CN102508495A - Method and system for controlling motion of tail end of execution arm - Google Patents
Method and system for controlling motion of tail end of execution arm Download PDFInfo
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- CN102508495A CN102508495A CN2011103016296A CN201110301629A CN102508495A CN 102508495 A CN102508495 A CN 102508495A CN 2011103016296 A CN2011103016296 A CN 2011103016296A CN 201110301629 A CN201110301629 A CN 201110301629A CN 102508495 A CN102508495 A CN 102508495A
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Abstract
The invention discloses a method for controlling motion of a tail end of an execution arm. The method comprises the following steps of: (11), setting a mark moving along with moving of the tail end of the execution arm, and setting a camera at a position, at which motion of the tail end of the execution arm can be observed; (12), obtaining an image of the mark by the camera in real time; (13), pre-storing an initial image of the mark at an initial position, comparing and analyzing the initial image and the image of the mark obtained in real time, and calculating to obtain real-time displacement of the tail end of the execution arm relative to the initial position; and (14), controlling motion of the tail end of the execution arm according to the real-time displacement of the tail end of the execution arm. The control method is capable of obtaining the real-time displacement of the tail end of the execution arm to control motion of the execution arm by directly analyzing the images, so that the precision is higher; furthermore, the mark is arranged only at the tail end of the execution arm, and sensor like electronic parts are unnecessary to be installed at the tail end of the execution arm, therefore, the method has higher stability and safety for measurement and is applied to occasions with complex and bad working conditions. The invention further provides a system for controlling motion of the tail end of the execution arm.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly a kind of method of carrying out the terminal motion of arm of controlling.The invention still further relates to a kind of control system of carrying out the terminal motion of arm.
Background technology
Various engineering machinery has jib structure, and such as concrete mixer, crane, fire truck etc., jib is in order to carry manpower or material to specifying the job location.In work progress; Often need jib to according to same in stable condition motion, at this moment, need accurately to gather the terminal location parameter of jib; Calculate the terminal distance that moves relative to original state of jib according to positional parameters vary, and then control the track of the terminal motion of jib in real time.
In the prior art, take the mode of indirect calculation to obtain the terminal position of jib usually, carry out the arm end and move in a certain fixed position, main account form is following:
(1) measures the angle that respectively saves arm respectively at the equal setting angle sensor of arm that respectively saves of jib, combine respectively to save the terminal position of length computation jib of arm again.Yet each saves arm can constantly produce deformation in the course of the work, and it is inaccurate calculating terminal vertical height through angle and the jib length that do not produce deformation.Even, at each joint arm installation position displacement sensor, calculate the deformation that respectively saves arm, calculate again in conjunction with deformation quantity, also can't guarantee the accuracy of result of calculation.Comprise more piece joint arm mainly due to, jib, the degree of accuracy that each stack computing that saves arm will certainly reduce result of calculation can't satisfy intellectuality, automated construction operational requirements.
(2) at the jib end distance measuring sensor is set, in order to measure the terminal location parameter of jib.This kind mode can directly be measured the terminal vertical height of jib; But measuring distance is limited, precision is not high; Particularly when there was the object (the concrete height that pile up on ground, jib end below when making pump such as concrete mixer can constantly change) that highly constantly changes in jib end below, measurement result was inaccurate.
And, to above-mentioned acquisition mode, all need save sensor electron-like element is set on the arm at each, installation difficulty is higher, and when operating mode was complicated, degree of accuracy was not high.
Therefore, how improving the control method of the terminal motion of jib, improve control accuracy, is those skilled in the art's technical issues that need to address.
Summary of the invention
In view of above-mentioned technical matters, the object of the invention is that a kind of method of carrying out the terminal motion of arm of controlling is provided, and this control method is utilized Flame Image Process mode real time direct to obtain and carried out the terminal displacement of arm, carries out the terminal movement locus of arm thereby can accurately control.Another object of the present invention provides a kind of control system of carrying out the terminal motion of arm.
For reaching first purpose of the present invention, the present invention provides a kind of method of carrying out the terminal motion of arm of controlling, and may further comprise the steps:
11) be provided with the terminal sign that moves of said execution arm, and camera be set in the position that can be observed the terminal motion of said execution arm;
12) said camera obtains the image of said sign in real time;
13) the prestore initial pictures of the said sign of initial position, the image of said initial pictures of comparative analysis and the said sign obtained in real time calculates and obtains the terminal real-time displacement of initial position relatively of said execution arm;
14) control the terminal motion of said execution arm based on the terminal real-time displacement of said execution arm.
Preferably,
In the step 11), also the window near-end at said camera is provided with scale, and it is constant that the position of the said relatively camera of said scale keeps;
In the step 12), said camera obtains the image that comprises said sign and said scale;
In the step 13), the initial position that prestores comprises the initial pictures of said sign and said scale, and comparative analysis initial pictures and the image that comprises said sign and said scale that obtains in real time calculate and obtain the terminal real-time displacement of initial position relatively of said execution arm.
