CN104827470A - Mobile manipulator control system based on GPS and binocular vision positioning - Google Patents
Mobile manipulator control system based on GPS and binocular vision positioning Download PDFInfo
- Publication number
- CN104827470A CN104827470A CN201510269651.5A CN201510269651A CN104827470A CN 104827470 A CN104827470 A CN 104827470A CN 201510269651 A CN201510269651 A CN 201510269651A CN 104827470 A CN104827470 A CN 104827470A
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- mobile manipulator
- target object
- controller
- gps
- communication bus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
A mobile manipulator control system based on a GPS and binocular vision positioning comprises a GPS controller, binocular vision and vision information processors, a central motion controller, a distributed motion controller and a communication bus used for connecting the controllers. The GPS controller is used for obtaining position information of a mobile manipulator and a target object, the binocular vision and vision information processors are used for obtaining spatial position information of the target object, the central motion controller is used for planning motion trails of the mobile manipulator and arms of the mobile manipulator, the distributed motion controller is used for controlling the mobile manipulator and the arms of the mobile manipulator to move along the planned motion trails, and the communication bus is used for transmitting data and information between the processors. The mobile manipulator control system based on the GPS and binocular vision positioning has the advantages that the target object can be positioned within a large range, search time is shortened, and precision of operation on the object by the mobile manipulator is improved.
Description
Technical field
The present invention relates to technical field of automation, be specifically related to a kind of controlling system of movable manipulator based on GPS and binocular visual positioning.
Background technology
Mobile manipulator is better than general mobile robot and conventional robot, there is mobile and operating function, and there is the motion redundancy of larger working space and height, therefore, industry assembling can be widely used in, work in unmanned adverse circumstances and the aspect such as indoor service work.It is less to there is hunting zone in current existing controlling system of movable manipulator, and the localizing objects time is long, the problem that robotic manipulation object precision is not high.If Chinese patent notification number is CN100361792C, the bulletin time is a kind of controlling system of movable manipulator of patent of invention on January 16th, 2008, comprises main control computer, display, single-chip microcomputer, servomotor, motor servo driver, photoelectric encoder, stepper motor, stepper motor driver, two pieces of motion control cards, camera, image pick-up card, infrared sensor, sonac, power supply and pci bus; According to pending task, and the current location of mobile platform and manipulator, main control computer carries out the path planning of mobile platform and manipulator; Operating personnel assign initiation command with display to main control computer; Control mobile manipulator and complete mobile operation task.This controlling system of movable manipulator does not consider quick position and accurate scopodromic problem, and hunting zone is less, and performance accuracy is low, and its serviceability awaits further raising.
Summary of the invention
The invention provides one and can overcome above-mentioned defect, hunting zone is large, and search time is short, the controlling system of movable manipulator based on GPS and binocular visual positioning that robotic manipulation precision is high, and its technology contents is:
Based on the controlling system of movable manipulator of GPS and binocular visual positioning, it is characterized in that, comprising: GPS controller, binocular vision and Vision information processing device, centralized movement controller, distribution type motion controller and the communication bus being connected each controller;
The spatial positional information of described mobile manipulator and target object for obtaining the spatial positional information of mobile manipulator and target object, and is sent on communication bus by described GPS controller;
The spatial positional information of described target object for obtaining the spatial positional information of target object, and is sent on communication bus by described binocular vision and Vision information processing device;
Described centralized movement controller is according to the locus of described mobile manipulator and target object, plan that described mobile manipulator movement locus and described mobile manipulator arm capture the movement locus of target object, and described motion track information is sent on communication bus;
Described distribution type motion controller comprises for controlling mechanically moving hands movement and the distributed director for controlling mobile manipulator arm motion;
The described distributed director for controlling mechanically moving hands movement controls mobile manipulator and moves to target object side according to described movement locus, makes target object can within opereating specification at described mobile manipulator end effector;
The described distributed director for controlling mobile manipulator arm motion controls mobile manipulator arm according to described movement locus view-based access control model feedforward fast approaching target object, when the end effector of mobile manipulator arm and target object are all within the scope of binocular vision, view-based access control model FEEDBACK CONTROL mobile manipulator end effector accurately aims at the mark object, when the space length of described mobile manipulator end effector and target object meet crawl require time, control described mobile manipulator end effector and implement grasping movement;
Described communication bus is for transmitting data between each controller and processor and information.
The present invention compared with prior art, this controlling system of movable manipulator, based on GPS controller and binocular vision message handler, mobile manipulator can quickly positioning target object; Have employed vision Feed-forward Control Strategy and Visual Feedback Control strategy, arm end effector can fast approaching also accurately be aimed at the mark; Have and at inner position target object in a big way, search time can be shortened, improve the advantage of mobile manipulator operation object precision.
Accompanying drawing explanation
Fig. 1 is the logical construction schematic diagram of a kind of controlling system of movable manipulator of locating based on GPS and vision provided by the invention.
