CN106041927A - Hybrid vision servo system and method combining eye-to-hand and eye-in-hand structures - Google Patents
Hybrid vision servo system and method combining eye-to-hand and eye-in-hand structures Download PDFInfo
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- CN106041927A CN106041927A CN201610463755.4A CN201610463755A CN106041927A CN 106041927 A CN106041927 A CN 106041927A CN 201610463755 A CN201610463755 A CN 201610463755A CN 106041927 A CN106041927 A CN 106041927A
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention discloses a hybrid vision servo system and method combining eye-to-hand and eye-in-hand structures. According to the hybrid vision servo system and method, information of a to-be-identified target is acquired through an eye-to-hand camera and an eye-in-hand camera; position calculation is performed through a computer; and a driver is controlled to drive a mechanical arm to drive the eye-in-hand camera for precisely positioning the to-be-identified target. Compared with traditional vision servo based only on position and vision servo based on images, the hybrid vision servo system and method have higher positioning precision and flexibility; the characteristics that an overall vision field is large in range and a local vision field is high in precision are realized; the cost is low; the applicability is high; the application range is wide; great convenience can be brought to application in scientific research, target searching and positioning and the like; and the hybrid vision servo system and method have very important research value and practical significance.
Description
Technical field
The invention belongs to Visual servoing control field, be specifically related to combine eye-to-hand and eye-in-hand structure
Mixing vision servo system and method.
Background technology
Along with fast development and the expansion in robot application field of science and technology, people propose higher wanting to robotics
Ask, it is desirable to there are higher intelligence and higher environment sensing ability in robot.Visual servo utilizes visual information as feedback, tool
There is bigger quantity of information, improve robot system motility and accuracy, robot field, there is irreplaceable effect.
Domestic each institute, colleges and universities expand some researchs to vision servo system, achieve certain achievement.Such as section of China
Institute's Shenyang Institute of Automation has carried out Visual Navigation of Mobile Robots technical research, and Shenyang Xin Song company have developed switch cubicle machine
People's welding system, Tsing-Hua University develops voluntarily and can carry out the eye of high precision instrument assembling in hands robot etc.；Tongji University, Zhejiang
Jiang great Xue, Hunan University's contour check and correction control algolithm have carried out correlational study.The systems most developed at present is by industrial robot
Combining with visual servo, function is more single.
Vision servo system can be divided into eye-to-hand and eye-in-according to the structural relation of camera installation locations
hand.Former structure feature is to install fixing apart from robot certain distance by video camera, obtains the panoramic vision angle of environment；
The latter is to be fixed on the end effector of robot by video camera, close-ups object, reduces peripheral information interference.Contrast
Both features have it was concluded that eye-to-hand has lower accuracy and large range of overall Vision, and eye-in-hand has
There are degree of precision and small range of local visual.Big visual range and high positioning precision are combined, it is possible to preferably carry
High robot perception ability and range of application, be to have great researching value.
Summary of the invention
It is an object of the invention to overcome above-mentioned deficiency, it is provided that combine the mixed of eye-to-hand and eye-in-hand structure
Close vision servo system and method, it is adaptable to the target acquisition of environment in a big way and be closely accurately positioned, tracing task.
In order to achieve the above object, in conjunction with the mixing vision servo system of eye-to-hand and eye-in-hand structure,
Including the eye-in-hand photographic head and eye-to-hand photographic head, eye-in-hand photographic head and the eye-that connect computer
The image of to-hand camera collection target to be identified, eye-in-hand photographic head is fixed on mechanical arm tail end, mechanical arm
Connecting and have driver, driver connects computer and power module；
Described eye-to-hand photographic head is used for obtaining overall Vision information, at the beginning of being identified target to be identified realizing
Step location；
Described eye-in-hand photographic head is used for obtaining local visual information, is identified target to be identified realizing essence
Determine position；
Described computer is at image gathered to eye-in-hand photographic head and eye-to-hand photographic head
Reason, calculates and solves target object position, the motion control instruction of resolving is sent to driver, images in conjunction with eye-in-hand
The characteristics of image that head and eye-to-hand photographic head obtain carries out position and accurately revises；
Described power module is for the electric power continual and steady to Drive Module offer；
Described driver, for receiving the control instruction of computer, completes to require fortune further according to controlling information-driven mechanical arm
Dynamic.