Preferably,
In the step 11), the horizontal ruler and vertical scale of the said scale of setting for intersecting;
In the step 13); With the sign in the initial pictures and obtain in real time in the image sign all with the horizontal ruler of corresponding said scale and vertically the imaging of scale compare analysis, calculate and obtain said execution the arm terminal left and right displacement and the upper and lower displacement of initial position relatively.
Preferably,
In the step 11), on said camera, angular transducer is set;
In the step 12), said camera is followed the tracks of the center of said sign, and obtains the image of said sign;
In the step 13); Write down level angle and the vertical angle of the said camera of said angular transducer detection with respect to initial position; Said initial pictures of comparative analysis and the identification image that obtains in real time; Obtain said the camera extremely initial distance and real-time distance of said sign center, obtain the real-time displacement of the terminal relative initial position of said execution arm according to initial distance, distance, initial level angle, initial vertical angle, real-time level angle and vertical angle calculating in real time in real time.
Preferably,
Between step 12) and step 13), also have following steps:
123) the adjustment camera makes the center of aiming at said sign in the window center of the said camera of initial position.
Preferably, in the step 14), control the focal length of said camera according to the image of the said sign of obtaining.
Preferably, in the step 11), the perform region around said execution arm end is provided with at least two cameras.
The method of the terminal motion of arm is carried out in control provided by the present invention; Can be directly through initial pictures and the identification image that obtains in real time analysis relatively; Obtain the real-time displacement of sign, and then know the real-time displacement of carrying out the arm end, the instruction of arm operation is carried out in output control.Directly compare calculation mode,, have higher degree of accuracy with respect to utilizing a plurality of sensor data signals stack calculation mode in the prior art through image; And the present invention only is provided with sign at execution arm end, need not so possess higher measurement stability and security, to be applicable to the complicated abominable occasion of operating mode in carrying out the terminal sensor installation type of electrical component of arm.
In further technical scheme, at the near-end of camera scale is set, scale can be eliminated the error that the camera shake causes when analyzing the normative reference of sign; And, because the imaging of scale is comparatively steady and audible, the shape of the comparison that is easy to be designed to be convenient for reference, handling procedure that can the simplified image processing module improves degree of accuracy; In addition, under the situation that focal length changes, can calculate the focal length variable through the change of scale imaging size, and then accurately calculate the real-time displacement of sign, and need not to obtain the focal length variable through other approach.
In order to reach second purpose of the present invention, the present invention also provides a kind of control system of carrying out the terminal motion of arm, comprising:
With carrying out the terminal sign that moves of arm;
Camera is arranged at the position that can be observed the terminal motion of said execution arm, and obtains the image of said sign;
Image processing module; Said image processing module receives the image that said camera obtains; And the initial pictures of the said sign of initial position that prestores; And the image of said initial pictures of comparative analysis and the said sign obtained in real time, calculate and obtain the terminal real-time displacement of initial position relatively of said execution arm;
Carry out arm controller, receive the terminal real-time displacement of said execution arm that said image processing module obtains, carry out the terminal motion of arm based on the real-time displacement control that said execution arm is terminal.
Preferably, the scale that also comprises the window near-end that is arranged at said camera; Said camera obtains the image that comprises said sign and said scale; The said image processing module initial position that prestores comprises the initial pictures of said sign and said scale; And the image that comprises said sign and said scale that obtains in real time of the said initial pictures analysis of comparative analysis, calculate and obtain the terminal real-time displacement of said execution arm.
Preferably, the horizontal ruler and vertical scale of said scale for intersecting; Said Flame Image Process with the sign in the initial pictures and obtain in real time in the image sign all with the horizontal ruler of corresponding said scale and vertically the imaging of scale compare analysis, calculate and obtain said execution the arm terminal left and right displacement and the upper and lower displacement of initial position relatively.
Preferably, also comprise the control module of camera, when being positioned at initial position, said control module is adjusted said camera according to the image of the said sign of obtaining, and makes the window center of said camera aim at the center of said sign.
Preferably, said camera is provided with angular transducer; Said camera is followed the tracks of the center of said sign, and obtains the image of said sign; Said image processing module writes down level angle and the vertical angle of the said camera of said angular transducer detection with respect to initial position; And said initial pictures of comparative analysis and the identification image that obtains in real time; Obtain said the camera extremely initial distance and real-time distance of said sign center, obtain the real-time displacement of the terminal relative initial position of said execution arm according to initial distance, distance, initial level angle, initial vertical angle, real-time level angle and vertical angle calculating in real time in real time.
Preferably, said sign is processed by reflectorized material; And be set to identify the illuminator far away that illumination is provided, the control end of said illuminator far away connects the said control module of said camera.
Preferably, said control module is controlled the focal length of said camera according to the image of the said sign of obtaining.
