CN103271784A - Man-machine interactive manipulator control system and method based on binocular vision - Google Patents
Man-machine interactive manipulator control system and method based on binocular vision Download PDFInfo
- Publication number
- CN103271784A CN103271784A CN2013102235308A CN201310223530A CN103271784A CN 103271784 A CN103271784 A CN 103271784A CN 2013102235308 A CN2013102235308 A CN 2013102235308A CN 201310223530 A CN201310223530 A CN 201310223530A CN 103271784 A CN103271784 A CN 103271784A
- Authority
- CN
- China
- Prior art keywords
- target
- module
- coordinate
- dimensional
- hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a man-machine interactive manipulator control system and method based on binocular vision. The man-machine interactive manipulator control system is composed of a real-time image collecting device, a laser guiding device, a programmable controller and a driving device. The programmable controller is composed of a binocular three-dimensional vision module, a three-dimensional coordinate system transformation module, an inverse manipulator joint angle module and a control module. Color characteristics in a binocular image are extracted through the real-time image collecting device to be used as a signal source for controlling a manipulator, and three-dimensional information of red characteristic laser points in a view real-time image is obtained through transformation and calculation of the binocular three-dimensional vision system and a three-dimensional coordinate system and used for controlling the manipulator to conduct man-machine interactive object tracking operation. The control system and method can effectively conduct real-time tracking and extracting of a moving target object and is wide in application fields such as intelligent artificial limb installing, explosive-handling robots, manipulators helping the old and the disabled and the like.
Description
Technical field
The present invention relates to the mechanical hand control technology in fields such as rehabilitation assistive device, robotics, relate in particular to the control technology that mechanical hand adopts man-machine interactive, is a kind of Based Intelligent Control and high efficiency method based on the Machine Vision Recognition location.
Background technology
Along with the science and technology development progress, the application of mechanical hand is extended gradually.Mechanical hand not only is widely used in traditional industry, as fields such as building, mining, metallurgy, oil, chemical industry, boats and ships, and high-tech areas such as nuclear energy, Aero-Space, biochemistry have been expanded to, simultaneously also begin to be applied to family health care, service trade fields such as medical treatment and nursing are as artificial limb, the mechanical hand etc. of helping the disabled of helping the elderly on the intelligence.Current, how the convenient, flexible mechanical hand of controlling is that mechanical hand is controlled a very important problem content in the research field.Nowadays the bionical control signal that is used for the control mechanical hand in the world mainly contains eye movement signal, EEG signals, voice signal, dynamoelectric signal and the nerve signal relevant with human body self etc., the control mode that mechanical hand is adopted wherein, a lot of weak points are arranged, low as control accuracy, complex operation is complicated, the dehumanization uses etc.
So-called control mode to mechanical hand generally refers to the ROBOT CONTROL mode.At present, according to the difference of robot target state, be divided into two kinds of patterns of structuring working environment and destructuring working environment.
Be operated in the robot in the structuring working environment, because position and the attitude of its target are changeless, its job content also is changeless, so all be according to the program that weaves in advance robot to be controlled generally, finish the operation element of some sequencing, as be operated in robot on the welding production line etc.The technology relevant with the present invention is the robot that is operated in the destructuring environment.
Be operated in the robot of destructuring environment, the position of its target and attitude change often at any time, and at present, the common operative scenario of this robot has following 3 kinds:
1. the operating position of robot is changeless, at this moment can pass through certain robotic vision system (as binocular vision system).Come the position of real-time testing target and the relative robot coordinate system's of attitude variation, different according to the position of target and attitude then, adjust movement position and the attitude of robot hand, and come object is operated according to planning good operating path or final goal position, personnel do not participate in its work process that has configured, as are operated in robot on the packaging for foodstuff production line etc.
2. though the robot operating position changes, but can position and the attitude of target be detected in advance, in its work process, the position of robot and target concerns relatively stable constant, at this moment, only needing that some parameter of robot control is made corresponding adjustment gets final product, after having determined relevant parameter, robot just can control robot according to the program that weaves in advance, finish the operation element of those sequencing, personnel do not participate in its work process that has configured, as concrete jetting robot or rock drilling robot etc.
3. the robot operating position changes, and can't position and the attitude of its target accurately be detected again, the master-slave mode modes of operation that adopt are controlled robot more at present, namely, by the operation to " main hands " handle or button, adjust the movement position of " from hands " (being the mechanical hand of practical operation work) hand at any time, make robot operate realization of goal, personnel participate in its operating process closely, as the anti-riot robot of master-slave mode operation etc.
In the 3rd kind of above-mentioned mode of operation, how to adjust " main hands " state, so that " from hands " accurately arrives the target location, to control with operator's range estimation and experience entirely, such control mode has following deficiency:
(1). the operator must control all joints of " main hands " and go action, so that " from hands " makes corresponding action, whole control process is complicated and tediously long.
(2). because the error of operator's range estimation reaches " main hands " operation amplitude is difficult for accurately control, so in " main hands " process of adjustment, tend to make " from hands " movement " not in place " or " move past position ", need repeatedly to adjust to make " from hands " to reach the requirement position, very inconvenient.
(3). this mode of operation is difficult for making hand to walk or finish the class activity of playing chess along a certain random walk.
In order to solve the difficult problem that mechanical hand exists in the 3rd kind of mode of operation, can make personnel at any time in the Attended Operation process again, content of the present invention has been proposed.
The present patent application people had once applied for a kind of " method for solving of joint of artificial limb spatial parameter on the multiple degrees of freedom " (publication number CN101953727A, application number 201010280499.8), this method can be in the position, working place of only knowing target, and do not know that institute requires under the hand attitude situation, joint space parameter to artificial limb on the multiple degrees of freedom or robot obtains certain feasible solution, can finish the operation task of appointment.
Summary of the invention
The objective of the invention is the existing deficiency of operation at existing " master-slave mode " mechanical hand, in order to allow the operation of convenient flexibly, the efficient and hommization of mechanical hand manipulator, in conjunction with the existing multi-freedom artificial limb of realizing target is at random carried out the method for solving of joint of artificial limb spatial parameter on sterically defined method and the multiple degrees of freedom, proposed that a kind of personnel's property of participation is strong, man-machine interaction is effective, can move down in the guiding of laser instrument and start a kind of new mechanical arm control system and the control method of portion position.
For achieving the above object, manipulator control system of the present invention is made up of following four parts: real time image collection device, laser aiming device, programmable controller and driving device; Wherein:
Described real time image collection device is made up of two wireless camera machines or USB photographic head, form the so-called virtual binocular of mechanical hand---" eyes " thus, this pair " eyes " be used for gathering in real time synchronously scope that mechanical hand is controlled about two two field pictures, it has servo-actuated property, follows the tracks of the visual field for man-machine Interactive control mechanical hand provides.