Described power module selects AC-DC power module or DC-DC power module.
Described eye-to-hand photographic head uses the image collecting device with big visual angle；
Described eye-in-hand photographic head uses the image collecting device with little focal length.
In conjunction with the control method of the mixing vision servo system of eye-to-hand and eye-in-hand structure, including following
Step:
Step one, when target to be identified occurs in the overall situation that eye-to-hand photographic head covered within sweep of the eye, passes through
Eye-to-hand photographic head extracts its characteristics of image and mates with priori model, it is achieved the detection to target；
Step 2, is solved target position information by the pin-point model of eye-to-hand photographic head, is calculated by computer
The controlled quentity controlled variable of mechanical arm, and controlled quentity controlled variable is sent to driver；
Step 3, driver performs motion command, drives mechanical arm to drive eye-in-hand photographic head close to target position
Put；
Step 4, is closely measured target to be identified by eye-in-hand photographic head, obtains precise position information,
And feed back to computer to adjust Motor execution terminal angle；
Step 5, if target location is moved, outside the visual range beyond eye-in-hand photographic head, then repeats step one
To step 4.
In described step one, characteristics of image has high identification and signal to noise ratio for comparing environment, including color, shape, wheel
Wide, size characteristic.
In described step 2, pin-point model is that photographic head is carried out inside and outside parameter demarcation, computation modeling obtain from image
Planar Mapping, can be by the Coordinate Conversion put on image to corresponding actual physics spatial point to the transformation model of three physical dimensions
Coordinate.
Compared with prior art, the present invention waits to know by eye-to-hand photographic head and eye-in-hand camera collection
The information of other target, and carry out position calculation by computer, control driver drives mechanical arm and drive eye-in-hand shooting
Target to be identified is accurately positioned by head, the present invention relative to tradition only with location-based visual servo and based on image
Visual servo, has higher positioning precision and motility, and the present invention has overall situation field range concurrently, and greatly and local field of view precision is high
Feature, low cost, strong adaptability, applied range, to scientific research and target search location etc. application can bring the biggest
Convenience, there is very important researching value and realistic meaning.
Further, the present invention realizes the acquisition to image, other module hardware systems in addition by universal CCD camera
Uniting less demanding, the hardware cell of employing is common and cost is relatively low, therefore whole system low cost, it is simple to promote the use of.
The present invention carries out the overall situation by eye-to-hand photographic head and detects target to be identified within sweep of the eye,
Carry out location and motion calculation, computer drives manipulator motion at the beginning of target by computer, target to be identified is carried out accurately
Location, the present invention is applicable not only to target search and is accurately positioned, it is also possible to the pose for movement executing mechanism accurately controls to carry
For feedback information, there is good real-time, it is adaptable to the occasion of the multiple environmental changes such as industry, agricultural, amusement, for dynamic mesh
The problems such as mark tracking, robot control provide a kind of new resolving ideas.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the present invention；
Fig. 2 is the information flow chart of the present invention；
Wherein, 1 computer is represented；2 represent driver；3 represent power module；4 represent mechanical arm；5 represent eye-in-
Hand photographic head；6 represent eye-to-hand photographic head；7 represent target to be identified；Long dotted line represents eye-to-hand photographic head
Field range；Short dash line represents eye-in-hand camera view scope.
Detailed description of the invention
The present invention will be further described with embodiment below in conjunction with the accompanying drawings.
