CN103753585A - Method for intelligently adjusting manipulator and grasping force on basis of visual image analysis - Google Patents
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Abstract
The invention relates to a method for regulating a manipulator and grasping force thereof. The manipulator comprises a vision image acquisition system and a database. The vision image acquisition system takes and acquires 3D (three-dimensional) entitative images of objects to be grasped by the manipulator, simultaneously scans dimension information of the acquired objects, acquires the volumes of the acquired objects and transmits the volumes of the acquired objects to a central processing unit; image data of various objects and parameters of the density, the roughness and friction coefficients of materials of the various objects are stored in the database; the central processing unit compares the acquired 3D entitative images to the image data in the database, judges the acquired 3D entitative images, determines the types, the dimensions and the volumes of the grasped objects, calls out the parameters of the density, the roughness and the friction coefficients of the corresponding materials of the grasped objects and outputs grasping and lifting force information to a control unit according to the parameters, and the control unit controls the grasping force and lifting force of the manipulator. The method has the advantages that the three-dimensional entitative images are acquired, and accordingly the grasping force required to be outputted by the manipulator can be accurately computed.
Description
Technical field
The present invention relates to the control method of a kind of manipulator and grasp thereof, particularly relate to a kind of manipulator and grasp intelligent adjusting method thereof of analyzing based on visual pattern.
Background technology
Along with the development of science and technology, Robotics level improves constantly, and its application also constantly expands, and has also solved the many difficult problems in people's life.Domestic manufacturing industry is being faced with employed labor force's problem: labour-intensive manufacturing enterprise need to employ Labor Workers in a large number, but after annual long holidays, first-line staff always has part staff wastage, disturb sometimes normal production, operator substitutes frequently can affect product quality, increases device damage rate and potential safety hazard accident and increases.Nowadays many workmans are unwilling to carry out heavy load operation to production line, and in addition, labor cost constantly promotes.These problematic drive enterprises constantly introduce robot.Following domestic robot application is a lot, such as cleaning, looks after old man aspect etc.According to the 6th census in the whole nation in 2010, the whole nation has 60 years old and family's amount of above elderly population is 1.23 hundred million families, wherein, family not living home (children go out work or study, old man is solitary) be 0.43 hundred million family, along with the continuous maturation of household service robot technology, the application of household cleaning and the medical intelligent robot of accompanying and attending to will get more and more.But key issue is at present: people can rule of thumb judge that the object of crawl of selling probably needs how many grasps and lifts power, thereby can guarantee wanting the article of snatch to firmly grasp and lift, relate to two problems: the first non-slip falling down, second lifts power is how many.And can in the process of snatch, according to circumstances change, as skid, weight is large etc., by brain response, is automatically increased grasp and is lifted power, and this is the advantage of people's intelligence.And at present manipulator also cannot be accomplished this point, just utilize various sensor technologies etc. to make great efforts to this future development.For example: at manipulator, capture some article (body), as smooth cup, biscuit, cigarette, during the bad article of this class flexible package such as mineral water, not to be stowed under heavy cargo, how to guarantee that manipulator picking up them, during as cylindrical, a smooth glass that water is housed, can pick up, be unlikely to again that grasp is excessive crushes quilt, make grasp just right, this is a difficult problem.Meanwhile, also want to judge its weight according to volume size and different materials, adjust promptly and mobile (lift etc.) power is another critical difficult problem.This patent solves this two large problems based on visual pattern function.
Separately, aspect domestic robot, particularly to process significant and effect in some article common but that constantly change.As taken cup for a moment, take paper handkerchief for a moment, take child's rubber toy for a moment, take banana fruit etc. for a moment, domestic robot need to determine these ordinary articles, thus the reasonable application of force.
Summary of the invention
The object of the present invention is to provide a kind of manipulator of analyzing based on visual pattern and the intelligent adjusting method of grasp thereof, it is low that it has cost, and the feature such as be quick on the draw, can be used for the article crawl activity of domestic robot, also can be used for industrial production.
Technical scheme of the present invention is as follows:
A manipulator of analyzing based on visual pattern, described manipulator comprises central processing unit, control module and mechanical arm, it is characterized in that:
Described manipulator also comprises visual pattern acquisition system and database; Described visual pattern acquisition system is clapped the 3D solid images of the object that collection manipulator will grasp, and scans the dimension information of collected object simultaneously, obtains volume size, is sent to central processing unit;
Described database stores the image document of all kinds of article and the density of material, roughness, coefficient of friction parameter;
Described central authorities process the image document in the 3D solid images of collection and database are relatively judged, determine the kind that is grasped object, size and volume, and recall density, roughness, the coefficient of friction parameter of the material of this object, central processing unit is according to above-mentioned parameter output snatch force information to control module, and described control module is controlled the grasp of mechanical arm and lifted power.