Described laser aiming device is to wear frame and be located at the mini laser instrument of wearing on the frame by one to constitute, and this device is to set up for the color identification module in the binocular stereo vision module provides red characteristic point.The laser aiming device provides the target object in the image to mark out the real time image collection module, and the target object of laser point and motion carries out corresponding servo-actuated action then; The red laser point that laser instrument is got must be in the zone of two wireless camera common identification, otherwise can influence the normal operation of binocular tri-dimensional vision system.
Described Programmable Logic Controller is made up of binocular stereo vision module, three-dimensional system of coordinate conversion module, reverse anti-solution manipulator joint angle mould piece and control module; Wherein:
The binocular stereo vision module is used for the red laser point that laser instrument is beaten in the wireless camera machine visual field is detected identification and location.Laser point is as the characteristic point on the frame two field picture in the wireless camera video flowing, is used for carrying out red characteristic point identification based on the binocular tri-dimensional vision system of OpenCV function library exploitation, and then the laser point that identifies is carried out three-dimensional coordinate measurement.
The three-dimensional system of coordinate conversion module be used for video camera photocentre coordinate system that the binocular stereo vision system module is recorded and the relation between the laser point coordinate system be converted into base coordinate that mechanical hand top O orders be and target laser point world coordinate system between relation.
Reverse anti-solution joint of artificial limb angle mould piece is an artificial nerve network model that has trained, it mainly acts on, when arm-and-hand system obtains target at random after the three dimensional space coordinate value of base coordinate system, the compensatory attitude that these 3 coordinate figures and certain are owed to define is described the input as network model, come to obtain fast, concurrently certain feasible value of finding the solution in each joint of mechanical hand with this, rotate the angle in each joint according to these values of finding the solution, just the hand center of mechanical hand can be placed near certain height of position of laser point indication.Its operation principle is of existing patent of invention " method for solving of joint of artificial limb spatial parameter on the multiple degrees of freedom " (publication number CN101953727A, application number 201010280499.8).Hence one can see that, after the three-dimensional coordinate transformation module is imported the three-dimensional information of target object into, institute's established model just at once reverse anti-solution obtain the feasible joint angles in each joint of mechanical hand, finally doing evil through another person is just arrived the target object position smoothly.
Control module is used for sending trace command, grasps target instruction target word, unclamps target instruction target word, hand lifting instruction, hand descend instruction and teaching target instruction target word.
Described driving device comprises the motor of driver and driving device hands; When driver receives the action command that control module sends, can drive corresponding motor rotation at once, come each joint angle of mechanical hand is regulated and control, finally finish the control to mechanical hand.
The control method of control system of the present invention is as follows:
The first step: when operator need operate certain target, opening control brought into operation, and image collecting device begins real-time acquisition of image data;
Second step: controller sends trace command, and operator open laser instrument, artificially laser beam is projected on the target object that needs operation, and target object is positioned, and lays a good groundwork for the mechanical hand hand accurately arrives the target object position; If motion has taken place target object, at this moment, the operator can swing the laser aiming device artificially, and laser point is beaten on target object always, and is servo-actuated with target, so realized man-machine interaction tracking target object;
The 3rd step: binocular vision identification locating module carries out color identification and three-dimensional information location to the red feature laser point that laser instrument is beaten on target object, namely the red feature laser point that identifies is carried out three-dimensional coordinate measurement, calculate laser point on the target object with respect to the three-dimensional coordinate of left video camera photocentre point, and three-dimensional coordinate information is fed back to the three-dimensional system of coordinate conversion module;
The 4th step: the three-dimensional system of coordinate conversion module will feed back the three-dimensional coordinate that comes and be converted to the three bit space coordinate figures of target in base coordinate system at random, and this three bit spaces coordinate figure is fed back to control module and reverse anti-solution joint of artificial limb angle mould piece;
The 5th step: the target at random that reverse anti-solution joint of artificial limb angle mould piece obtains trying to achieve from the three-dimensional system of coordinate conversion module is when the three-dimensional information of working place, the compensatory attitude that these 3 coordinate figures and certain are owed to define is described the input as network model, come to obtain fast, concurrently certain feasible value of finding the solution in each joint of mechanical hand with this, each joint motor of driver drives is adjusted to corresponding angle, makes the arm-and-hand system hand to the target location at laser point place;
The 6th step: system operators is sent action command by controller, by control module instruction is sent to driver module, by driver module finish grasp target, unclamp target, the lifting of doing evil through another person, the decline of doing evil through another person, teaching target location associative operation.
Above-mentioned manipulator control system and method adopt the color character that extracts in the binocular image as the signal source of controlling mechanical hand, draw the three-dimensional information of red feature laser point in the real time imaging of the visual field by binocular vision system and three-dimensional system of coordinate conversion Calculation, control the operation that mechanical hand carries out the tracking target of man-machine interactive.When sending trace command and send, the hand of mechanical hand moves with regard to beginning to follow the movement of laser point, and when sending when grasping target instruction target word, mechanical hand grasps target; When sending when unclamping target instruction target word, mechanical hand unclamps target; When sending hand lifting instruction, the height of a setting of the vertical lifting of mechanical hand hand; When sending hand decline instruction, the height of the vertical setting that descends of mechanical hand hand; When sending the teaching target instruction target word, the mechanical hand hand is automatically moved to the good target location of certain teaching.
This control method can remedy the aforesaid deficiency that is operated in the 3rd kind of mode of operation of robot in the destructuring environment, make personnel's control tensity reduce greatly, the easier description of operator's wish and realization, the hot spot that sends by binocular stereo vision system identification locating laser device, mechanical hand can be realized moving along path arbitrarily easily, in conjunction with other control instruction of mechanical hand, control mechanical hand easily and finish actions such as playing chess, drink water, have a meal.This control method obviously is different from the 1st kind and the 2nd kind of mode of operation again, and it has strengthened operator's property of participation at any time, and is not only an onlooker.This control system and the method system structure is simple, efficient is high, precision is suitable, cost is low, control is convenient, wear hommization, and can carry out real-time tracking to the target object in the motion very effectively grasps, application is very broad, as artificial limb, explosive-removal robot, the mechanical hand etc. of helping the disabled of helping the elderly on the intelligence.
Description of drawings
Fig. 1 is the theory diagram of manipulator control system;
Fig. 2 is real time image collection device and laser aiming device sketch map, is example with the deformed limb patient among the figure;
Fig. 3 is coordinate system conversion and measuring principle sketch map;
Fig. 4 is control module figure;
Fig. 5 is the flow chart of method for controlling robot embodiment.
Among the figure: 1-video camera, 2-laser instrument, 3-artificial limb, 4-cup, 5-desk.
The specific embodiment
With reference to the accompanying drawings enforcement of the present invention is described further below.
