CN108211276A - A kind of automatically picking up balls robot system and control method - Google Patents
A kind of automatically picking up balls robot system and control method Download PDFInfo
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- CN108211276A CN108211276A CN201611163717.3A CN201611163717A CN108211276A CN 108211276 A CN108211276 A CN 108211276A CN 201611163717 A CN201611163717 A CN 201611163717A CN 108211276 A CN108211276 A CN 108211276A
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- Prior art keywords
- bead
- module
- manipulator
- image
- capture
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
Abstract
The present invention proposes a kind of automatically picking up balls robot system and control method, including controller module, camera calibration module, image processing module, servo driving module；Core of the controller module as this hair system, being connected to other modules and sending message controls；The camera calibration module is used for the calibration to the inside and outside parameter of video camera；Described image processing module carries out image the operations such as color space variation, bead zone location, barrier region calculating, and calculates manipulator and capture angle and position needed for bead and be transmitted to servo driving control module；The servo driving module is used to drive steering engine according to angles and positions so as to which manipulator be driven to carry out bead capture.The present invention reuses image processing method positioning bead region using cameras capture bead image, calculate manipulator capture bead needed for angle and position, realize the identification of bead and automatic capture.
Description
Technical field
The present invention relates to robot system and control methods, and in particular to a kind of automatically picking up balls robot system and controlling party
Method.
Background technology
With the continuous development of social science and technology civilization, intelligence is gradually come into people's daily life, due to people's inertia
A series of physical problems brought gradually cause attention of the people to sports.It if can be by some services in sports
Work give robot to complete, then sports just reached it is a kind of automation plus recreational double effects.In recent years
Come, with the rapid development of mobile robot, in various ball facilities now, service robot is in a compact mass, however intelligent ball collecting
Machine is fewer, in the market in spite of picking up ball machine, but they generally have the shortcomings that some are apparent.It needs artificially to manipulate first；Secondly
Currently on the market to pick up ball machine volume more huge, can not work indoors, be greatly reduced its flexibility ratio, it appears more
It is heavy；Finally, current to pick up the general cost of ball machine costly, care and maintenance cost is higher, is only suitable for colosseum institute
It uses, target group are smaller, are not suitable for mass consumption.
" automatically picking up balls robot, application number CN201410857983.0 " disclose a kind of automatically picking up balls robot to patent, packet
Organism, collection apparatus and retracting device on organism are included, passes through transmission device between collection apparatus and retracting device
Linking, body are equipped with wheel, universal wheel and driving member driving mechanism.The patent of invention without human intervention, saves movement
The muscle power that member is wasted in training or match when picking up ball.
" court ball picking robot, application number CN201410337246.8 " disclose a kind of court ball picking robot to patent, packet
Include information acquisition module, execution module, control module.Ball picking robot described in the invention uses the shadow do not built by place
It rings, small, low cost, situation about can be supervised in not employment completes goal task, can save manpower.
In foregoing invention patent, ball picking robot volume is larger, and flexibility ratio is low, and to direction controlling, speed control aspect
It is not perfect, furthermore robot lacks best path planning route and barrier-avoiding method.
Invention content
Present invention aims at solving the problem of that the existing larger flexibility of ball picking robot volume is low, one kind is provided certainly
Dynamic ball picking robot system and method by the acquisition to the object ball information in its ambient enviroment and excludes ambient enviroment
Image interference, then to each sensing data carry out convergence analysis processing, path has been planned by controller, has then sent out items
Instruction, with a series of actions instruction completed robot automatic identification bead, collect bead.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of automatically picking up balls robot system includes controller module, camera calibration module, image processing module, steering engine
Drive module.Wherein：
Core of the controller module as this hair system, being connected to other modules and sending message controls, with
Complete robot automatic identification bead, path planning, a series of actions instruction for collecting bead.
The camera calibration module includes video camera, for the calibration of the inside and outside parameter to the video camera.
Described image processing module obtains robot information using the video camera and carries out color to image
The operations such as spatial variations, bead zone location, barrier region calculating, and calculate manipulator and capture angle and position needed for bead
It puts and is transmitted to servo driving control module；
The servo driving module includes manipulator, steering engine, for driving steering engine according to angles and positions so as to motivation
Tool hand carries out bead capture.
A kind of automatically picking up balls robot control method specifically includes following steps：
S1 carries out video camera the calibration of inside and outside parameter；
S2, image are handled, and including image binaryzation, dilation erosion, the operation of bead zone location, and calculate machinery
Hand captures angle and position needed for bead；
S3 drives steering engine so as to which manipulator be driven to carry out bead capture according to angles and positions.