Preferably, the perform region around the said execution arm end is provided with at least two cameras.
Preferably, a said part that is designated the terminal flexible pipe of said execution arm.
The control system of the terminal motion of execution arm provided by the present invention; Directly analyze initial pictures that relatively identifies and the image that obtains in real time by image processing module; Obtain the real-time displacement of sign according to variable quantity; And then know the real-time displacement of carrying out the arm end, and carry out the instruction that arm moves by carrying out arm motion controller output control.With respect to utilizing a plurality of sensor data signal stack calculation mode in the prior art, this control system possesses high-precision analysis and Control ability; And this control system only is provided with sign in carrying out the arm end, need not so possess higher measurement stability and security, to be applicable to the complicated abominable occasion of operating mode in carrying out the terminal sensor installation type of electrical component of arm.And in the process that the execution arm moves, the near-end working condition chart that can also utilize above-mentioned control system will carry out the terminal perform region of arm looks like to be transferred to the display device in the control system, so that carry out the Remote operation.Further can look like to analyze to carrying out the arm end view, avoid carrying out the terminal and large-scale barrier collision of arm, realize carrying out the terminal intelligent barrier avoiding of arm through above-mentioned control system.
Description of drawings
Fig. 1 is the process flow diagram that the terminal movement technique of arm is carried out in control provided by the present invention;
Fig. 2 is the process flow diagram that first kind of embodiment of the terminal movement technique of arm carried out in control provided by the present invention;
Fig. 3 is the process flow diagram that second kind of embodiment of the terminal movement technique of arm carried out in control provided by the present invention;
Fig. 4 is the synoptic diagram that first kind of concrete account form of the terminal movement technique of arm carried out in control provided by the present invention;
Fig. 5 is the synoptic diagram that second kind of concrete account form of the terminal movement technique of arm carried out in control provided by the present invention;
Fig. 6 is the synoptic diagram that terminal the third the concrete account form of movement technique of arm is carried out in control provided by the present invention;
Fig. 7 is the structural representation of a kind of embodiment of the terminal kinetic control system of execution arm provided by the present invention;
Fig. 8 is the control principle synoptic diagram of control system among Fig. 7.
Embodiment
Core of the present invention is that a kind of method of carrying out the terminal motion of arm of controlling is provided, and this control method is utilized Flame Image Process mode real time direct to obtain and carried out the terminal displacement of arm, carries out the terminal movement locus of arm thereby can accurately control.Another core of the present invention provides a kind of control system of carrying out the terminal motion of arm.
In order to make those skilled in the art understand technical scheme of the present invention better, the present invention is done further detailed description below in conjunction with accompanying drawing and specific embodiment.
Please refer to Fig. 1, Fig. 1 is the process flow diagram that the terminal movement technique of arm is carried out in control provided by the present invention.
The method of the terminal motion of arm is carried out in control provided by the present invention, mainly may further comprise the steps:
Step S11) is provided with the terminal sign that moves of execution arm, and camera is set in can be observed the position of carrying out the terminal motion of arm;
The movement locus that promptly guarantees sign is consistent with the movement locus of carrying out the arm end.Then this sign can be to carry out the terminal part of arm; Or be arranged at carry out arm terminal and with other structural members of its maintenance relative fixed state, certainly, this structural member can be the own structural member of engineering machinery, also this sign can be set specially.Preferred scheme is with carrying out the terminal own structural member of arm as sign, realizing the object of the invention thereby make full use of homegrown resource.Such as, to the single oil cylinder pump truck, can be with its part of carrying out the terminal flexible pipe of arm as sign.
Concrete embodiment can for: the center section of flexible pipe is coated color, and this part colouring discrimination is in the color of other parts, or with the pipe box of equal other colors of overcoat in the two ends of flexible pipe, then can be with center section as sign.The preferred center section that adopts is a white; Other parts are black, or center section is black, and other parts are white; Also can be other color combination with obvious difference; Possess eye-catching effect, state imaging and graphical analysis that step is mentioned after being convenient to, prevent that promptly background colour from causing imaging unintelligible with the sign color similarity; Simultaneously, the structure optimization of sign is a regular shape, as shaft-like, states imaging and graphical analysis that step is mentioned after also being convenient to; In addition, owing to mainly need control to carry out the motion of arm end on short transverse, then the height dimension of sign is satisfying under the situation of imaging demand, and it is bigger to try one's best, to the scheme of flexible pipe, even the length of flexible pipe center section is longer.
In can be observed the position of carrying out the terminal motion of arm camera is set, so that at step S13) in, camera obtains and is positioned at the image of carrying out the terminal sign of arm.
Step S12) camera obtains the image of sign in real time;
Camera can obtain the video image of sign as required.