Fig. 1 is system principle diagram of the present invention, as can be seen from the figure comprise four major parts, be respectively: the real time image collection device, the laser aiming device, the Programmable Logic Controller of being formed by binocular stereo vision module, three-dimensional system of coordinate conversion module, reverse anti-solution manipulator joint angle mould piece and control module, and driver module.Wherein:
Described real time image collection module embodiment as shown in Figure 2, it is the binocular camera 1 that is placed on deformed limb patient's front A point place, effect one is for man-machine Interactive control Robot actions provides live video stream, makes things convenient for the mechanical hand effector to obtain the visual field information in its place ahead by video camera; The 2nd, form " eyes " of binocular stereo vision module, for the identification location of system provides real-time two field picture.At this, suppose that relative breast abdomen is actionless to the real time image collection module at the A place, these two video cameras are through demarcating back gained experimental datas, get that the suitableeest distance is parallel to put together, and constitute the eyes of binocular stereo vision module;
Described laser aiming device embodiment as shown in Figure 2, it is the laser instrument 2 that is placed in people's left ear E point place; Its major function is that the cup 4 that is placed on the desk 5 is followed the tracks of in the location, for the binocular stereo vision module provides required feature hot spot.Carrying out man-machine interactive when controlling mechanical hand, when the operator finds target object, open laser instrument, allow laser be mapped on the target object, this moment, laser instrument was located target, for the mechanical hand hand is that artificial limb 3 hands accurately arrive the target object position and lay a good groundwork; If motion has taken place target object, at this moment, the operator can swing the laser aiming module artificially, and laser point is beaten on target object always, and is servo-actuated with target, so realized man-machine interaction tracking target object.Mechanical hand places people with disability's right arm place, i.e. OGH section;
Described binocular stereo vision module is to use the OPENCV function library, by VC programming, and a software of doing in conjunction with MFC.By real time image collection device recited above, obtain a certain amount of left and right sides image that camera system is taken in real time synchronously, after demarcation separately, binocular are demarcated respectively to left and right cameras through software then, obtain inner parameter and the external parameter of left and right cameras; Moreover, software to operations such as real time imaging carry out that successively the three-dimensional coupling of image pretreatment, feature extraction, image, 3-d recovery, the degree of depth are determined after, the binocular stereo vision module is identified, follows the tracks of, is located characteristic area, feature color.The function of described binocular stereo vision module and three-dimensional system of coordinate conversion module realizes, we can be in systems soft ware, see the world coordinates of the relative shoulder joint node of real-time export target object base coordinate system, namely in Fig. 2, world's three-dimensional coordinate that the relative O of F point is ordered.This binocular vision system module adopts carries out color recognition to the red laser facula of feature, follow the tracks of, after the laser instrument of laser aiming module recited above is to the target object position and lock, in the visual field of the left and right cameras of real time image collection device simultaneously red color visible laser point F point (as shown in Figure 2) about among the synchronous frame figure, after control system is sent trace command, the binocular vision system module is identified the interior same laser point F point in zone that video camera is taken immediately, follow the tracks of, the location, simultaneously this module at once in the relative real time image collection module of output red laser facula F point left video camera photocentre D point (as Fig. 3) be world's D coordinates value of reference frame, when target object motion and laser point are also followed, binocular vision system software is constantly exported the real-time relative world D coordinates value of laser point F, at this moment, the D coordinates value that F is ordered constantly changes, and it reflects the movement locus of the left relatively video camera photocentre of laser point.At last, binocular tri-dimensional vision system F that Tracking Recognition the is gone out three-dimensional world coordinate figure of ordering feeds back to the three-dimensional system of coordinate conversion module in the man-machine interactive control arm-and-hand system.
Described three-dimensional system of coordinate conversion module, main effect be between the three-dimensional system of coordinate that laser point F is ordered on three-dimensional system of coordinate that the left video camera photocentre D that the binocular stereo vision system module is obtained order and the target object position orientation relation be converted to base coordinate be and laser point F point three-dimensional system of coordinate between position orientation relation, drawing the relative base coordinate of laser facula F point at last is the three-dimensional coordinate that initial point O is ordered.As shown in Figure 3, by top description as can be known, it is that the pose that relative D point coordinates is is described that the binocular vision system module has been tried to achieve the F point coordinates, and obtains the D coordinates value that the relative D of F point is ordered.CD is parallel with OB for left and right cameras photocentre line, at this, ignores some errors, and then OBDC can regard the constant coplanar tetragon of size as.If the coordinate system direction vector unanimity of the O in the tetragon, B, C, four points of D, then the D point coordinates is that relative O point coordinates system has just done constant pure flat of attitude and moves conversion, and the just D point coordinates that namely changes is that initial point is with respect to the variation of reference frame O point coordinates system.The attitude description pass, position of supposing the relative D point coordinates of F point system is matrix T 1, the D point coordinates is that relative base coordinate is that the pass that the O point coordinates is is transformation matrix T2, then the F point coordinates is that the pose description pass that relative O point coordinates is is: T=T1 * T2, the three-dimensional information of the relative D point coordinates of the laser point F that tries to achieve in conjunction with binocular vision module system then, easily trying to achieve the relative base coordinate of F point is the three-dimensional information that O is ordered.At last, the three-dimensional information that the three-dimensional system of coordinate conversion module is ordered target object F feeds back to reverse anti-solution manipulator joint angle mould piece and control module simultaneously, so that control system is known the three-dimensional information of target object in real time.
Described reverse anti-solution manipulator joint angle mould piece, utilize neutral net to the nonlinear characteristic of the parameter mapping ability of imperfect information uniqueness, fast parallel information processing capability and many input and output, set up a kind of solving model of special multi freedom degree mechanical joints of hand spatial parameter.Its operation principle is as described in the patent of invention " method for solving of joint of artificial limb spatial parameter on the multiple degrees of freedom " (application number 201010280499.8) of having declared.When arm-and-hand system obtains three-dimensional information in the working place of the target at random of trying to achieve from the three-dimensional system of coordinate conversion module, the compensatory attitude that these 3 coordinate figures and certain are owed to define is described the input as network model, with this certain feasible value of finding the solution of coming to obtain fast, concurrently each joint of mechanical hand, allow the arm-and-hand system hand arrive the position at target object place.When the control system module is sent tracking, after the instruction such as grasp, raise one's hand, mechanical hand respectively closes festival-gathering and will enlarge or dwindle angle by the feasible value of the joint angle of trying to achieve, and realizes that at last mechanical hand is to actions such as the tracking of target, extractings.
As shown in Figure 4, described control module mainly contain tracking, grasp target, unclamp target, hand lifting, hand decline, teaching target, seven control instructions that stop.Recognition instruction is mainly finished the identification to control instruction, after confirming to instruct, sends the instruction of identification to driver module.When manipulator's man-machine interactive is operated machine hand system, send required operational order by control module, each module of arm-and-hand system is carried out work according to corresponding instruction at once, finishes the control to mechanical hand.