Further, described visual pattern acquisition system comprises an optical scanning system, and described optical scanning system comprises two CCD cameras and raster generator;
Described two CCD cameras are arranged on robot head by different angles, described raster generator will be organized grating fringe more and project to body surface, two CCD cameras of different angles are the candy strip on shot object surface simultaneously, and stripe pattern is input in central processing unit.
Further, on described manipulator finger tip, displacement transducer is installed, when small slippage having been detected, central processing unit increases grasp according to slippage degree.
Further, described database is constantly updated new images of items data and material information, and the feature that memory has captured article is called when repeat to capture next time.
Manipulator is firmly grasped a power intelligent adjusting method, and described method step is as follows:
(1) visual pattern acquisition system is taken the 3D solid images of the object that manipulator will grasp, and scans the dimension information of collected object simultaneously, obtains volume size, and is sent to central processing unit;
(2) central processing unit relatively judges the solid images of collection and database, determine by parameters such as the density of the material of grasping object, roughness, coefficient of frictions, central processing unit is according to above-mentioned parameter output snatch force information to control module, and described control module is controlled the grasp of mechanical arm and lifted power.
Further, in described step (1), the optical scanner step method of visual pattern acquisition system is as follows:
Raster generator in optical three-dimensional scanning system will be organized grating fringe more and project to body surface, two CCD cameras of different angles are the candy strip on shot object surface simultaneously, and stripe pattern is input in computer, according to striped curvature, change and utilize phase method and trigonometry to accurately calculate space coordinates (X, Y, the Z) three dimensional point cloud of body surface every bit, judge object dimensional space length, size; Utilize computer control, multi-angled shooting and by the data of repeatedly taking accurately amalgamation together, shooting results is the 3D stereo-picture of object, obtain article size and volume information, and can, according to article resemblance, be identified as which kind of article; When being identified as certain article, the density of these article in calling data storehouse, the parameters such as roughness, coefficient of friction, central processing unit is according to above-mentioned parameter output snatch force information to control module, and described control module is controlled the grasp of mechanical arm and is lifted power.
Technical scheme of the present invention compared with prior art has following beneficial effect:
(1) what technical scheme of the present invention obtained is 3D solid image, so the two dimensional image obtaining with normal image acquisition system is compared, has object discrimination rate more accurately, thus grip that can the required output of more accurate calculating machine arm.
(2) normal image acquisition system cannot obtain appearance and size and the volume information of object, and the scan function of this visual pattern acquisition system can accurately obtain these information.
Accompanying drawing explanation
Fig. 1 is the functional schematic block diagram of patent of the present invention.
Fig. 2 is robot structural representation.
Fig. 3 is robot head construction schematic diagram.
Wherein, 1-robot head; 2-manipulator, 3-optical grating formula generator, 4-CCD camera, wherein, 3 and 4 form visual pattern acquisition system.
The specific embodiment
Take water tumbler as example, and first judging is a glass: by existing image ratio in the image of taking and database, is judged to this glass drinking cup; Then judge the position of water outlet, then judge the size of cup, large small size, calculate the general volume of water outlet, then calculate cup weight, according to the data of storing in database, through central processing unit, calculate and need how many grasps, guarantee that frictional force can be unlikely to landing when picking up cup.Then by controller, control robot movement and press from both sides (grabbing) tight smooth glass with suitable power.
For some conventional standard article, as cigarette, mineral water etc., after judging, the clamping force numerical value of directly having set up for these article in calling data storehouse.
By optical scanner, its outside is scanned, by central processing unit, calculated volume, first, by calculating gravity, then calculate its frictional force, draw the grasp force that while catching object, this applies.
Meanwhile, on manipulator finger tip, there is displacement transducer, but while small slippage having been detected, according to slippage degree, increase grasp.
Meanwhile, when picking up other article, can by image recognition and with database comparative analysis, determine it is which kind of material, calculate volume, this material density is multiplied by volume and just can obtains weight.The coefficient of friction that recalls this material just can calculate the weight of this body and required how many clamping forces, can realize artificial intelligence regulating.
The extendible Item Information of database, simultaneity factor has self-learning function, can remember the feature that has captured article, for next time, call while repeating to capture, thus raising speed.But when object profile is more complicated, this vision system can be done 360 ° of scannings around object, so just can obtain the complete 3D solid of these parts, thereby accurately calculates its volume.When manipulator 2 is prepared to capture article, first by image capturing system, carry out shot object, by relatively judging material with database, obtain the relevant parameter of respective material, as density, roughness etc.
