CN104511905A - Robot visual servo control method based on structured light - Google Patents
Robot visual servo control method based on structured light Download PDFInfo
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- CN104511905A CN104511905A CN201310451988.9A CN201310451988A CN104511905A CN 104511905 A CN104511905 A CN 104511905A CN 201310451988 A CN201310451988 A CN 201310451988A CN 104511905 A CN104511905 A CN 104511905A
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Abstract
The invention discloses a robot visual servo control method based on structured light. The robot visual servo control method comprises the following steps: after a target object starts moving, starting a first photographing device and a second photographing device, judging whether the target object enters a projection area, if yes, starting a projector; projecting structured light with colorful stripe codes on the target object through the projector; obtaining a target object image with a structured optical grating; processing the target object image with the structured optical grating, and extracting the colorful stripe codes in the image; decoding the codes, calculating three-dimensional information of the target object through a mapping matrix; and grabbing the target object according to the three-dimensional information through a robot arm. The robot visual servo control method can be used for guiding the robot arm to move through vision of the structured light based on the colorful stripes, so that the operation action of the robot arm is relatively accurate, and the optimization to the robot action speed and the accuracy is realized.
Description
Technical field
The present invention relates to a kind of Visual servoing control method, espespecially a kind of robot vision servo control method of structure based light.
Background technology
In industrial automation assembling and sorting operation, need to obtain target image by vision, and the positional information extracting target is processed to image, carry out guided robot arm by positional information, carry out control realization installation and crawl work to it, this technology is called as visual servo technology.Robot Visual Servoing is that a kind of visual information that utilizes implements the important method of FEEDBACK CONTROL to robot motion, compared with traditional control method, can provide higher design flexibility, task precision and intelligent level.With compared with the kinematics visual servo method of demarcating, ca libration-free dynamic vision servo method is without the need to carrying out Accurate Calibration to systematic parameter thus avoiding triviality and the difficulty of Accurate Calibration.
In existing visual servo technology, there are scene visual system and mixing vision system.In scene visual system, industrial camera is fixed on the somewhere in scene; Its shortcoming is the information that can not obtain surrounding flexibly.While an industrial camera being installed on robot arm in mixing vision system, in scene, also fixedly mount an industrial camera.The target position information precision obtained by two industrial cameras is poor, and the information obtained is also not accurate enough.
Summary of the invention
In view of above content, be necessary a kind of Visual servoing control method providing degree of accuracy high.
A kind of robot vision servo control method of structure based light, comprise a projecting apparatus, the first filming apparatus, the second filming apparatus and an industrial robot, first filming apparatus, the second filming apparatus and projecting apparatus are installed on the arm of robot, and described method comprises the steps:
When after target object setting in motion, start described first filming apparatus and the second filming apparatus;
Judge whether target object enters view field, if so, then start described projecting apparatus;
Described projecting apparatus projects the structured light with color fringe coding on target object;
Obtain the target object picture with structure fringe;
The target object picture with structure fringe obtained is processed, extracts the color fringe coding in image;
Described coding is decoded, and calculates the three-dimensional information of target object by mapping matrix;
Robot arm captures target object according to three-dimensional information.
Further, described first filming apparatus and the second filming apparatus are two colored industrial cameras.
Further, before the setting in motion of target location, demarcation to be made to the parameter of described first filming apparatus and the second filming apparatus itself.
Further, described projecting apparatus is placed between two filming apparatus.
Further, judge that the method whether target object enters view field is: judge the image obtained from described first filming apparatus and the second filming apparatus, the ratio of image pixel shared by target object; If the ratio that target object accounts for image pixel is less than 10%, then judge that target object does not enter view field; If the ratio that target object accounts for image pixel is greater than 10%, then judge that target object enters view field.
Further, after starting projecting apparatus, the ride gain of described robot arm motor is reduced.
Further, structured light is made up of redness, green, blueness, cyan, magenta and yellow; Its color coding is respectively redness 1, green 2, blueness 3, cyan 4, magenta 5 and yellow 6.
Compared to prior art, the said method degree of accuracy is high, can realize the location of mechanical arm relative to target object degree of precision, to realize capturing accurately or assembling.
Accompanying drawing explanation
Accompanying drawing is the inventive method implementing procedure figure.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, a kind of robot vision servo control method of structure based light, comprise projecting apparatus 10, first filming apparatus 20, second filming apparatus 30 and a robot 40, described first filming apparatus 10, second filming apparatus 20 and described projecting apparatus 10 are installed on the arm of robot 40, and described method comprises the steps:
S10: when after target object setting in motion, starts described first filming apparatus 10 and the second filming apparatus 20.
Described first filming apparatus 10 and the second filming apparatus 20 are two colored industrial cameras, can be obtained the positional information of target object, and described positional information is fed back to described robot 40 by the image of two industrial camera shootings.
Before this, first to do calibrated and calculated to two parameters of video camera own, obtain the mapping matrix of two dimensional image and 3-D view, then by the middle of two camera calibrations to robot coordinate system.Camera marking method adopts Zhang Zhengyou scaling method, does not repeat them here.
S20: judge whether target object enters view field, if so, then starts described projecting apparatus 10.
Described projecting apparatus 10 is arranged on the centre position of two filming apparatus, and it is without the need to demarcating, and only need ensure that the structure luminous energy that projector projects goes out is photographed by two video cameras.
Judge that the method whether target object enters view field is: judge the image obtained from described first filming apparatus 10 and the second filming apparatus 20, the ratio of image pixel shared by target object.If the ratio that target object accounts for image pixel is less than 10%, then judge that target object does not enter view field; If the ratio that target object accounts for image pixel is greater than 10%, then judge that target object enters view field.Now, start projecting apparatus 10, reduce the ride gain of described robot 40 arm motor, adopt flexible control method, and perform step S30.