Step S13) the prestore initial pictures of initial position sign, the image of analyses and comparison initial pictures and the sign of obtaining in real time calculates the real-time displacement that obtains to carry out the terminal relative initial position of arm;
When carrying out the arm end in the process that the fixed position moves up and down; Sign moves with it; So be identified at the process that is imaged as dynamic change in the camera, therefore, analyze the variable quantity of the image of sign with respect to initial pictures; Can obtain to identify the real-time displacement of relative initial position, and then obtain carrying out the terminal real-time displacement of arm.
Step S14) carries out the terminal motion of arm based on carrying out the terminal real-time displacement control of arm.
The real-time displacement of sign is in fact promptly carried out the terminal displacement of arm, then can need in conjunction with actual motion according to this displacement, and the terminal movement locus of arm is carried out in control.
Can know through above-mentioned argumentation; The control method of the terminal motion of execution arm provided by the present invention; Can be directly through initial pictures and the identification image that obtains in real time analysis relatively; Obtain the real-time displacement of sign, and then know the real-time displacement of carrying out the arm end, the instruction of arm motion is carried out in output control.Directly compare calculation mode,, have higher degree of accuracy with respect to utilizing a plurality of sensor data signals stack calculation mode in the prior art through image; And the present invention only is provided with sign at execution arm end, need not so possess higher measurement stability and security, to be applicable to the complicated abominable occasion of operating mode in carrying out the terminal sensor installation type of electrical component of arm.
Please refer to Fig. 2, Fig. 2 is the process flow diagram that first kind of embodiment of the terminal movement technique of arm carried out in control provided by the present invention.
This embodiment, step S21), be provided with the terminal sign that moves of execution arm, and camera be set in the position that can be observed the terminal motion of said execution arm, also the window near-end at camera is provided with scale;
Be arranged at the near-end of window, guarantee that promptly scale all the time can be through the camera imaging, the position relation of scale and camera keeps constant; Promptly under the constant situation of focal length; The imaging size of scale equates all the time, when focal length changes, also can calculate the variation of focal length based on the variation of scale imaging size; So that accurately calculate the variation of the sign imaging size that causes owing to focal length variations, make the graphical analysis of sign have stable referential.The set-up mode of scale has multiple, such as, scale can be fixed in the place ahead of cam lens, also can be located at the inside of camera, and scale can also be fixed with miscellaneous part, guarantees it lens location with respect to camera is constant to get final product.
Correspondingly, step S22) in, camera obtains the image that comprises sign and scale;
Because scale can form images all the time, so the image that camera obtains comprises sign and scale simultaneously, certainly, under the situation that sign moves, in the different images constantly of acquisition, the relative position relation and the relative size of sign and scale all possibly produce dynamic change.
Correspondingly, step S23) in, the initial position that prestores comprises the initial pictures of sign and scale, comparative analysis initial pictures and the image that comprises sign and scale that obtains in real time calculate and obtain to carry out the terminal real-time displacement of initial position relatively of arm.
Analytical calculation principle in this step and step S13) identical.Because the imaging of scale is comparatively steady and audible, the shape of the comparison that is easy to be designed to be convenient for reference at this moment, can be calculated the real-time displacement of sign with the reference of scale as sign imaging change calculations.Therefore, scale be provided with can the simplified image processing module handling procedure, improve degree of accuracy; In addition, under the situation that focal length changes, can calculate the focal length variable through the change of scale imaging size, and then accurately calculate the real-time displacement of sign, and need not to obtain the focal length variable through other approach.
Step S24) carries out the terminal motion of arm based on carrying out the terminal real-time displacement control of arm.With step S14) identical.
Please refer to Fig. 3, the process flow diagram of second kind of embodiment of the terminal movement technique of arm is carried out in Fig. 3 control provided by the present invention.Comprise the steps:
Step S31) be provided with the terminal sign that moves of execution arm, and in the position that can be observed the terminal motion of said execution arm camera be set, also the window near-end at camera is provided with scale;
Step S32) camera obtains the image that comprises sign and scale;
Step S33), the adjustment camera at initial position, makes the window center of camera aim at the center of sign.
Be with the difference of first kind of embodiment, increased this step.After adding this step; In initialization procedure, can adjust the height or the angle of camera, make the camera window aim at the center of sign as far as possible; The initial pictures of the sign that then obtains is positioned at the middle part of entire image; So still in the cam lens coverage, the error of calculation is also relatively low simultaneously in its imaging behind the mobile certain distance of sign.
Step S34) initial position that prestores comprises the sign and the initial pictures of scale, and comparative analysis initial pictures and the image that comprises sign and scale that obtains in real time calculate the real-time displacement that obtains the relative initial position of execution arm end;
Step S35) carries out the terminal motion of arm based on carrying out the terminal real-time displacement control of arm.Step S34) with step S23) identical, step S35) with step S24) and step S14) identical.
Please refer to Fig. 4, Fig. 4 is the synoptic diagram that first kind of concrete account form of the terminal movement technique of arm carried out in control provided by the present invention.