Manipulator, before capturing article, first scans article.Robot head 1 is equipped with the CCD camera 4 of two different angles.Raster generator 3 in optical three-dimensional scanning system will be organized grating fringe more and project to body surface, two CCD cameras of different angles are the candy strip on shot object surface simultaneously, and stripe pattern is input in computer, according to striped curvature, change and utilize phase method and trigonometry etc. to accurately calculate space coordinates (X, Y, the Z) three dimensional point cloud of body surface every bit, can judge object dimensional space length, size.Utilize computer control, multi-angled shooting and by the data of repeatedly taking accurately amalgamation together, shooting results is the 3D stereo-picture of object.Can obtain the information such as article size and volume in this way.And can be identified as which kind of article with database figure data intercomparison and analysis according to article resemblance, and once be identified as certain article, can call the density of these article in database, calculate weight.As: when differentiation is one bottle of mineral water, known plastic bottle is long-pending, and can be observed the height of water, can calculate gross weight by the volume of plastics and water and densitometer, then according to plastic bottle coefficient of friction, finally calculates suitable clamping force and lift power etc.
By processor, calculate, obtain the weight of object and the frictional force of crawl, thereby determine the grasp of manipulator and lift power, avoid the excessive damage object of grasp.
By control module, result of calculation is changed into control instruction and send to manipulator, instruct manipulator execution.
Described scan method can be for the scanning of softness, frangible object and the occasion that is difficult to contact or do not allow contact scanning, and scanning accuracy is high.The object 3D stereo-picture obtaining by image capturing system, for differentiating material, is compared collection two dimensional image more accurate, and precision is higher.In this way, also can monitor in real time the deformation of object, and real-time command is passed to manipulator, make manipulator according to body form, regulate the size of power, there is highly sensitive, safe and reliable feature.
Claims (6)
1. a manipulator of analyzing based on visual pattern, described manipulator comprises central processing unit, control module and mechanical arm, it is characterized in that:
Described manipulator also comprises visual pattern acquisition system and database; Described visual pattern acquisition system is clapped the 3D solid images of the object that collection manipulator will grasp, and scans the dimension information of collected object simultaneously, obtains volume size, is sent to central processing unit;
Described database stores the image document of all kinds of article and the density of material, roughness, coefficient of friction parameter;
Described central authorities process the image document in the 3D solid images of collection and database are relatively judged, determine the kind that is grasped object, size and volume, and recall density, roughness, the coefficient of friction parameter of the material of this object, central processing unit is according to above-mentioned parameter output snatch force information to control module, and described control module is controlled the grasp of mechanical arm and lifted power.
2. manipulator according to claim 1, is characterized in that: described visual pattern acquisition system comprises an optical scanning system, and described optical scanning system comprises two CCD cameras and raster generator;
Described two CCD cameras are arranged on robot head by different angles, described raster generator will be organized grating fringe more and project to body surface, two CCD cameras of different angles are the candy strip on shot object surface simultaneously, and stripe pattern is input in central processing unit.
3. manipulator according to claim 1, is characterized in that:
On described manipulator finger tip, displacement transducer is installed, when small slippage having been detected, central processing unit increases grasp according to slippage degree.
4. manipulator according to claim 1, is characterized in that:
Described database is constantly updated new images of items data and material information, and the feature that memory has captured article is called when repeat to capture next time.
5. manipulator according to claim 1 is firmly grasped power intelligent adjusting method, and described method step is as follows:
(1) visual pattern acquisition system is taken the 3D solid images of the object that manipulator will grasp, and scans the dimension information of collected object simultaneously, obtains volume size, and is sent to central processing unit;
(2) central processing unit relatively judges the solid images of collection and database, determine by parameters such as the density of the material of grasping object, roughness, coefficient of frictions, central processing unit is according to above-mentioned parameter output snatch force information to control module, and described control module is controlled the grasp of mechanical arm and lifted power.
6. method according to claim 4, is characterized in that:
In described step (1), the optical scanner step method of visual pattern acquisition system is as follows:
Raster generator in optical three-dimensional scanning system will be organized grating fringe more and project to body surface, two CCD cameras of different angles are the candy strip on shot object surface simultaneously, and stripe pattern is input in computer, according to striped curvature, change and utilize phase method and trigonometry to accurately calculate space coordinates (X, Y, the Z) three dimensional point cloud of body surface every bit, judge object dimensional space length, size; Utilize computer control, multi-angled shooting and by the data of repeatedly taking accurately amalgamation together, shooting results is the 3D stereo-picture of object, obtain article size and volume information, and can, according to article resemblance, be identified as which kind of article; When being identified as certain article, the density of these article in calling data storehouse, the parameters such as roughness, coefficient of friction, central processing unit is according to above-mentioned parameter output snatch force information to control module, and described control module is controlled the grasp of mechanical arm and is lifted power.
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