1). when control module is sent trace command, binocular vision system module and three-dimensional system of coordinate conversion module feed back to control system in real time with the three-dimensional information of the laser point that identification is oriented, the feasible solution value that driver module then returns according to reverse anti-solution manipulator joint angle mould piece, constantly adjust the angle in each joint of mechanical hand, so that the position is constantly adjusted at the hand center of mechanical hand, realization is followed the tracks of the target object of laser instrument appointment, when the target object of the indication of laser facula do not stop mobile the time, the hand of mechanical hand will be followed the movement of laser point and be moved.
2). when control module was sent the extracting target instruction target word, driver module can carry out the closure in joint by the hand motor of driving device hands, comes target object is carried out grasping movement.
3). send when unclamping target instruction target word when control module, driver module can carry out opening of joint by the hand motor of driving device hands, comes target object is unclamped action.
4). when control module was sent hand lifting instruction, driver module was finished hand lifting action then by the height of a setting of driving device hands hand lifting.
5). when control module was sent hand decline instruction, driver module can be by the relevant joint motor running of driving device hands, the height of the setting that vertically descends.
6). when control module was sent the teaching target instruction target word, driver module can turn round by the relevant joint motor of driving device hands, makes the mechanical hand hand move to the good target location of certain teaching.At this, the setting that the teaching position can be random, its number is not unique, this mainly satisfies some specific actions.
7). when control module is sent halt instruction, driver module just immediately each joint motor of driving device hands shut down.And halt instruction has precedence over the identification of other instructions.
Described driver module comprises the motor of driver and driving device hands; When driver receives the action command that control module sends, can drive corresponding motor rotation at once, come each joint angle of mechanical hand is regulated and control, finally finish the control to mechanical hand.
The control method embodiment flow chart of the manipulator control system of the man-machine interactive tracking target of this usefulness binocular vision, as shown in Figure 5, it comprises following step: control system brings into operation; Real-time images acquired; The target following order detects; The laser indicating target; Binocular identification locating laser point; The conversion of target world coordinate system; The anti-Xie Jixieshouguanjiejiao of neutral net; Man-machine interactive control mechanical hand; Control system quits work, and detailed step is as follows:.
At first, step 1, control system brings into operation.After the control people finds that the target object at random in the environment is also confirmed to carry out control operation, start the control system of this man-machine interactive control mechanical hand.
Step 2, images acquired in real time.After control system was opened, the binocular camera synchronous acquisition realtime image data in the real time image collection module both provided the visual field information of real-time target object place environment for controlling the people, laid a solid foundation for the instant operation of binocular vision system again.This step need be carried out when control system is moved always.
Step 3, the target following order detects.When the system of this man-machine interactive control mechanical hand moved, system time was in the detected state that whether control module is sent the target following instruction.If do not receive the target following instruction that control system is sent, then mechanical hand keeps certain original state, continues to wait for trace command information.If receive the target following instruction, then enter step 4.
Step 5, binocular identification locating laser point.After step 4 was finished, the binocular stereo vision system module carried out color recognition and three-dimensional information location to the red feature laser point on the target object immediately, and at this, the three-dimensional information of surveying is the left relatively video camera photocentre of laser point.Binocular vision system sends the three-dimensional information of output to target world coordinate system modular converter, namely carry out step 6.
Step 6, the conversion of target world coordinate system.The D coordinates value of the left relatively video camera photocentre of the laser point that binocular vision system imports into is scaled the D coordinates value that the relative base coordinate of laser point is initial point (existing concrete narration in the above) through the matrixing formula.Then, this coordinate system transformation module feeds back to control system and reverse anti-solution manipulator joint angle mould piece with the three-dimensional information of target.At this, be better to understand the movement locus of institute's tracking target object for the operator with the real-time three-dimensional information feedback of target to control system, in this simultaneously, carrying out the operation of step 7 in real time.
Step 7, the anti-Xie Jixieshouguanjiejiao of neutral net.When the relative base coordinate of the tracking target that step 6 draws is after the D coordinates value of initial point feeds back to reverse anti-solution manipulator joint angle mould piece, this module obtains the feasible value of each joint angle of mechanical hand immediately, corresponding angle is adjusted in the running of each joint motor of driver drives then, makes the target location of mechanical hand hand exercise to the laser point place.And the arm end hand is being followed laser point and is being moved together.Finally, realized real-time tracking to target object in the mode of man-machine cooperation.
Step 8, man-machine interactive control mechanical hand.Manipulator control system is through above several steps, realized the real-time tracking location of target (if make mechanical hand continue to keep the tracking target state, then skip to step 3, carry out step cycle) at random.In this simultaneously, again by the collection of system to each joint position information of mechanical hand, and the information feedback of above-mentioned several steps gained being controlled output, the operator can realize corresponding action by the control mechanical hand that control instruction is carried out man-machine interactive, realizes grasping target, grasps that the target target is unclamped at random, hand lifts, hand puts down, arrive the teaching target location, stop mechanical hand etc. as the control mechanical hand.
(1). when the operator sent the extracting target instruction target word by control module, driver then drove the mechanical hand hand joint motor running of tracking target object, makes mechanical hand carry out grasping movement to target object;
(2). when the operator sends when unclamping target instruction target word by control module, driver module just drives the hand joint and opens;
(3). when the mechanical hand hand was in seized condition or open configuration, the operator can send hand by control module and lift descend instruction and teaching target instruction target word of instruction, hand and wait to control the mechanical hand hand and finish the action of lifting, descending and arriving the teaching target location;
(4) if. maloperation or control system itself take place and produce wrong or must stop the mechanical hand everything immediately for needs in the operator in control procedure, the operator can send the halt instruction of preferential execution this moment by control module, driver is ordered about all joint motors immediately and is shut down immediately, makes mechanical hand keep certain state.
(5) if. receive instruction again, then continue to carry out corresponding actions, when not receiving new instruction, mechanical hand is carried out current action always, until receiving halt instruction.If wanting to stop mechanical hand, the operator grasps work event such as target, hand lifting, teaching target location, then can send halt instruction by control system, make its execution return the original state instruction then, driver just drives each joint motor running immediately and regulates angle value separately, returns initial sizes values until each motor angle.
Step 9, control system quits work.By above eight steps, native system has carried out a series of control operation and has handled binocular vision system module tracks, the target object at random locating, identify, if think the work of finishing control system, then withdraws from circulation, and then outage.At this moment, mechanical hand has been in init state before needing to guarantee system cut-off, otherwise, can cause bad hardware influence to the relevant module of arm-and-hand system.
The above embodiment has only expressed the specific embodiment of the present invention, and it describes comparatively in detail concrete, but can not be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with appended claims.