See Fig. 1, in conjunction with the mixing vision servo system of eye-to-hand and eye-in-hand structure, including connecting meter
Eye-in-hand the photographic head 5 and eye-to-hand photographic head 6 of calculation machine 1, eye-in-hand photographic head 5 and eye-to-hand
Photographic head 6 gathers the image of target 7 to be identified, and eye-in-hand photographic head 5 is fixed on mechanical arm 4 end, and mechanical arm 4 is even
Being connected to driver 2, driver 2 connects computer 1 and power module 3；
Eye-to-hand photographic head 6 is used for obtaining overall Vision information, is identified target 7 to be identified realizing tentatively
Location, uses the image collecting device with big visual angle；
Eye-in-hand photographic head 5 is used for obtaining local visual information, is identified target 7 to be identified realizing accurately
Location, uses the image collecting device with little focal length；
Computer 1 is to eye-in-hand photographic head 5 and eye-to-hand the gathered image of photographic head 6
Reason, calculates and solves target object position, the motion control instruction of resolving is sent to driver 2, images in conjunction with eye-in-hand
The characteristics of image that 5 and eye-to-hand photographic head 6 obtain carries out position and accurately revises；
Power module 3, for the electric power continual and steady to Drive Module offer, selects AC-DC power module or DC-DC
Power module；
Driver 2, for receiving the control instruction of computer 1, completes to require fortune further according to controlling information-driven mechanical arm 4
Dynamic.
Embodiment:
See Fig. 2, below as a example by fruit and vegerable harvesting task automatically, illustrate the present invention combine eye-to-hand and
The mixing vision servo system control method of eye-in-hand structure.In the present embodiment, the task of vision servo system is mainly
Using mature fruit as target, utilize vision technique detection, position and guide Picker arm move, it is achieved accurately capture target really
Real.Motor execution module chooses multivariant dexterous mechanical arm.Can be realized based on eye-to-by following 5 steps
Mixing being accurately positioned and following the tracks of of vision servo system of hand and eye-in-hand structure:
(1) overall situation target detection within sweep of the eye: with the characteristics of image of the color of mature fruit, size etc. as template, right
The overall situation that eye-to-hand photographic head 6 is covered carries out target search within sweep of the eye, it is achieved the detection to fruit.
(2) location and motion calculation at the beginning of target: the objective fruit detected is extracted image location information, and is transformed into
Three physical dimensions, stores its approximate location coordinate；With Primary Location coordinate as impact point, according to Mechanical transmission test model solution
Calculate controlled quentity controlled variable and send mechanical arm driver 2.
(3) movement executing mechanism motion is driven: receiving image processing module and issue control information, mechanical arm driver 2 is driven
Motivation mechanical arm 4 is moved, close to region, target location.
(4) target is accurately positioned: switches to eye-in-hand photographic head 5 working method, closely measures fruit, obtain
Take precise position information；Solve present image characteristic point simultaneously and desired image characteristic point position be poor, and feed back to computer 1 with
Adjust mechanical arm tail end attitude.
(5) information feedback is with correction: if objective fruit remains at eye-in-hand photographic head 5 within sweep of the eye, meter
Precise position information that calculation machine 1 measures according to eye-in-hand photographic head 5 and departure solve the motion in each joint of mechanical arm 4
Controlled quentity controlled variable, when departure then finishing control in the range of allowable error, when controlled quentity controlled variable transmitter mechanical arm is then driven relatively greatly by departure
Move and think highly of multiple step (3)-(4)；If objective fruit is outside the field range of eye-in-hand photographic head 5, then repeat step (1)-
(4) re-search for adjusting.
Claims (6)
1. combine the mixing vision servo system of eye-to-hand and eye-in-hand structure, it is characterised in that include connecting
The eye-in-hand photographic head (5) of computer (1) and eye-to-hand photographic head (6), eye-in-hand photographic head (5) and
Eye-to-hand photographic head (6) gathers the image of target to be identified (7), and eye-in-hand photographic head (5) is fixed on mechanical arm
(4) on end, mechanical arm (4) connects driver (2), and driver (2) connects computer (1) and power module (3)；
Described eye-to-hand photographic head (6) is used for obtaining overall Vision information, is identified target to be identified (7) realizing
Primary Location；
Described eye-in-hand photographic head (5) is used for obtaining local visual information, is identified target to be identified (7) realizing
It is accurately positioned；
Described computer (1) is for entering eye-in-hand photographic head (5) and eye-to-hand photographic head (6) gathered image
Row processes, and calculates and solves target object position, the motion control instruction of resolving is sent to driver (2), in conjunction with eye-in-
The characteristics of image that hand photographic head (5) and eye-to-hand photographic head (6) obtain carries out position and accurately revises；
Described power module (3) is for the electric power continual and steady to Drive Module offer；
Described driver (2) is used for receiving the control instruction of computer (1), completes further according to controlling information-driven mechanical arm (4)
Require motion.
