CN107234619A - A kind of service robot grasp system positioned based on active vision - Google Patents
A kind of service robot grasp system positioned based on active vision Download PDFInfo
- Publication number
- CN107234619A CN107234619A CN201710406552.6A CN201710406552A CN107234619A CN 107234619 A CN107234619 A CN 107234619A CN 201710406552 A CN201710406552 A CN 201710406552A CN 107234619 A CN107234619 A CN 107234619A
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- target object
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- human body
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- 238000003909 pattern recognition Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention discloses a kind of service robot grasp system positioned based on active vision, it is related to robot field, the system includes removable service-delivery machine human body, head, camera, three-finger paw, computer and target object positioning software, the system is by changing cloud platform rotation angle, so as to be carried out using camera in a wide range of image real-time acquisition and incoming computer, target object identification and positioning are carried out according to image incoming in real time by the target object positioning software in computer again, pass through the positioning to target object, three sections of manipulator motions of removable service-delivery machine human body are controlled to target object by computer, and control three-finger paw to capture target object, the present invention can be used for positioning and crawl of the service robot to target object, especially it is that by incomplete to three-dimensional information, unintelligible or in the relatively low spatial dimension that camera observes blind area target object is positioned and captured.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of service robot grasp system positioned based on active vision
System and its method.
Background technology
Service robot is one kind of intelligent robot, to reduce manual labor in daily life, and it services model
Enclose and appear in mostly in family, restaurant and hospital, and be the weight in service robot function to the positioning and crawl of target object
Want part.In terms of the positioning to target object, due to the outward appearance diversity of target, geometric transformation, the change of illumination, screening
The difficulty that the problems such as gear, low resolution and noise is brought so that appoint in actual life to the reality that target object is positioned
Business becomes very challenging, and there are many theoretical and technical problems needs to solve.And in terms of the crawl of target object, it is existing
Although the service robot in stage has tentatively realized target object crawl, it is low to there is precision, the drawback such as speed is slow, especially
It is for the object in relatively low spatial dimension, because camera can not be observed and can not be captured.
Therefore, in terms of service robot carries out positioning crawl task to target object, especially target object three-dimensional is believed
When ceasing relatively low spatial dimension of incomplete, the unintelligible or target object in camera observation blind area, a kind of new skill is needed badly
Art scheme solves this problem.
The content of the invention
The present invention is intended to provide a kind of service robot grasp system positioned based on active vision, is turned by changing head
Dynamic angle makes camera to carry out a wide range of IMAQ, overcomes what prior art can not be captured to object in relatively low spatial dimension
Problem, by a series of images treatment technology in target object positioning software, overcomes prior art incomplete to three-dimensional information, no
The clearly more indiscernible problem of target object.
To achieve the above object, the present invention uses following technical scheme：A kind of service-delivery machine positioned based on active vision
People's grasping system, it includes removable service-delivery machine human body, head, camera, three-finger paw, computer and target object
Positioning software, described target object positioning software includes image capture module, image processing module, characteristic extracting module, mould
Formula identification module and target object locating module；Wherein, head is provided with above removable service-delivery machine human body, in head
Top is clamped with camera, and three-finger paw is fixed on the 3rd section of mechanical arm tail end of removable service-delivery machine human body, removable
It is provided with by dynamic service-delivery machine human body in computer, computer and target object positioning software is installed；Removable service robot
Body is connected by electric wire with computer, and head is connected by electric wire with computer, and camera is connected by electric wire with computer,
Three-finger paw is connected by electric wire with computer, by changing cloud platform rotation angle, so as to be schemed on a large scale using camera
As gathering in real time and in incoming computer, then by the target object positioning software in computer according to image progress incoming in real time
Target object is recognized and positioned, and by the positioning to target object, the three of removable service-delivery machine human body are controlled by computer
At section manipulator motion to target object, and three-finger paw is controlled to capture target object.