Claims (2)
1. the man-machine interactive manipulator control system based on binocular vision is characterized in that, it is made up of following four parts: real time image collection device, laser aiming device, programmable controller and driving device; Wherein:
Described real time image collection device is made up of two wireless camera machines or USB photographic head;
Described laser locating apparatus is to wear frame and be located at the mini laser instrument of wearing on the frame by one to constitute;
Described Programmable Logic Controller is made up of binocular stereo vision module, three-dimensional system of coordinate conversion module, reverse anti-solution manipulator joint angle mould piece and control module; Wherein:
The binocular stereo vision module is used for the red laser point that laser instrument is beaten in the wireless camera machine visual field is detected identification and location;
The three-dimensional system of coordinate conversion module be used for base coordinate that video camera photocentre coordinate system that the binocular stereo vision system module is recorded and the relation between the laser point coordinate system be converted into mechanical hand top be and target laser point world coordinate system between relation;
Reverse anti-solution joint of artificial limb angle mould piece is an artificial nerve network model that has trained, it mainly acts on, when arm-and-hand system obtains target at random after the three dimensional space coordinate value of base coordinate system, the compensatory attitude that these three coordinate figures and certain are owed to define is described the input as network model, comes to obtain fast, concurrently certain feasible value of finding the solution in each joint of mechanical hand with this;
Control module is used for sending trace command, grasps target instruction target word, unclamps target instruction target word, hand lifting instruction, hand descend instruction, teaching target instruction target word and halt instruction;
Described driving device comprises the motor of driver and driving device hands; When driver receives the action command that control module sends, can drive corresponding motor rotation at once, come each joint angle of mechanical hand is regulated and control, finally finish the control to mechanical hand.
2. the control method of the man-machine interactive manipulator control system based on binocular vision as claimed in claim 1 is characterized in that step is as follows:
The first step: when operator need operate certain target, opening control brought into operation, and image collecting device begins real-time acquisition of image data;
Second step: controller sends trace command, and operator open laser instrument, artificially laser beam is projected on the target object that needs operation, and target object is positioned, and lays a good groundwork for the mechanical hand hand accurately arrives the target object position; If motion has taken place target object, at this moment, the operator can swing the laser aiming device artificially, and laser point is beaten on target object always, and is servo-actuated with target, realized man-machine interaction tracking target object;
The 3rd step: binocular vision identification locating module carries out color identification and three-dimensional information location to the red feature laser point that laser instrument is beaten on target object, namely the red feature laser point that identifies is carried out three-dimensional coordinate measurement, calculate laser point on the target object with respect to the three-dimensional coordinate of left video camera photocentre point, and three-dimensional coordinate information is fed back to the three-dimensional system of coordinate conversion module;
The 4th step: the three-dimensional system of coordinate conversion module will feed back the three-dimensional coordinate that comes and be converted to the three bit space coordinate figures of target in base coordinate system at random, and this three bit spaces coordinate figure is fed back to control module and reverse anti-solution joint of artificial limb angle mould piece;
The 5th step: the target at random that reverse anti-solution joint of artificial limb angle mould piece obtains trying to achieve from the three-dimensional system of coordinate conversion module is when the three-dimensional information of working place, the compensatory attitude that these three coordinate figures and certain are owed to define is described the input as network model, come to obtain fast, concurrently certain feasible value of finding the solution in each joint of mechanical hand with this, each joint motor of driver drives is adjusted to corresponding angle, makes the arm-and-hand system hand to the target location at laser point place;
The 6th step: system operators is sent action command by controller, by control module instruction is sent to driver module, by driver module finish grasp target, unclamp target, the lifting of doing evil through another person, the decline of doing evil through another person, teaching target location associative operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310223530.8A CN103271784B (en) | 2013-06-06 | 2013-06-06 | Man-machine interactive manipulator control system and method based on binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310223530.8A CN103271784B (en) | 2013-06-06 | 2013-06-06 | Man-machine interactive manipulator control system and method based on binocular vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103271784A true CN103271784A (en) | 2013-09-04 |
| CN103271784B CN103271784B (en) | 2015-06-10 |
Family
ID=49054012
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310223530.8A Expired - Fee Related CN103271784B (en) | 2013-06-06 | 2013-06-06 | Man-machine interactive manipulator control system and method based on binocular vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103271784B (en) |
Cited By (46)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522291A (en) * | 2013-10-29 | 2014-01-22 | 中国人民解放军总装备部军械技术研究所 | Target capturing system and method of explosive ordnance disposal robot |
| CN104501736A (en) * | 2014-12-25 | 2015-04-08 | 安徽科鸣三维科技有限公司 | Machine vision automatic tracking control system based on laser source motion |
| CN104881026A (en) * | 2015-04-28 | 2015-09-02 | 国家电网公司 | High-tension line emergency repair mechanical arm moving path planning system and method |
| CN104908030A (en) * | 2015-06-23 | 2015-09-16 | 江南大学 | SCARA robot accurate positioning method based on granularity model |