This concrete account form is with sign 10 the initial imaging and the imaging of other imaging and scales 20 constantly Calculation Method of comparing; For ease of calculating sign 10 left and right displacement and upper and lower displacement (the vertically displacement of short transverse); Can sign 10 horizontal rulers that are set to intersect 201 and vertical scale 202 (cruciform scale) be equivalent to set up the perpendicular coordinate system.During processing; Can measure the height A 1 of the upper end of sign 10 initial imagings to horizontal ruler 201, the lower end of sign 10 initial imagings is to the height B 1 of horizontal ruler 201, and sign 10 initial imaging one ends are to vertical scale 202 length D1; The angle Q1 of sign 10 initial imagings and horizontal ruler 201; And the sign 10 imaging two ends in a certain moment are respectively A2, B2 to the height of horizontal ruler 201, and one of which end to the vertical length of scale 202 is D2, with the angle of horizontal ruler 201 be Q2; The physical length of sign 10 is L, then can calculate the distance Y that moves up and down of carrying out the terminal initial position relatively of arm through following formula:
Y＝Y2-Y1；
Y1＝L×SINQ1×(A1-B1)/(A1+B1)；
Y2＝L×SINQ2×(A1-B1)/(A1+B1)；
This method can also be calculated through following formula and carry out the terminal move left and right distance X of initial position relatively of arm:
X＝X2-X1；
X1＝L×SINQ1×D1/(A1+B1)；
X2＝L×SINQ2×D2/(A2+B2)。
In fact, above-mentioned angle Q1 and Q2 also can draw through height and the length computation that identifies 10 imagings, correspondingly, through angle and the length of measuring, also can draw the height of imaging, and the aforementioned calculation method can be provided with flexibly.To the accuracy requirement of upper and lower displacement and left and right displacement when all higher; Can identify 10 structure and be set to the cruciform sign; Promptly comprise vertical sign and level sign; These computing method are identical with the principle of first kind of account form, and difference only is the vertical sign imaging calculating that the upper and lower displacement basis is roughly vertically extended, and left and right displacement is according to the level sign imaging calculating of roughly along continuous straight runs extension.
When before and after carrying out the arm end, producing displacement; The size of sign 10 imagings can change; Corresponding width and length all can change; Can make conventional Flame Image Process (like processing modes such as the size that forms images, binocular range findings) through imaging law separately and calculate the front and back displacement, can also comprehensively take methods realization longitudinal separations such as laser ranging, infrared distance measurement to measure.Certainly; When front and back produced displacement, the aforementioned calculation formula also need be done suitable distortion, can measure the length of sign 10 initial imagings; The imaging length in a certain moment; Through the variation relation of two length values, revise the input variable in the above-mentioned formula, and then elimination moves forward and backward the error of calculation of being brought; Certainly, when length changes and influences above certain limit, also can reinitialize program, with new position point as a reference.
Please refer to Fig. 5, Fig. 5 is the synoptic diagram that second kind of concrete account form of the terminal movement technique of arm carried out in control provided by the present invention.
In this account form, sign 10 is set to grating 101 forms, and the width of every group of grating 101 can require design according to control accuracy, and (such as control accuracy is 0.1 meter; Grating 101 width can be designed to 0.05 meter); Certainly, grating 101 width should be tried one's best widelyer satisfying under the prerequisite of control accuracy, be convenient to imaging analysis; Scale 20 is the level of state, and the scale imaging can be held a grating 101.If grating 101 width are A, it is M that grating 101 moves quantity, through the graphical analysis in the initial pictures and a certain moment, can draw the mobile quantity of grating 101, then identifies upper and lower displacement L=A * M of 10.Sign imaging shown in the figure is roughly vertically extended; When needing the measurement left and right displacement, can sign 10 be set to have level sign and the structure that vertically identifies, and all be made as raster mode; When then calculating left and right displacement, identical with the calculating principle of upper and lower displacement.When before and after carrying out the arm end, producing displacement, can carry out error compensation according to the imaging change width deflection scale position of grating.
Certainly, according to the difference of sign 10 forms, can also obtain the displacement of sign 10 by other account forms.
In above-mentioned two kinds of account forms, all with the imaging of scale 20 as a reference, in fact, also can in the image processing process in later stage, virtual scale be set.Need to prove; When scale 20 is fixed on other structures; Even camera 100 has slight jitter, it is stable that the angle of the imaging of scale 20 still keeps, so the entity scale of setting 20 is with respect to virtual scale; Can be all the time exactly as the normative reference that identifies 10 image change, so the scale that scale 20 forms references preferably is set.
Please refer to Fig. 6, Fig. 6 is the synoptic diagram that terminal the third the concrete account form of movement technique of arm is carried out in control provided by the present invention.