Compared with prior art, beneficial effects of the present invention are as follows：
Existing service robot vision positioning captures technology, although target object can be captured to a certain extent, but
For the object being placed in relatively low spatial dimension, because camera is scanned less than and can not be captured.
The present invention makes camera to carry out a wide range of image real-time acquisition by changing cloud platform rotation angle, at image
Reason module is handled the image that camera is collected, and is extracted characteristics of image by characteristic extracting module, is passed through pattern-recognition
Module realizes the identification to target object, is realized by target object locating module and target object location is estimated, can based on this
The crawl to target object is realized, and effectively the object in relatively low spatial dimension can be captured.
Brief description of the drawings
Fig. 1 is the service robot grasp system structure diagram positioned based on active vision；
Fig. 2 is target object positioning software internal module connection block diagram；
In Fig. 1,1. removable service-delivery machine human bodies；2. head；3. camera；4. three-finger paw；5. computer；6. object
Body positioning software.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the invention will be further described.
Embodiment 1
As shown in figure 1, a kind of service robot grasp system positioned based on active vision：
It is fixed that it includes removable service-delivery machine human body 1, head 2, camera 3, three-finger paw 4, computer 5 and target object
Position software 6, described target object positioning software 6 includes image capture module, image processing module, characteristic extracting module, mould
Formula identification module and target object locating module；Wherein, head 2 is provided with the removable top of service-delivery machine human body 1, in cloud
The top of platform 2 is clamped with camera 3, and three-finger paw 4 is fixed on the 3rd section of mechanical arm tail end of removable service-delivery machine human body 1,
It is provided with the removable side of service-delivery machine human body 1 in computer 5, computer 5 and target object positioning software 6 is installed；It is removable
Service-delivery machine human body 1 is connected by electric wire with computer 5, and head 2 is connected by electric wire with computer 5, and camera 3 passes through electricity
Line is connected with computer 5, and three-finger paw 4 is connected by electric wire with computer 5, by changing the rotational angle of head 2, so as to utilize
Camera 3 is carried out in a wide range of image real-time acquisition and incoming computer 5, then by the target object positioning software 6 in computer 5
Target object identification and positioning are carried out according to image incoming in real time, by the positioning to target object, being controlled by computer 5 can
At three sections of manipulator motion to target objects of Information Mobile Service robot body 1, and three-finger paw 4 is controlled to carry out target object
Crawl.
Embodiment 2
As shown in Fig. 2 target object positioning software in the present invention, it includes image capture module, image processing module, feature and carried
Modulus block, pattern recognition module and target object locating module.
Claims (1)
1. a kind of service robot grasp system positioned based on active vision, it is characterised in that：Including may move service-delivery machine
Human body（1）, head（2）, camera（3）, three-finger paw（4）, computer（5）And target object positioning software（6）, it is described
Target object positioning software（6）Including image capture module, image processing module, characteristic extracting module, pattern recognition module
And target object locating module；Wherein, in removable service-delivery machine human body（1）Top is provided with head（2）, in head（2）
Top is clamped with camera（3）, three-finger paw（4）It is fixed on removable service-delivery machine human body（1）The 3rd section of mechanical arm end
End, in removable service-delivery machine human body（1）Side is provided with computer（5）, computer（5）In target object positioning software is installed
（6）；Removable service-delivery machine human body（1）Pass through electric wire and computer（5）It is connected, head（2）Pass through electric wire and computer（5）
It is connected, camera（3）Pass through electric wire and computer（5）It is connected, three-finger paw（4）Pass through electric wire and computer（5）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406552.6A CN107234619A (en) | 2017-06-02 | 2017-06-02 | A kind of service robot grasp system positioned based on active vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406552.6A CN107234619A (en) | 2017-06-02 | 2017-06-02 | A kind of service robot grasp system positioned based on active vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107234619A true CN107234619A (en) | 2017-10-10 |
Family
ID=59986019
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| CN201710406552.6A Pending CN107234619A (en) | 2017-06-02 | 2017-06-02 | A kind of service robot grasp system positioned based on active vision |
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Application publication date: 20171010 |