local trajectory correction element from the local position environment image and calculating a local trajectory correction value; Step S53: Correct the posture motion trajectory in real time using visual feedback technology according to the local trajectory correction value.

4. A processing system integrating robot vision measurement and motion control, characterized in that: include: Environmental image acquisition module, which collects environmental images through the robot's visual sensor; Object information acquisition module, which obtains the position information and geometric information of objects from the environment image; The position and posture calculation module generates a spatial position dynamic adjustment coordinate set based on the object's position information through a spatial position dynamic adjustment algorithm, and generates a robot's posture adjustment data set based on the object's geometric information. It includes the following submodules: The spatial position dynamic adjustment coordinate value calculation submodule generates a spatial position dynamic adjustment coordinate set based on the position information of the object through the spatial position dynamic adjustment algorithm; Specifically, the specific implementation method of the spatial position dynamic adjustment algorithm is as follows: generate a static motion trajectory from the robot position to the target object position according to the position information of the object, and obtain the dynamic obstacle position coordinate information, extract the position coordinate information and measurement error information of each trajectory point from the static motion trajectory, obtain the robot performance data from the robot's operating instructions, collect the robot's operating environment information, extract the environmental interference information, and dynamically adjust the spatial position according to the spatial position coordinate information, measurement error information, dynamic obstacle position coordinate information, robot performance data and environmental interference information. Calculate the spatial position dynamic adjustment coordinate value of each trajectory point position coordinate, where: Dynamically adjust the coordinate set for spatial position, is the number of trajectory point coordinates, The value range is , For the The position coordinates of the trajectory points, For the Dynamic adjustment weight coefficient of the robot performance influencing factor of each trajectory point, For the The number of robot performance influencing factors at each trajectory point, The value range is , For the The first trajectory point Robot performance parameters, For the The first trajectory point The impact of robot performance, For the The dynamic adjustment weight coefficient of the environmental interference factor of each trajectory point, For the The number of environmental interference factors at each trajectory point, The value range is , For the The first trajectory point Environmental interference parameters, For the The first trajectory point The degree of environmental interference, For the The number of dynamic obstacles within the preset range of each trajectory point, For the The number of dynamic obstacles within the preset range of each trajectory point, The value range is , For the The first track point within the preset range Dynamic obstacle impact value, For the The first track point within the preset range Dynamic obstacle avoidance rate, For the The measurement error adjustment degree of each trajectory point is For the Error adjustment parameters for each trajectory point; The posture adjustment value calculation submodule dynamically adjusts the coordinate set and the geometric information of the object according to the spatial position and generates the robot's posture adjustment data set through the posture adjustment algorithm; Specifically, the coordinate set is dynamically adjusted according to the spatial position And the geometric information of the object is adjusted by the posture formula Computing Robots The attitude adjustment value of the attitude parameter, where For the The attitude adjustment value of each attitude parameter, The value range is , is the number of posture parameters that need to be adjusted, For the The initial posture values of the posture parameters, For the The normalized attitude adjustment influence value of the attitude parameters, attitude adjustment influence value The calculation formula is , For the The number of geometric factors that influence the attitude parameters, The value range is , For the The first attitude parameter The parameters of the geometric elements, For the The first attitude parameter The attitude influence value of each geometric element, Dynamically adjust coordinate sets for spatial positions The number of coordinate values of the spatial position is dynamically adjusted. The value range is , Indicates dynamic adjustment of coordinate sets from spatial positions Extract the Dynamically adjust the coordinate values of spatial positions , For the The robot needs to adjust the posture parameters in the Dynamically adjust the coordinate values of spatial positions The attitude adjustment influence factor at the position is calculated as the attitude adjustment influence value Perform normalization processing; adjust the posture values of all posture parameters Collect and generate the robot's posture adjustment data set; The trajectory generation module dynamically adjusts the coordinate set and the robot's posture adjustment data set according to the spatial position to generate the posture motion trajectory; The trajectory tuning module collects local position environment images in real time when performing tasks according to the posture motion trajectory, and adjusts the posture motion trajectory in real time through visual feedback technology.

5. A processing system for integrating robot vision measurement and motion control as claimed in claim 4, characterized in that: Trajectory generation module, specifically including: The motion control parameter acquisition submodule generates a motion control parameter set based on the spatial position dynamic adjustment coordinate set and the robot's posture adjustment data set; The gesture motion trajectory generation submodule generates the gesture motion trajectory according to the motion control parameter set.

6. A processing system for integrating robot vision measurement and motion control as claimed in claim 4, characterized in that: Trajectory tuning module, including: The local position environment image acquisition submodule collects local position environment images in real time through visual sensors when performing tasks according to the posture motion trajectory; The local trajectory correction value calculation submodule obtains the local trajectory correction elements from the local position environment image and calculates the local trajectory correction value; The trajectory local tuning submodule corrects the posture motion trajectory in real time based on the local trajectory correction value through visual feedback technology.

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