The present invention has following advantageous effect compared with prior art：
The present invention program utilizes cameras capture bead image, reuses image processing method positioning bead region, calculates
Angle and position needed for going out manipulator capture bead realize the identification of bead and automatic capture avoidance, efficiently solve and pick up ball machine
Device human body product is larger, and flexibility ratio is low, and to direction controlling, the incomplete problem of speed control aspect.
Description of the drawings
Fig. 1 is a kind of structural design drawing of automatically picking up balls robot system of the present invention.
Fig. 2 is a kind of flow chart of automatically picking up balls robot control method of the present invention.
Fig. 3 is robotic arm movement angle schematic diagram.
Specific embodiment
As shown in Figure 1, a kind of automatically picking up balls robot system of the present invention includes controller module 10, camera calibration mould
Block 20, image processing module 30, servo driving module 40.Wherein：
Core of the controller module 10 as this hair system, being connected to other modules and sending message controls,
To complete robot automatic identification bead, path planning, a series of actions instruction for collecting bead.
The camera calibration module 20 includes video camera 201, for the mark of the inside and outside parameter to the video camera 201
It is fixed.
Described image processing module 30 obtains robot information using the video camera 201 and image is carried out
The operations such as color space variation, the calculating of bead zone location, barrier region, and calculate manipulator and capture angle needed for bead
And position and it is transmitted to servo driving control module 40；
The servo driving module 40 include manipulator 401, steering engine 402, for according to angles and positions drive steering engine from
And manipulator is driven to carry out bead capture.
As shown in Fig. 2, a kind of automatically picking up balls robot control method of the present invention, includes the following steps：
S1 carries out video camera the calibration of inside and outside parameter；
Target object is accurately positioned in order to realize, it is necessary first to which video camera is demarcated.The present embodiment employs
Zhang Zhengyou chessboard calibration methods, in calibration, camera model uses pin-hole model, is defined as follows：
Sm=A [R t] M, (1)
I.e.
In formula, (XW, YW, ZW) it is certain point coordinates under world coordinate system；(u, v) is (XW, YW, ZW) spot projection is in the plane of delineation
Coordinate；S is coordinate of the object in camera coordinate system；A is camera intrinsic parameter matrix；[R t] be outer parameter matrix, R
For spin matrix, t is translation matrix；M is certain point homogeneous coordinates under world coordinate system；fx, fyRespectively camera is on x, y-axis
Focal length；Cx, CyRespectively camera focus and imaging plane central point deviant.
Intrinsic Matrix is the relationship described between camera coordinate system and image coordinate system, can be calculated using intrinsic parameter
Go out certain point of image coordinate system corresponding to the point of camera coordinate system, calculate as follows：
In formula, (XC, YC) it is certain point in RGB image in the coordinate of camera coordinate system, ZCTo correspond to the depth image
In depth value.
It can be realized using formula (3) and (4) and ask for 3 dimension coordinates under the camera coordinate system of plane of delineation any point.In order to
It realizes crawl of the manipulator to object, generally requires 3 dimension coordinates under camera coordinate system being transformed into mechanical arm basis coordinates system,
Therefore it needs to calculate the relationship of camera coordinate system and mechanical arm basis coordinates system (world coordinate system in formula (2)), i.e., it is outer to join
Matrix number
In formula,For mechanical arm tail end coordinate system to the transformational relation of camera coordinate system,For machine
Tool arm ending coordinates system is to the transformational relation of mechanical arm basis coordinates system.
The point of camera coordinate system is expressed as when being transformed into mechanical arm basis coordinates system
In calibration, chessboard is placed on mechanical arm tail end, utilizes mechanical end coordinate system in formula (5) and mechanical arm base
Transformational relation between coordinate system, which calculates and records each angle point under different visual angles, corresponds to seat under mechanical arm basis coordinates system
Mark, so as to calculate inside and outside parameter.
In practical calibration process, in order to obtain high quality as a result, at least need choose 10 7 × 8 or bigger chess
The image of disk.
S2 handles image, including image binaryzation, dilation erosion, the operation of bead zone location, and calculates machine
Angle and position needed for tool hand capture bead, specifically include：
S21, image binaryzation：After the completion of calibration, image binaryzation is carried out with maximum variance between clusters, by the prospect of image
It is split with background, process is：
(1) it sets image and shares L gray level, gray value is that the pixel of i shares niA, image shares N number of pixel, returns
One changes grey level histogram, enables
(2) a threshold value t is set, pixel is divided by c according to gray value0And c1Two classes.c0Probability ω0, mean μ0：
c1Probability ω1, mean μ1：
Wherein,It can thus be appreciated that c0And c1Inter-class variance σ2(t) it is：
σ2(t)=ω0(μ-μ0)2+ω1(μ1-μ)2 (11)
Then t is subjected to value from 0 to i, t is optimal threshold when σ is maximized, you can obtains best binary picture
Picture.