In this account form, camera 100 is in tracking mode, makes corresponding angular turn with the change of sign 10 positions, the centre position of real-time follow-up sign 10.According to the image of taking; In the time of can obtaining initial position; Camera 100 to sign 10 center apart from S1; A certain moment camera 100 to the sign 10 centers apart from S2; And can obtain level angle P2, vertical angle Q2 (, setting up the XYZ three-dimensional system of coordinate among the figure) under camera 100 level angle P1, vertical angle Q1 and the current state by the angular transducer of being located on the camera 100 for ease of understanding, then can calculate the distance Y that moves up and down of carrying out the terminal initial position relatively of arm through following formula:
Y＝Y1-Y2；
Y1＝S1×SINQ1；
Y2＝S2×SINQ2；
Carry out the terminal move left and right distance X of initial position relatively of arm:
X1＝S1×COSQ1；
X2＝S2×COSQ2；
P＝|P2-P1|；
Carry out terminal the moving forward and backward of initial position relatively of arm apart from Z
Z＝Z1-Z2；
Z1＝S1×COSQ1×SINP1；
Z2＝S2×COSQ2×SINP2；
In the third account form, the distance that identifies between 10 centers and the camera 100 can draw through the imaging of analytical calculation scale 20 with sign 10, also can obtain through image analysis methods such as dual camera range findings.
In addition, to above-mentioned each embodiment, step S14) in, can also be according to the focal length of the image control camera 100 of the sign of obtaining in real time 10.When predefined focal length possibly can't obtain sign 10 images that satisfy the sharpness requirement, can control camera 100 zooms, during analytical calculation, the image size variation amount that zoom causes is introduced in the computing formula.
The foregoing description all builds on, and camera is positioned at and can be observed the position of carrying out the terminal motion of arm, and it is less to carry out the terminal actuating range of arm.Change when carrying out the terminal construction location of arm, and luffing is when big, camera possibly can't continue to observe carries out the terminal motion of arm, can at least two cameras be set in whole perform region.Carry out perform region around the arm end and refer to carry out the arm end in any zone that certain position can reach; Two above cameras are set, can enlarge carrying out the terminal monitoring range of arm, a plurality of cameras are set after; Carry out arm action in any direction; All there is corresponding camera that it is monitored, can obtains continuous position signalling, regulation and control wider.
Above account form can calculate easily carries out the terminal top to bottom, left and right, front and rear displacement of arm, and at initial position, selected certain position is a true origin, then can set up the three dimensional space coordinate system of sign.Monitoring the location parameter of sign in real time based on the displacement of calculating, when needs sign conversion work position of platform, can be reference with this parameter, and accurately the control execution arm end that has a sign moves to the optional position in the working region.
In fact, in carrying out the perform region of arm, can possibly work (the terminal perform region of a plurality of execution arms overlaps) by a plurality of execution arm ends, a plurality of cameras that then can be provided with can be controlled the movement locus of a plurality of execution arms simultaneously, realize that accurate intellectuality controls.
Except above-mentioned control method, the present invention also provides a kind of control system of carrying out the terminal motion of arm.Please refer to Fig. 7 and Fig. 8, Fig. 7 is the structural representation of a kind of embodiment of the terminal kinetic control system of execution arm provided by the present invention; Fig. 8 is the control principle synoptic diagram of control system among Fig. 7.
This control system comprises with terminal sign 10, camera 100, the image processing module 200 that moves of execution arm, and carries out arm controller 300.
In order to enlarge to carrying out the range of control of the terminal motion of arm; Except camera being set in can be observed the position of carrying out the terminal motion of arm; Can also more than one monitoring camera be set in the perform region around the execution arm end; Make execution arm end move to arbitrary orientation, all have at least one corresponding camera it is carried out monitoring.When the arm end is carried out in camera 100 monitoring of diverse location, can the position residual quantity between the different cameras 100 be integrated with in the calculation procedure of image processing module 200, make the reference frame of graphical analysis keep unified; Or carry out when arm is terminal to be got in the visual range that is different from the camera 100 that adopts in advance, corresponding camera carries out analyzing and processing according to predefined reference frame; Or can know by said method; A plurality of cameras 100 are set; Can set up and carry out the terminal three dimensional space coordinate system of arm; Accurately control is carried out the arm end and is moved to the optional position the perform region in, when in the perform region, having a plurality of execution arms end, can set up the execution arm control system of scale.
When being positioned at initial position; Can adjust the relative position of camera 100 and sign 10; Its advantage is existing the argumentation in control method (be primarily aimed in first and second kinds of computing method, sign be adjusted to the center of camera 100), correspondingly; The control module 400 of control camera 100 can be set, the variation of control camera 100 height or angle.The control module 400 of camera 100 can be connected with execution arm controller 300 or image processing module 200; Carrying out arm controller 300 all can be according to the sign of obtaining 10 image with image processing module 200; Judge initial position; Whether the image of sign 10 is suitable as initial pictures, and sends the control module 400 of control signal corresponding to camera 100, by the height and the angle of control module 400 control cameras 100.