Combination eye-to-hand the most according to claim 1 and the mixing vision servo system of eye-in-hand structure,
It is characterized in that, described power module selects AC-DC power module or DC-DC power module.
Combination eye-to-hand the most according to claim 1 and the mixing vision servo system of eye-in-hand structure,
It is characterized in that, described eye-to-hand photographic head (6) uses the image collecting device with big visual angle；
Described eye-in-hand photographic head (5) uses the image collecting device with little focal length.
4. the combination eye-to-hand described in claim 1 and the control mixing vision servo system of eye-in-hand structure
Method, it is characterised in that comprise the following steps:
Step one, when target to be identified (7) occurs in the overall situation that eye-to-hand photographic head (6) covered within sweep of the eye, logical
Cross eye-to-hand photographic head (6) to extract its characteristics of image and mate with priori model, it is achieved the detection to target；
Step 2, solves target position information by the pin-point model of eye-to-hand photographic head (6), is counted by computer (1)
Calculate the controlled quentity controlled variable of mechanical arm (4), and controlled quentity controlled variable is sent to driver (2)；
Step 3, driver (2) performs motion command and drives mechanical arm action, makes mechanical arm (4) drive eye-in-hand shooting
Head (5) is close to target location；
Step 4, is closely measured target to be identified (7) by eye-in-hand photographic head (5), obtains exact position letter
Breath, and feed back to computer (1) to adjust Motor execution terminal angle；
Step 5, if target location is moved, outside the visual range beyond eye-in-hand photographic head (5), then repeat step one to
Step 4.
The mixing vision servo system of combination eye-to-hand the most according to claim 1 and eye-in-hand structure
Control method, it is characterised in that in described step one, characteristics of image has high identification and signal to noise ratio for comparing environment, including
Color, shape, profile, size characteristic.
The mixing vision servo system of combination eye-to-hand the most according to claim 1 and eye-in-hand structure
Control method, it is characterised in that in described step 2, pin-point model is that photographic head is carried out inside and outside parameter demarcation, computation modeling
The transformation model being mapped to three physical dimensions from the plane of delineation obtained, can be real to correspondence by the Coordinate Conversion put on image
The coordinate of border physical space point.
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| CN107030699A (en) * | 2017-05-18 | 2017-08-11 | 广州视源电子科技股份有限公司 | Position and attitude error modification method and device, robot and storage medium |
| CN107662195A (en) * | 2017-09-22 | 2018-02-06 | 中国东方电气集团有限公司 | A kind of mechanical hand principal and subordinate isomery remote operating control system and control method with telepresenc |
| CN108311835A (en) * | 2018-04-03 | 2018-07-24 | 深圳了然视觉科技有限公司 | A kind of dynamic electroplating equipment wielding machine arm system that view-based access control model measures |
| CN109079777A (en) * | 2018-08-01 | 2018-12-25 | 北京科技大学 | A kind of mechanical arm hand eye coordination operating system |
| CN109129488A (en) * | 2018-09-27 | 2019-01-04 | 广东电网有限责任公司 | A kind of high-altitude maintenance robot localization method and device based on near-earth overall Vision |
| CN109448054A (en) * | 2018-09-17 | 2019-03-08 | 深圳大学 | The target Locate step by step method of view-based access control model fusion, application, apparatus and system |
| CN109848987A (en) * | 2019-01-22 | 2019-06-07 | 天津大学 | A kind of parallel robot Visual servoing control method |