| CN104942816A (en) * | 2015-04-28 | 2015-09-30 | 国家电网公司 | Automatic changing control system and automatic changing control method on basis of laser technologies for line dropping switches |
| CN105943207A (en) * | 2016-06-24 | 2016-09-21 | 吉林大学 | Intelligent artificial limb movement system based on idiodynamics and control methods thereof |
| CN106003076A (en) * | 2016-06-22 | 2016-10-12 | 潘小胜 | Powder spraying robot based on stereoscopic vision |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN106041993A (en) * | 2016-07-26 | 2016-10-26 | 中国人民解放军军械工程学院 | Mechanical arm capable of conducting accurate positioning and positioning method of mechanical arm |
| CN106041937A (en) * | 2016-08-16 | 2016-10-26 | 河南埃尔森智能科技有限公司 | Control method of manipulator grabbing control system based on binocular stereoscopic vision |
| CN106610666A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Assistant robot based on binocular vision, and control method of assistant robot |
| CN106695101A (en) * | 2017-01-23 | 2017-05-24 | 青岛同日机械电子有限公司 | High-frequency induction welding system based on binocular vision and multi-axis manipulator |
| CN106708028A (en) * | 2015-08-04 | 2017-05-24 | 范红兵 | Intelligent prediction and automatic planning system for action trajectory of industrial robot |
| CN106826822A (en) * | 2017-01-25 | 2017-06-13 | 南京阿凡达机器人科技有限公司 | A kind of vision positioning and mechanical arm crawl implementation method based on ROS systems |
| CN106975874A (en) * | 2017-06-02 | 2017-07-25 | 成都福莫斯智能系统集成服务有限公司 | The cutting robot control system of laser aiming |
| CN107020640A (en) * | 2017-04-28 | 2017-08-08 | 成都科力夫科技有限公司 | Robot interactive formula games system |
| CN107045592A (en) * | 2017-03-29 | 2017-08-15 | 浙江大学 | A kind of user's factor evaluation system of laparoscopic surgery operation |
| CN107229941A (en) * | 2016-03-25 | 2017-10-03 | 本田技研工业株式会社 | The generation method of training data |
| CN107272015A (en) * | 2017-07-05 | 2017-10-20 | 同济大学 | High-precision vision guides laser tracking |
| CN107917666A (en) * | 2016-10-09 | 2018-04-17 | 上海铼钠克数控科技股份有限公司 | Binocular vision device and coordinate scaling method |
| CN107953335A (en) * | 2017-12-24 | 2018-04-24 | 华南理工大学广州学院 | A kind of behaviour control system of robot |
| CN108247633A (en) * | 2017-12-27 | 2018-07-06 | 珠海格力节能环保制冷技术研究中心有限公司 | The control method and system of robot |
| CN108472810A (en) * | 2016-01-29 | 2018-08-31 | 三菱电机株式会社 | Robot teaching apparatus and robot control program's generation method |
| CN108502276A (en) * | 2018-03-30 | 2018-09-07 | 薛寓怀 | A kind of baling press and its working method with product testing function |
| CN108742957A (en) * | 2018-06-22 | 2018-11-06 | 上海交通大学 | A kind of artificial limb control method of multi-sensor fusion |
| CN108942929A (en) * | 2018-07-10 | 2018-12-07 | 广州供电局有限公司 | The method and device of mechanical arm positioning crawl based on binocular stereo vision |
| CN109343363A (en) * | 2018-10-30 | 2019-02-15 | 清华大学 | Movement TT&C system based on optical oomputing |
| CN109352658A (en) * | 2018-12-04 | 2019-02-19 | 中冶赛迪工程技术股份有限公司 | Industrial robot precise assembly method, system and computer readable storage medium |
| CN109623815A (en) * | 2018-12-19 | 2019-04-16 | 江苏科技大学 | A kind of compensation of undulation double SCM and method for unmanned pick-up boat |
| CN109746603A (en) * | 2019-03-28 | 2019-05-14 | 北部湾大学 | A kind of welding system of ship group Vertical board support structure |
| CN109765090A (en) * | 2019-02-28 | 2019-05-17 | 中国石油大学(北京) | A kind of device and method of terrestrial facies compact reservoir laminated texture precise classification sampling |
| CN109877802A (en) * | 2019-04-23 | 2019-06-14 | 宿州学院 | A kind of dedicated healing robot of handicapped patient |
| CN110114194A (en) * | 2017-02-28 | 2019-08-09 | 西门子产品生命周期管理软件公司 | System and method for determining the grip locations of double-grip industrial object |
| CN110347273A (en) * | 2019-07-12 | 2019-10-18 | 哈尔滨工业大学（威海） | Man-machine interaction method based on laser |
| CN110340893A (en) * | 2019-07-12 | 2019-10-18 | 哈尔滨工业大学（威海） | Mechanical arm grasping means based on the interaction of semantic laser |
| CN110605714A (en) * | 2019-08-06 | 2019-12-24 | 华中科技大学 | Hand-eye coordination grabbing method based on human eye fixation point |
| CN110692082A (en) * | 2017-05-31 | 2020-01-14 | 首选网络株式会社 | Learning device, learning method, learning model, estimation device, and clamping system |
| CN112047113A (en) * | 2020-08-26 | 2020-12-08 | 苏州中科全象智能科技有限公司 | 3D visual stacking system and method based on artificial intelligence technology |
| CN112587285A (en) * | 2020-12-10 | 2021-04-02 | 东南大学 | Multi-mode information guide environment perception myoelectricity artificial limb system and environment perception method |
| CN113180894A (en) * | 2021-04-27 | 2021-07-30 | 浙江大学 | Visual intelligence-based hand-eye coordination method and device for multiple-obstacle person |
| CN113977558A (en) * | 2021-11-29 | 2022-01-28 | 湖南交通职业技术学院 | Device and method for visually and dynamically displaying tail end track of parallel robot |
| CN115106312A (en) * | 2022-06-13 | 2022-09-27 | 中实洛阳重型机械有限公司 | Intelligent ore sorting device based on binocular camera laser guide |
| CN115410136A (en) * | 2022-11-01 | 2022-11-29 | 济钢防务技术有限公司 | Laser explosive disposal system emergency safety control method based on convolutional neural network |
| CN115624386A (en) * | 2022-12-20 | 2023-01-20 | 北京维卓致远医疗科技发展有限责任公司 | Holographic navigation system of binocular visible light camera |
| CN116175283A (en) * | 2023-04-26 | 2023-05-30 | 山东科技大学 | Online flatness detection platform and detection method based on multi-joint robot |
| CN117001715A (en) * | 2023-08-30 | 2023-11-07 | 哈尔滨工业大学 | Intelligent auxiliary system and method for visually impaired people |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102582861B1 (en) * | 2021-07-15 | 2023-09-27 | 중앙대학교 산학협력단 | Prosthetic arm capable of automatic object recognition with camera and laser |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060129276A1 (en) * | 2004-12-14 | 2006-06-15 | Honda Motor Co., Ltd. | Autonomous mobile robot |
| US20090055024A1 (en) * | 2007-08-24 | 2009-02-26 | Elite Engineering Corporation | Robotic arm and control system |
| CN101947150A (en) * | 2010-09-11 | 2011-01-19 | 山东科技大学 | Method for realizing space positioning of artificial limbs with multiple degrees of freedom to random targets |
| CN101953727A (en) * | 2010-09-11 | 2011-01-26 | 山东科技大学 | Solution method of joint space parameters of artificial limb in multiple degrees of freedom |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN102452081A (en) * | 2010-10-21 | 2012-05-16 | 财团法人工业技术研究院 | Method and device for correcting system parameters of mechanical arm |