Carry out arm controller 300, in order to receiving the realtime graphic of the sign 10 that image processing module 200 obtains, calculate according to the initial pictures and the realtime graphic of sign 10 and to carry out the terminal real-time displacement of arm, and then the motion of arm end is carried out in control.Carry out arm controller 300 and also can be connected through wired or wireless mode with image processing module 200, the two also can be integrated on the same module.
The control system of the terminal motion of execution arm then provided by the present invention; Image by image processing module 200 direct analyses relatively identify 10 initial pictures and obtain in real time obtains the real-time displacement of carrying out the terminal relative initial position of arm and the instruction of being moved by execution arm controller execution arm controller 300 output control execution arms according to variable quantity.With respect to utilizing a plurality of sensor data signal stack calculation mode in the prior art, this control system possesses high-precision analysis and Control ability; And this control system only is provided with sign 10 in carrying out the arm end, need not so possess higher measurement stability and security, to be applicable to the complicated abominable occasion of operating mode in carrying out the terminal sensor installation type of electrical component of arm.
Further, control system can also comprise the scale 20 of the window near-end that is arranged at camera 100, cruciform scale as shown in Figure 8, and scale 20 is constant with the position relation maintenance of camera 100.Comprise sign 10 and scale 20 in the image that then camera 100 obtains, and under the constant situation of focal length, the imaging of scale 20 size keeps constant.During initialization, image processing module 200 initial position that prestores comprises the sign 10 and the initial pictures of scale 20, and the image that comprises sign 10 and scale 20 that analysis is obtained in real time according to initial pictures, calculates and obtains to carry out the terminal real-time displacement of arm.The principle of work of scale 20 and the technique effect of generation are also discussed in the embodiment of control method, do not give unnecessary details at this.
The control module 400 of above-mentioned camera 100 can also be controlled the focal length of camera 100 according to the image of the sign of obtaining 10.In the process of carrying out the terminal motion of arm, all can control the zoom of control module 400, the variation of sign 10 that focal length variations causes or scale 20 imagings will count in the middle of the computing formula.
In control method, the concrete account form with regard to image processing module is described, can be with reference to understanding.
In addition, operation during for ease of night or insufficient light, sign 10 can be processed by reflectorized material, so that image recognition.And, can also be set to identify 10 illumination is provided illuminator far away, then under the effect of illuminator far away, be convenient to obtain and identify 10 images clearly.The control end of illuminator far away can connect the control module 400 of camera 100, and camera is during according to the position adjustment angle of sign 10 or height, and the light that guarantees illuminator far away is directive sign 10 all the time, Given this, illuminator far away be preferably disposed on camera 100 near.
In addition, gather the near-end working condition chart picture of carrying out the terminal perform region of arm, this image is shown on the display device of engineering machinery, can realize that engineering machinery is carried out the arm end carries out long-range operating mode observation through camera 100.Further carrying out the terminal image of arm through 200 pairs of image processing modules analyzes; When carrying out the arm end near certain large-scale barrier when wall (for example vertical); Image processing module 200 produces warning information and sends to carries out arm controller 300; Carry out arm controller 300 controls and stop to carry out the motion of arm or revising motion path, thereby can realize carrying out the terminal intelligent barrier avoiding of arm.The associated picture analysis and processing method is well known to those skilled in the art, and repeats no more at this.
More than a kind of method and control system of carrying out the terminal motion of arm of controlling provided by the present invention is described in detail.Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (16)
1. control the method for carrying out the terminal motion of arm for one kind, it is characterized in that, may further comprise the steps:
11) be provided with the terminal sign that moves of said execution arm, and camera be set in the position that can be observed the terminal motion of said execution arm;
12) said camera obtains the image of said sign in real time;
13) the prestore initial pictures of the said sign of initial position, the image of said initial pictures of comparative analysis and the said sign obtained in real time calculates and obtains the terminal real-time displacement of initial position relatively of said execution arm;
14) control the terminal motion of said execution arm based on the terminal real-time displacement of said execution arm.
2. the method for the terminal motion of arm is carried out in control according to claim 1, it is characterized in that,
In the step 11), also the window near-end at said camera is provided with scale, and it is constant that the position of the said relatively camera of said scale keeps;
In the step 12), said camera obtains the image that comprises said sign and said scale;
In the step 13), the initial position that prestores comprises the initial pictures of said sign and said scale, and comparative analysis initial pictures and the image that comprises said sign and said scale that obtains in real time calculate and obtain the terminal real-time displacement of initial position relatively of said execution arm.
3. the method for the terminal motion of arm is carried out in control according to claim 2, it is characterized in that,
In the step 11), the horizontal ruler and vertical scale of the said scale of setting for intersecting;
In the step 13); With the sign in the initial pictures and obtain in real time first in image sign all with the horizontal ruler of corresponding said scale and vertically the imaging of scale compare analysis, calculate the left and right displacement and the upper and lower displacement of the relative initial position of the said execution arm end of acquisition.