| CN109859605A (en) * | 2019-02-28 | 2019-06-07 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | 3D teaching method of the industrial robot without teaching machine |
| CN110253596A (en) * | 2019-06-24 | 2019-09-20 | 北京理工华汇智能科技有限公司 | The method and device of robot binding positioning |
| CN110712202A (en) * | 2019-09-24 | 2020-01-21 | 鲁班嫡系机器人（深圳）有限公司 | Special-shaped component grabbing method, device and system, control device and storage medium |
| CN110883770A (en) * | 2019-05-08 | 2020-03-17 | 丁亚东 | Robot hybrid vision servo control method based on position and image |
| WO2020052624A1 (en) * | 2018-09-13 | 2020-03-19 | 宝山钢铁股份有限公司 | Metallurgical technology probe insertion calibration method employing visual measurement and insertion system thereof |
| CN111008607A (en) * | 2019-12-11 | 2020-04-14 | 南京航空航天大学 | Automatic laser scanning method and system for cabin door gap of visual servo aircraft |
| CN111136669A (en) * | 2020-01-17 | 2020-05-12 | 沈阳航空航天大学 | Chess playing robot based on global vision and control method thereof |
| CN111360827A (en) * | 2020-03-06 | 2020-07-03 | 哈尔滨工业大学 | Visual servo switching control method and system |
| CN112743517A (en) * | 2020-12-28 | 2021-05-04 | 浩科机器人（苏州）有限公司 | Intelligent mechanical arm based on visual control and working method thereof |
| WO2021146989A1 (en) * | 2020-01-22 | 2021-07-29 | Robert Bosch Gmbh | Method and apparatus for estimating system state |
| CN113199454A (en) * | 2021-06-22 | 2021-08-03 | 北京航空航天大学 | Wheeled mobile intelligent logistics operation robot system |
| CN113392752A (en) * | 2021-06-10 | 2021-09-14 | 中原工学院 | Face recognition device based on machine learning |
| CN113482528A (en) * | 2021-08-18 | 2021-10-08 | 中建安装集团有限公司 | Construction method based on tunnel rail-mounted omnidirectional inner wall drilling robot |
| CN114872038A (en) * | 2022-04-13 | 2022-08-09 | 欣旺达电子股份有限公司 | Micro-needle buckling vision self-calibration system and calibration method thereof |
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Cited By (29)
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| CN107030699A (en) * | 2017-05-18 | 2017-08-11 | 广州视源电子科技股份有限公司 | Position and attitude error modification method and device, robot and storage medium |
| CN107662195A (en) * | 2017-09-22 | 2018-02-06 | 中国东方电气集团有限公司 | A kind of mechanical hand principal and subordinate isomery remote operating control system and control method with telepresenc |
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| CN109079777B (en) * | 2018-08-01 | 2021-09-10 | 北京科技大学 | Manipulator hand-eye coordination operation system |
| CN109079777A (en) * | 2018-08-01 | 2018-12-25 | 北京科技大学 | A kind of mechanical arm hand eye coordination operating system |
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| CN109859605A (en) * | 2019-02-28 | 2019-06-07 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | 3D teaching method of the industrial robot without teaching machine |
| CN110883770A (en) * | 2019-05-08 | 2020-03-17 | 丁亚东 | Robot hybrid vision servo control method based on position and image |
| CN110253596A (en) * | 2019-06-24 | 2019-09-20 | 北京理工华汇智能科技有限公司 | The method and device of robot binding positioning |
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| CN111136669A (en) * | 2020-01-17 | 2020-05-12 | 沈阳航空航天大学 | Chess playing robot based on global vision and control method thereof |
| CN111136669B (en) * | 2020-01-17 | 2022-09-20 | 沈阳航空航天大学 | Chess playing robot based on global vision and control method thereof |
| WO2021146989A1 (en) * | 2020-01-22 | 2021-07-29 | Robert Bosch Gmbh | Method and apparatus for estimating system state |
| CN111360827A (en) * | 2020-03-06 | 2020-07-03 | 哈尔滨工业大学 | Visual servo switching control method and system |
| CN111360827B (en) * | 2020-03-06 | 2020-12-01 | 哈尔滨工业大学 | Visual servo switching control method and system |
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