S22 expands image and is corroded：Binary image is expanded and corrosion treatment, respectively reaches and fills up
The hollow sectors of image and eliminate that image is small and the effect of meaningless part.
Expansion algorithm is specific as follows：
(1) with the structural element of 3x3, each pixel of scan image；
(2) bianry image covered with structural element with it does OR operation；
(3) if being all 0, the pixel of result images is 0.Otherwise it is 1.
As a result bianry image can be made to expand a circle.
Erosion algorithm is specific as follows：
(1) with the structural element of 3x3, each pixel of scan image；
(2) bianry image covered with structural element with it does with operation；
(3) if being all 1, the pixel of result images is 1.Otherwise it is 0.
As a result bianry image can be made to reduce a circle.
S23, bead zone location：Two dimensional image is divided into bead region and background area, uses side between Otsu maximum kinds
Poor method is split, i.e., is divided into bead and background two categories, calculates two categories color image-region according to color cluster
Variance within clusters and inter-class variance, set segmentation threshold as so that inter-class variance and threshold value during variance within clusters maximum.Root at this time
It is bead region and background area according to the region that Threshold segmentation obtains.The x and y of all pixels point in bead region are averaging
Value, obtains ave_x and ave_y, then (ave_x, ave_y) is the coordinate of barycenter of the bead region in picture, exactly bead
Center.Finally, the center-of-mass coordinate ave_x and ave_y and target area in the bead region being calculated are preserved.
S3 drives steering engine so as to which manipulator be driven to carry out bead capture according to angles and positions：It obtains based on C spaces to bead
Founding mathematical models, the bead three-dimensional scene depth space information obtained according to Kinect cameras, with reference to Picking Manipulator original
The range of motion theta of mechanical arm is obtained, it is possible to successfully capture bead in reason.Robotic arm movement angle is with reference to Fig. 3.
Specifically C spaces calculation formula is：
Wherein, l1、l2The length of respectively mechanical length arm；θ2taWith θ2baRespectively machinery performs arm angles θ2's
Minimax angle；D is the connecting rod offset of mechanical arm, and x, y, z is respectively three dimensional space coordinate point.
Claims (2)
1. a kind of automatically picking up balls robot system, which is characterized in that at controller module, camera calibration module, image
Manage module, servo driving module；Core of the controller module as this hair system is connected to other modules and sends message
It is controlled；The camera calibration module includes video camera, for the calibration of the inside and outside parameter to the video camera；The figure
As processing module obtains robot information using the video camera and carries out color space variation, bead area to image
The operations such as domain positioning, barrier region calculating, and calculate manipulator and capture angle and position needed for bead and be transmitted to steering engine
Drive control module；The servo driving module includes manipulator, steering engine, for driving steering engine according to angles and positions so as to band
Dynamic manipulator carries out bead capture.
2. a kind of automatically picking up balls robot control method, which is characterized in that the described method comprises the following steps：
S1 carries out video camera the calibration of inside and outside parameter；
S2, image are handled, and including image binaryzation, dilation erosion, the operation of bead zone location, and are calculated manipulator and are caught
Catch angle needed for bead and position；
S3 drives steering engine so as to which manipulator be driven to carry out bead capture according to angles and positions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611163717.3A CN108211276A (en) | 2016-12-09 | 2016-12-09 | A kind of automatically picking up balls robot system and control method |
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| CN201611163717.3A CN108211276A (en) | 2016-12-09 | 2016-12-09 | A kind of automatically picking up balls robot system and control method |
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| CN108211276A true CN108211276A (en) | 2018-06-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108786041A (en) * | 2018-07-12 | 2018-11-13 | 贵州理工学院 | Intelligent ball collecting control method and intelligent ball collecting robot |
| CN112589804A (en) * | 2020-12-16 | 2021-04-02 | 南京工业大学 | Intelligent ball picking robot and mechanical arm control method thereof |
-
2016
- 2016-12-09 CN CN201611163717.3A patent/CN108211276A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108786041A (en) * | 2018-07-12 | 2018-11-13 | 贵州理工学院 | Intelligent ball collecting control method and intelligent ball collecting robot |
| CN112589804A (en) * | 2020-12-16 | 2021-04-02 | 南京工业大学 | Intelligent ball picking robot and mechanical arm control method thereof |
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Application publication date: 20180629 |