Detailed description of the invention
The invention provides a kind of controlling system of movable manipulator based on GPS and binocular visual positioning, utilize described GPS controller localizing objects object, control described mobile manipulator and move to target object annex, utilize described binocular visual positioning target object, based on the information on target object of described binocular visual positioning, described mobile manipulator moves to target object side, last view-based access control model feedforward and feedback control strategy, and described mobile manipulator arm is close to target object and implement grasping movement;
Please refer to Fig. 1, the invention provides a kind of controlling system of movable manipulator based on GPS and binocular visual positioning, this system comprises: GPS controller, binocular vision and Vision information processing device, centralized movement controller, distribution type motion controller and the communication bus being connected each controller;
Described communication bus, such as CAN bus, 485 buses etc., formed international standard, be widely used at automation field, is usually used in realizing the data communication between control system each system inner, unit, electric component;
Described GPS controller has radio communication function, the positional information of mobile manipulator and target object can be obtained on the one hand from satellite, and obtained positional information is transferred on communication bus, can be communicated with remote server by wireless bus on the other hand;
The spatial positional information of described target object for obtaining the spatial positional information of target object, and is sent on communication bus by described binocular vision and Vision information processing device;
Described centralized movement controller is according to the locus of described mobile manipulator and target object, plan the movement locus of arm close to target object of described mobile manipulator movement locus and described mobile manipulator, and described motion track information is sent on communication bus;
Described distribution type motion controller comprises for controlling mechanically moving hands movement and the distributed director for controlling mobile manipulator arm motion;
The described distributed director for controlling mechanically moving hands movement controls mobile manipulator and moves to target object side according to described movement locus, makes target object can within opereating specification at described mobile manipulator end effector;
The described distributed director for controlling mobile manipulator arm motion controls mobile manipulator arm according to described movement locus view-based access control model feedforward fast approaching target object; when the end effector of mobile manipulator arm and target object are all within the scope of binocular vision; view-based access control model FEEDBACK CONTROL mobile manipulator end effector accurately aims at the mark object; when the space length of described mobile manipulator end effector and target object meet crawl require time, control described mobile manipulator end effector and implement grasping movement.
Claims (1)
1. the controlling system of movable manipulator based on GPS and binocular visual positioning, it is characterized in that, comprising: GPS controller, binocular vision and Vision information processing device, centralized movement controller, distribution type motion controller and the communication bus being connected each controller;
The spatial positional information of described mobile manipulator and target object for obtaining the spatial positional information of mobile manipulator and target object, and is sent on communication bus by described GPS controller;
The spatial positional information of described target object for obtaining the spatial positional information of target object, and is sent on communication bus by described binocular vision and Vision information processing device;
Described centralized movement controller, according to the spatial positional information of described mobile manipulator and target object, is planned the movement locus of described mobile manipulator and arm thereof, and is sent on communication bus by described motion track information;
Described distribution type motion controller comprises for controlling mechanically moving hands movement and the distributed director for controlling mobile manipulator arm motion;
The described distributed director for controlling mechanically moving hands movement controls mobile manipulator and moves to target object side according to described movement locus, makes target object can within opereating specification at described mobile manipulator end effector;
The described distributed director for controlling mobile manipulator arm motion controls mobile manipulator arm according to described movement locus view-based access control model feedforward fast approaching target object, when the end effector of mobile manipulator arm and target object are all within the scope of binocular vision, view-based access control model FEEDBACK CONTROL mobile manipulator end effector accurately aims at the mark object, when the space length of described mobile manipulator end effector and target object meet crawl require time, control described mobile manipulator end effector and implement grasping movement;
Described communication bus is for transmitting data between each controller and processor and information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510269651.5A CN104827470B (en) | 2015-05-25 | 2015-05-25 | A kind of controlling system of movable manipulator based on GPS Yu binocular visual positioning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510269651.5A CN104827470B (en) | 2015-05-25 | 2015-05-25 | A kind of controlling system of movable manipulator based on GPS Yu binocular visual positioning |
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| Publication Number | Publication Date |
|---|---|
| CN104827470A true CN104827470A (en) | 2015-08-12 |
| CN104827470B CN104827470B (en) | 2017-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510269651.5A Expired - Fee Related CN104827470B (en) | 2015-05-25 | 2015-05-25 | A kind of controlling system of movable manipulator based on GPS Yu binocular visual positioning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643607A (en) * | 2016-04-08 | 2016-06-08 | 深圳市中科智敏机器人科技有限公司 | Intelligent industrial robot with sensing and cognitive abilities |
| CN105870814A (en) * | 2016-03-31 | 2016-08-17 | 广东电网有限责任公司中山供电局 | Emergency breaking operation device suitable for 10kV switch |
Citations (4)
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| CN1745987A (en) * | 2004-09-10 | 2006-03-15 | 中国科学院自动化研究所 | A kind of controlling system of movable manipulator |
| 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 |
| CN102848388A (en) * | 2012-04-05 | 2013-01-02 | 上海大学 | Service robot locating and grabbing method based on multiple sensors |
| GB2500214A (en) * | 2012-03-13 | 2013-09-18 | Thomas Ladyman | Robot vision apparatus and control method and corresponding land robot |
-
2015
- 2015-05-25 CN CN201510269651.5A patent/CN104827470B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1745987A (en) * | 2004-09-10 | 2006-03-15 | 中国科学院自动化研究所 | A kind of controlling system of movable manipulator |
| 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 |
| GB2500214A (en) * | 2012-03-13 | 2013-09-18 | Thomas Ladyman | Robot vision apparatus and control method and corresponding land robot |
| CN102848388A (en) * | 2012-04-05 | 2013-01-02 | 上海大学 | Service robot locating and grabbing method based on multiple sensors |
Non-Patent Citations (1)
| Title |
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| 贾东永等: "基于视觉前馈和视觉反馈的仿人机器人抓取操作", 《北京理工大学学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105870814A (en) * | 2016-03-31 | 2016-08-17 | 广东电网有限责任公司中山供电局 | Emergency breaking operation device suitable for 10kV switch |
| CN105643607A (en) * | 2016-04-08 | 2016-06-08 | 深圳市中科智敏机器人科技有限公司 | Intelligent industrial robot with sensing and cognitive abilities |
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| CN104827470B (en) | 2017-06-27 |
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Granted publication date: 20170627 Termination date: 20190525 |