| CN102692214A (en) * | 2012-06-11 | 2012-09-26 | 北京航空航天大学 | Narrow space binocular vision measuring and positioning device and method |
| CN102871784A (en) * | 2012-09-21 | 2013-01-16 | 中国科学院深圳先进技术研究院 | Positioning controlling apparatus and method |
-
2013
- 2013-06-06 CN CN201310223530.8A patent/CN103271784B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060129276A1 (en) * | 2004-12-14 | 2006-06-15 | Honda Motor Co., Ltd. | Autonomous mobile robot |
| US20090055024A1 (en) * | 2007-08-24 | 2009-02-26 | Elite Engineering Corporation | Robotic arm and control system |
| CN101947150A (en) * | 2010-09-11 | 2011-01-19 | 山东科技大学 | Method for realizing space positioning of artificial limbs with multiple degrees of freedom to random targets |
| CN101953727A (en) * | 2010-09-11 | 2011-01-26 | 山东科技大学 | Solution method of joint space parameters of artificial limb in multiple degrees of freedom |
| CN102452081A (en) * | 2010-10-21 | 2012-05-16 | 财团法人工业技术研究院 | Method and device for correcting system parameters of mechanical arm |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN102692214A (en) * | 2012-06-11 | 2012-09-26 | 北京航空航天大学 | Narrow space binocular vision measuring and positioning device and method |
| CN102871784A (en) * | 2012-09-21 | 2013-01-16 | 中国科学院深圳先进技术研究院 | Positioning controlling apparatus and method |
Non-Patent Citations (2)
| Title |
|---|
| 杨波: "基于Hamilton的机器人双目视觉伺服控制及观测器设计", 《中国优秀博士学位论文全文数据库》 * |
| 许胜善: "基于神经元网络算法的六自由度手臂机器人的控制研究", 《中国优秀硕士学位论文全文数据库》 * |
Cited By (65)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103522291B (en) * | 2013-10-29 | 2016-08-17 | 中国人民解放军总装备部军械技术研究所 | The target grasping system of a kind of explosive-removal robot and method |
| CN103522291A (en) * | 2013-10-29 | 2014-01-22 | 中国人民解放军总装备部军械技术研究所 | Target capturing system and method of explosive ordnance disposal robot |
| CN104501736A (en) * | 2014-12-25 | 2015-04-08 | 安徽科鸣三维科技有限公司 | Machine vision automatic tracking control system based on laser source motion |
| CN104942816B (en) * | 2015-04-28 | 2017-01-18 | 国家电网公司 | Automatic changing control system and automatic changing control method on basis of laser technologies for line dropping switches |
| CN104881026A (en) * | 2015-04-28 | 2015-09-02 | 国家电网公司 | High-tension line emergency repair mechanical arm moving path planning system and method |
| CN104942816A (en) * | 2015-04-28 | 2015-09-30 | 国家电网公司 | Automatic changing control system and automatic changing control method on basis of laser technologies for line dropping switches |
| CN104908030A (en) * | 2015-06-23 | 2015-09-16 | 江南大学 | SCARA robot accurate positioning method based on granularity model |
| CN106708028A (en) * | 2015-08-04 | 2017-05-24 | 范红兵 | Intelligent prediction and automatic planning system for action trajectory of industrial robot |
| CN106610666A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | Assistant robot based on binocular vision, and control method of assistant robot |
| CN108472810A (en) * | 2016-01-29 | 2018-08-31 | 三菱电机株式会社 | Robot teaching apparatus and robot control program's generation method |
| CN107229941A (en) * | 2016-03-25 | 2017-10-03 | 本田技研工业株式会社 | The generation method of training data |
| CN107229941B (en) * | 2016-03-25 | 2020-11-27 | 本田技研工业株式会社 | Method for generating teaching data |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN106003076A (en) * | 2016-06-22 | 2016-10-12 | 潘小胜 | Powder spraying robot based on stereoscopic vision |
| CN106003076B (en) * | 2016-06-22 | 2019-01-01 | 徐琳 | A kind of plastic-spraying robot based on stereoscopic vision |
| CN105943207A (en) * | 2016-06-24 | 2016-09-21 | 吉林大学 | Intelligent artificial limb movement system based on idiodynamics and control methods thereof |
| CN106041993A (en) * | 2016-07-26 | 2016-10-26 | 中国人民解放军军械工程学院 | Mechanical arm capable of conducting accurate positioning and positioning method of mechanical arm |
| CN106041937A (en) * | 2016-08-16 | 2016-10-26 | 河南埃尔森智能科技有限公司 | Control method of manipulator grabbing control system based on binocular stereoscopic vision |
| CN107917666A (en) * | 2016-10-09 | 2018-04-17 | 上海铼钠克数控科技股份有限公司 | Binocular vision device and coordinate scaling method |
| CN106695101A (en) * | 2017-01-23 | 2017-05-24 | 青岛同日机械电子有限公司 | High-frequency induction welding system based on binocular vision and multi-axis manipulator |
| CN106826822A (en) * | 2017-01-25 | 2017-06-13 | 南京阿凡达机器人科技有限公司 | A kind of vision positioning and mechanical arm crawl implementation method based on ROS systems |
| CN106826822B (en) * | 2017-01-25 | 2019-04-16 | 南京阿凡达机器人科技有限公司 | A kind of vision positioning and mechanical arm crawl implementation method based on ROS system |
| WO2018137445A1 (en) * | 2017-01-25 | 2018-08-02 | 南京阿凡达机器人科技有限公司 | Ros-based mechanical arm grabbing method and system |
| CN110114194A (en) * | 2017-02-28 | 2019-08-09 | 西门子产品生命周期管理软件公司 | System and method for determining the grip locations of double-grip industrial object |
| CN110114194B (en) * | 2017-02-28 | 2023-02-17 | 西门子工业软件有限公司 | System and method for determining a grip position for gripping an industrial object with two hands |
| US11279023B2 (en) | 2017-02-28 | 2022-03-22 | Siemens Industry Software Inc. | System and method for determining grasping positions for two-handed grasps of industrial objects |
| CN107045592A (en) * | 2017-03-29 | 2017-08-15 | 浙江大学 | A kind of user's factor evaluation system of laparoscopic surgery operation |
| CN107045592B (en) * | 2017-03-29 | 2020-06-16 | 浙江大学 | Anthropological evaluation system for laparoscopic surgery operation |
| CN107020640A (en) * | 2017-04-28 | 2017-08-08 | 成都科力夫科技有限公司 | Robot interactive formula games system |
| CN110692082A (en) * | 2017-05-31 | 2020-01-14 | 首选网络株式会社 | Learning device, learning method, learning model, estimation device, and clamping system |
| CN106975874A (en) * | 2017-06-02 | 2017-07-25 | 成都福莫斯智能系统集成服务有限公司 | The cutting robot control system of laser aiming |
| CN107272015A (en) * | 2017-07-05 | 2017-10-20 | 同济大学 | High-precision vision guides laser tracking |
| CN107953335B (en) * | 2017-12-24 | 2024-02-27 | 华南理工大学广州学院 | Behavior control system of robot |
| CN107953335A (en) * | 2017-12-24 | 2018-04-24 | 华南理工大学广州学院 | A kind of behaviour control system of robot |
| CN108247633B (en) * | 2017-12-27 | 2021-09-03 | 珠海格力节能环保制冷技术研究中心有限公司 | Robot control method and system |
| CN108247633A (en) * | 2017-12-27 | 2018-07-06 | 珠海格力节能环保制冷技术研究中心有限公司 | The control method and system of robot |
| CN108502276A (en) * | 2018-03-30 | 2018-09-07 | 薛寓怀 | A kind of baling press and its working method with product testing function |