4. the method for the terminal motion of arm is carried out in control according to claim 2, it is characterized in that,
In the step 11), on said camera, angular transducer is set;
In the step 12), said camera is followed the tracks of the center of said sign, and obtains the image of said sign;
In the step 13); Write down the level angle and the vertical angle of the said camera of said angular transducer detection; Said initial pictures of comparative analysis and the identification image that obtains in real time; Obtain said the camera extremely initial distance and real-time distance of said sign center, obtain the real-time displacement of the terminal relative initial position of said execution arm according to initial distance, distance, initial level angle, initial vertical angle, real-time level angle and vertical angle calculating in real time in real time.
5. the terminal method of moving of arm is carried out in each described control according to claim 1 to 3, it is characterized in that,
Between step 12) and step 13), also have following steps:
123) the adjustment camera makes the center of aiming at said sign in the window center of the said camera of initial position.
6. the terminal method of moving of arm is carried out in each described control according to claim 1 to 4, it is characterized in that,
In the step 14), control the focal length of said camera according to the image of the said sign of obtaining.
7. the terminal method of moving of arm is carried out in each described control according to claim 1 to 4, it is characterized in that,
In the step 11), the perform region around said execution arm end is provided with at least two cameras.
8. a control system of carrying out the terminal motion of arm is characterized in that, comprising:
With carrying out the terminal sign that moves of arm;
Camera is arranged at the position that can be observed the terminal motion of said execution arm, and obtains the image of said sign;
Image processing module; Said image processing module receives the image that said camera obtains; And the initial pictures of the said sign of initial position that prestores; And the image of said initial pictures of comparative analysis and the said sign obtained in real time, calculate and obtain the terminal real-time displacement of initial position relatively of said execution arm;
Carry out arm controller, receive the terminal real-time displacement of said execution arm that said image processing module obtains, carry out the terminal motion of arm based on the real-time displacement control that said execution arm is terminal.
9. the control system of the terminal motion of execution arm according to claim 8 is characterized in that,
The scale that also comprises the window near-end that is arranged at said camera; Said camera obtains the image that comprises said sign and said scale; The said image processing module initial position that prestores comprises the initial pictures of said sign and said scale; And the image that comprises said sign and said scale that obtains in real time of the said initial pictures analysis of comparative analysis, calculate and obtain the terminal real-time displacement of initial position relatively of said execution arm.
10. based on the control system of the described execution arm end of claim 9 motion, it is characterized in that the horizontal ruler and vertical scale of said scale for intersecting; Said image handle with the sign in the initial pictures with obtain in real time in the image sign all with the horizontal ruler of corresponding said scale and vertically the imaging of scale compare analysis, the left and right displacement and the upper and lower displacement of the relative initial position of the said execution arm end of calculating acquisition.
11. the control system of the terminal motion of execution arm according to claim 8; It is characterized in that; The control module that also comprises camera; When being positioned at initial position, said control module is adjusted said camera according to the image of the said sign of obtaining, and makes the window center of said camera aim at the center of said sign.
12. the control system of the terminal motion of execution arm according to claim 11 is characterized in that said camera is provided with angular transducer; Said camera is followed the tracks of the center of said sign, and obtains the image of said sign; Said image processing module writes down the level angle and the vertical angle of the said camera of said angular transducer detection; And said initial pictures of comparative analysis and the identification image that obtains in real time; Obtain said the camera extremely initial distance and real-time distance of said sign center, obtain the terminal real-time displacement of said execution arm according to initial distance, distance, initial level angle, initial vertical angle, real-time level angle and vertical angle calculating in real time in real time.
13. the control system of the terminal motion of execution arm according to claim 11 is characterized in that said sign is processed by reflectorized material; And be set to identify the illuminator far away that illumination is provided, the control end of said illuminator far away connects the said control module of said camera.
14. the control system of the terminal motion of execution arm according to claim 11 is characterized in that, said control module is controlled the focal length of said camera according to the image of the said sign of obtaining.
15. to the control system of the terminal motion of 14 each described execution arms, it is characterized in that the perform region around the said execution arm end is provided with at least two cameras according to Claim 8.
16. to the control system of the terminal motion of 14 each described execution arms, it is characterized in that a said part that is designated the terminal flexible pipe of said execution arm according to Claim 8.
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| CN201110301629.6A CN102508495B (en) | 2011-09-28 | 2011-09-28 | Method and system for controlling motion of tail end of execution arm |
| PCT/CN2012/074304 WO2013044626A1 (en) | 2011-09-28 | 2012-04-18 | System and method for controlling movement of tail end of execution arm |
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| CN201110301629.6A CN102508495B (en) | 2011-09-28 | 2011-09-28 | Method and system for controlling motion of tail end of execution arm |
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