Manipulator Tail-End Pose Tracking With Pan-Tilt Monocular Vision
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Solution Overview
Problem
Existing monocular vision measurement methods for manipulators have a limited measurement range and struggle with large-range tracking measurements, leading to low machining accuracy due to restricted field of view and sensitivity to environmental factors.
Innovation Solution
A tracking measurement method that uses a monocular measurement camera mounted on a pan-tilt mechanism, acquiring transformation matrices from calibration boards to calculate the pose of the manipulator's tail end, adjusting the pitch and horizontal axes based on deviation angles to expand the measurement range and ensure accurate tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a traditional monocular visual measurement method is used, then the device cost is low and operation is simple, but the measurement range is limited and field of view is restricted
Solution Approach 1:
The patent introduces a pan-tilt mechanism that adds rotational degrees of freedom to the monocular camera system. The pan axis enables horizontal rotation while the tilt axis enables vertical rotation, transforming a fixed-field-of-view system into one that can dynamically adjust its viewing direction. This dimensional extension allows the camera to measure poses across a large spatial range while maintaining the simplicity and low cost of monocular vision technology.
2Area of stationary object
If the field of view is expanded to cover large range, then large-range tracking measurement becomes possible, but measurement accuracy may deteriorate due to deviation from center of field of view
Solution Approach 1:
The patent implements a feedback mechanism where the system continuously monitors the position of the target within the camera's field of view. When the target deviates from the center, the pan-tilt mechanism automatically adjusts its orientation to recenter the target. This closed-loop feedback ensures that the measurement remains accurate across the entire large measurement range, as the system dynamically adapts to keep the target in the optimal viewing position.
Solution Approach 2:
The pan-tilt mechanism introduces dynamic adjustment capabilities to the previously static camera system. By enabling real-time rotation and tilting of the camera, the system can adapt its field of view to track the manipulator tail end across large ranges while maintaining the target centered in the frame, thus preserving measurement accuracy throughout the extended measurement space.
3Measurement precision
If a laser tracker is used for measurement, then measurement accuracy is high, but the cost is high and operation requires professionals
Solution Approach 1:
The patent replaces the complex mechanical laser tracker system with a simpler monocular vision system augmented by a pan-tilt mechanism. Instead of using expensive laser-based measurement technology that requires specialized equipment and trained operators, the invention uses affordable consumer-grade camera technology combined with automated pan-tilt positioning to achieve comparable measurement capabilities at a fraction of the cost and complexity.
Data Source
AI summary
A tracking measurement method, apparatus and device for a pose of a tail end of a manipulator. The method comprises: shooting a first calibration board mounted at the tail end of the manipulator by a monocular measurement camera, acquiring multiple sets of first transformation matrices, and mounting the monocular measurement camera on a pitch axis of a pan-tilt; shooting a second calibration board by a global camera, and acquiring multiple sets of second transformation matrices; when a calibration center of the first calibration board is in a center of a field of view of the monocular measurement camera, calculating a measured pose of the tail end of the manipulator; and when the calibration center of the first calibration board deviates from the center of the field of view of the monocular measurement camera, calculating a direction deviation angle, and adjusting the pitch axis and a horizontal axis of the pan-tilt.