S30: described projecting apparatus 10 projects the structured light with color fringe coding on target object.
Obtain the structured light with color fringe coding that described projecting apparatus 10 projects on target object.In the present embodiment, the colored grid line of structured light adopts a kind of color fringe pseudo-random sequence spatial domain coding pattern, and it takes full advantage of the color information of striped self and periphery thereof when encoding to fringe position, can realize single image kinetic measurement.3 primary colors (red (255,0,0), green (0 is selected in coloud coding pattern, 255,0), blue (0,0,255)) and inverse (blue or green (0,255,255), pinkish red (255,0,255), yellow (255,255,0)) color fringe formation pseudo-random sequence, each width of fringe is a grid line cycle, and requires that adjacent color is different, and arbitrary continuation three cycle color arrangements have uniqueness.In order to encode conveniently, if redness is 1, green is 2, and blueness is 3, and cyan is 4, and magenta is 5, and yellow is 6.Generate by random data maker the color fringe sequence that overall length is 123, in sequence, the width in each cycle is 8 pixels, and overall length is 984 pixels, can cover enough measurement categorys.In grating figure picture, corresponding a kind of color of each cosine cycle, its brightness changes in the effective RGB passage that this color is corresponding.
S40: obtain the target object picture with structure fringe;
Described first filming apparatus 20 and the second filming apparatus 30 take the target object picture with structured light continuously in the middle of the movement of robot 40 arm.
S50: processed by the target object picture with structure fringe obtained, extracts the color fringe coding in image.
S60: described coding is decoded, and calculate the three-dimensional information of target object by mapping matrix.
S70: robot arm captures target object according to three-dimensional information.
One skilled in the relevant art, the actual needs can produced according to scheme of the invention of the present invention and inventive concept combination makes corresponding change or adjustment, and these changes and adjustment all should belong to the protection domain of the claims in the present invention.
Claims (7)
1. the robot vision servo control method of a structure based light, comprise a projecting apparatus, the first filming apparatus, the second filming apparatus and an industrial robot, described first filming apparatus, the second filming apparatus and described projecting apparatus are installed on the arm of robot, it is characterized in that:
When after target object setting in motion, start described first filming apparatus and the second filming apparatus;
Judge whether target object enters view field, if so, then start described projecting apparatus;
Described projecting apparatus projects the structured light with color fringe coding on target object;
Obtain the target object picture with structure fringe;
The target object picture with structure fringe obtained is processed, extracts the color fringe coding in image;
Described coding is decoded, and calculates the three-dimensional information of target object by mapping matrix;
Robot arm captures target object according to three-dimensional information.
2. the robot vision servo control method of a kind of structure based light as claimed in claim 1, is characterized in that, described first filming apparatus and the second filming apparatus are two colored industrial cameras.
3. the robot vision servo control method of a kind of structure based light as claimed in claim 1, is characterized in that, before the setting in motion of target location, will make demarcation to the parameter of described first filming apparatus and the second filming apparatus itself.
4. the robot vision servo control method of a kind of structure based light as claimed in claim 1, is characterized in that, described projecting apparatus is placed between two filming apparatus.
5. the robot vision servo control method of a kind of structure based light as claimed in claim 1, is characterized in that:
The described method judging whether target object enters view field is: judge the image obtained from described first filming apparatus and the second filming apparatus, the ratio of image pixel shared by target object; If the ratio that target object accounts for image pixel is less than 10%, then judge that target object does not enter view field; If the ratio that target object accounts for image pixel is greater than 10%, then judge that target object enters view field.
6. the robot vision servo control method of a kind of structure based light as claimed in claim 1, is characterized in that: after starting projecting apparatus, reduce the ride gain of described robot arm motor.
7. the robot vision servo control method of a kind of structure based light as claimed in claim 5, is characterized in that: described structured light is made up of redness, green, blueness, cyan, magenta and yellow; Its color coding is respectively redness 1, green 2, blueness 3, cyan 4, magenta 5 and yellow 6.
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| CN201310451988.9A CN104511905A (en) | 2013-09-28 | 2013-09-28 | Robot visual servo control method based on structured light |
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| CN105825213A (en) * | 2016-03-14 | 2016-08-03 | 深圳市华讯方舟科技有限公司 | Human body identification and positioning method, robot and characteristic clothing |
| CN106708028A (en) * | 2015-08-04 | 2017-05-24 | 范红兵 | Intelligent prediction and automatic planning system for action trajectory of industrial robot |
| CN106956261A (en) * | 2017-04-11 | 2017-07-18 | 华南理工大学 | A kind of man-machine interaction mechanical arm system and method with security identification zone |
| CN107020640A (en) * | 2017-04-28 | 2017-08-08 | 成都科力夫科技有限公司 | Robot interactive formula games system |
| CN107322698A (en) * | 2017-06-22 | 2017-11-07 | 广东先达数控机械有限公司 | A kind of Furniture panel Full-automatic drilling production equipment |
| CN107362987A (en) * | 2017-06-07 | 2017-11-21 | 武汉科技大学 | The robot method for sorting and system of a kind of view-based access control model |
| CN110264506A (en) * | 2019-05-27 | 2019-09-20 | 盎锐（上海）信息科技有限公司 | Imaging method and device based on space encoding |
| CN111152232A (en) * | 2018-11-08 | 2020-05-15 | 现代自动车株式会社 | Service robot and method for operating the same |
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| CN110264506B (en) * | 2019-05-27 | 2023-02-10 | 盎维云(深圳)计算有限公司 | Imaging method and device based on spatial coding |
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Application publication date: 20150415 |