| CN108742957A (en) * | 2018-06-22 | 2018-11-06 | 上海交通大学 | A kind of artificial limb control method of multi-sensor fusion |
| CN108942929A (en) * | 2018-07-10 | 2018-12-07 | 广州供电局有限公司 | The method and device of mechanical arm positioning crawl based on binocular stereo vision |
| CN109343363A (en) * | 2018-10-30 | 2019-02-15 | 清华大学 | Movement TT&C system based on optical oomputing |
| CN109352658A (en) * | 2018-12-04 | 2019-02-19 | 中冶赛迪工程技术股份有限公司 | Industrial robot precise assembly method, system and computer readable storage medium |
| CN109352658B (en) * | 2018-12-04 | 2024-02-23 | 中冶赛迪工程技术股份有限公司 | Industrial robot positioning control method, system and computer readable storage medium |
| CN109623815A (en) * | 2018-12-19 | 2019-04-16 | 江苏科技大学 | A kind of compensation of undulation double SCM and method for unmanned pick-up boat |
| CN109765090A (en) * | 2019-02-28 | 2019-05-17 | 中国石油大学(北京) | A kind of device and method of terrestrial facies compact reservoir laminated texture precise classification sampling |
| CN109746603B (en) * | 2019-03-28 | 2024-04-09 | 北部湾大学 | Welding system of ship assembling plate frame structure |
| CN109746603A (en) * | 2019-03-28 | 2019-05-14 | 北部湾大学 | A kind of welding system of ship group Vertical board support structure |
| CN109877802A (en) * | 2019-04-23 | 2019-06-14 | 宿州学院 | A kind of dedicated healing robot of handicapped patient |
| CN110340893A (en) * | 2019-07-12 | 2019-10-18 | 哈尔滨工业大学（威海） | Mechanical arm grasping means based on the interaction of semantic laser |
| CN110347273A (en) * | 2019-07-12 | 2019-10-18 | 哈尔滨工业大学（威海） | Man-machine interaction method based on laser |
| CN110347273B (en) * | 2019-07-12 | 2023-04-28 | 哈尔滨工业大学（威海） | Man-machine interaction method based on laser |
| CN110605714A (en) * | 2019-08-06 | 2019-12-24 | 华中科技大学 | Hand-eye coordination grabbing method based on human eye fixation point |
| CN110605714B (en) * | 2019-08-06 | 2021-08-03 | 华中科技大学 | Hand-eye coordination grabbing method based on human eye fixation point |
| WO2021023315A1 (en) * | 2019-08-06 | 2021-02-11 | 华中科技大学 | Hand-eye-coordinated grasping method based on fixation point of person's eye |
| CN112047113B (en) * | 2020-08-26 | 2022-02-22 | 苏州中科全象智能科技有限公司 | 3D visual stacking system and method based on artificial intelligence technology |
| CN112047113A (en) * | 2020-08-26 | 2020-12-08 | 苏州中科全象智能科技有限公司 | 3D visual stacking system and method based on artificial intelligence technology |
| CN112587285A (en) * | 2020-12-10 | 2021-04-02 | 东南大学 | Multi-mode information guide environment perception myoelectricity artificial limb system and environment perception method |
| CN113180894A (en) * | 2021-04-27 | 2021-07-30 | 浙江大学 | Visual intelligence-based hand-eye coordination method and device for multiple-obstacle person |
| CN113180894B (en) * | 2021-04-27 | 2022-02-11 | 浙江大学 | Visual intelligence-based hand-eye coordination method and device for multiple-obstacle person |
| CN113977558A (en) * | 2021-11-29 | 2022-01-28 | 湖南交通职业技术学院 | Device and method for visually and dynamically displaying tail end track of parallel robot |
| CN115106312A (en) * | 2022-06-13 | 2022-09-27 | 中实洛阳重型机械有限公司 | Intelligent ore sorting device based on binocular camera laser guide |
| CN115410136A (en) * | 2022-11-01 | 2022-11-29 | 济钢防务技术有限公司 | Laser explosive disposal system emergency safety control method based on convolutional neural network |
| CN115624386A (en) * | 2022-12-20 | 2023-01-20 | 北京维卓致远医疗科技发展有限责任公司 | Holographic navigation system of binocular visible light camera |
| CN115624386B (en) * | 2022-12-20 | 2023-05-16 | 北京维卓致远医疗科技发展有限责任公司 | Holographic navigation system of binocular visible light camera |
| CN116175283A (en) * | 2023-04-26 | 2023-05-30 | 山东科技大学 | Online flatness detection platform and detection method based on multi-joint robot |
| CN117001715A (en) * | 2023-08-30 | 2023-11-07 | 哈尔滨工业大学 | Intelligent auxiliary system and method for visually impaired people |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103271784B (en) | 2015-06-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103271784A (en) | Man-machine interactive manipulator control system and method based on binocular vision | |
| CN111906784B (en) | Pharyngeal swab double-arm sampling robot based on machine vision guidance and sampling method | |
| CN105082161B (en) | Binocular stereo camera Robot Visual Servoing control device and its application method | |
| CN109454638A (en) | A kind of robot grasping system of view-based access control model guidance | |
| Almetwally et al. | Real-time tele-operation and tele-walking of humanoid Robot Nao using Kinect Depth Camera | |
| CN106426200B (en) | A kind of ping-pong robot and its control method | |
| CN109910011A (en) | A kind of mechanical arm barrier-avoiding method and mechanical arm based on multisensor | |
| CN107225573A (en) | The method of controlling operation and device of robot | |
| CN106354161A (en) | Robot motion path planning method | |
| CN108202316A (en) | A kind of crusing robot and control method of automatic switch cabinet door | |
| CN106695748A (en) | Hot-line robot with double mechanical arms | |
| US20170348858A1 (en) | Multiaxial motion control device and method, in particular control device and method for a robot arm | |
| JP2022542241A (en) | Systems and methods for augmenting visual output from robotic devices | |
| CN106584093A (en) | Self-assembly system and method for industrial robots | |
| CN102902271A (en) | Binocular vision-based robot target identifying and gripping system and method | |
| CN106041927A (en) | Hybrid vision servo system and method combining eye-to-hand and eye-in-hand structures | |
| CN108621156A (en) | Robot controller, robot system, robot and robot control method | |
| CN102848388A (en) | Service robot locating and grabbing method based on multiple sensors | |
| CN107433573A (en) | Intelligent binocular captures mechanical arm automatically | |
| CN109333506A (en) | A kind of humanoid intelligent robot system | |
| CN103273497A (en) | Man-machine interactive control system and method for manipulator | |
| CN104325268A (en) | Industrial robot three-dimensional space independent assembly method based on intelligent learning | |
| CN109968310A (en) | A kind of mechanical arm interaction control method and system | |
| CN105128012A (en) | Open type intelligent service robot system and multiple controlling methods thereof | |
| CN110125944A (en) | A kind of mechanical arm teaching system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150610 Termination date: 20190606 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |