CN108942929A - The method and device of mechanical arm positioning crawl based on binocular stereo vision - Google Patents
The method and device of mechanical arm positioning crawl based on binocular stereo vision Download PDFInfo
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- CN108942929A CN108942929A CN201810752380.2A CN201810752380A CN108942929A CN 108942929 A CN108942929 A CN 108942929A CN 201810752380 A CN201810752380 A CN 201810752380A CN 108942929 A CN108942929 A CN 108942929A
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- mechanical arm
- instrument
- coordinate system
- target power
- transformational relation
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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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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The method and device for the mechanical arm positioning crawl based on binocular stereo vision that this application involves a kind of.This method includes the transformational relation between determining world coordinate system and mechanical arm coordinate system；Target power instrument is classified and identified by Scale invariant features transform SIFT feature matching rule；First object position of the target power instrument in world coordinate system is calculated, and second target position of the first object position in mechanical arm coordinate system is determined according to the transformational relation between the world coordinate system and the mechanical arm coordinate system；The target power instrument is grabbed according to the category feature of the target power instrument and second target position.The precision of instrument crawl can be improved in the present invention；Instrument to be checked, which is placed on rotating platform, can make entire verification system improve calibrating efficiency.
Description
Technical field
This application involves automation fields, position crawl more particularly to a kind of mechanical arm based on binocular stereo vision
Method and device.
Background technique
Currently, pointer instrument still generally uses in power industry, for the safe operation for guaranteeing electric system, electric power
Research institute, metering Yuan Deng scientific research institutions need to carry out instrument regularly to examine and determine the accuracy to ensure instrument, therefore to automatic
The demand of the instrument calibration system of change is increasing.However existing instrument automatic verification system requires manually to go up following table, does not have
Have and accomplish complete automatic calibration, seriously constrains the working efficiency of instrument calibration system.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide it is a kind of can automatically to instrument examined and determine based on
The method and device of the mechanical arm positioning crawl of binocular stereo vision.
The present invention provides a kind of method of mechanical arm positioning crawl based on binocular stereo vision, which comprises
Determine the transformational relation between world coordinate system and mechanical arm coordinate system；
Pass through Scale invariant features transform (Scale-invariant feature transform, SIFT) characteristic matching
Rule is classified and is identified to target power instrument；
First object position of the target power instrument in world coordinate system is calculated, and according to the world coordinate system
Transformational relation between the mechanical arm coordinate system determines second mesh of the first object position in mechanical arm coordinate system
Cursor position；
According to the category feature of the target power instrument and second target position to the target power instrument into
Row crawl.
Optionally, the transformational relation between the determining world coordinate system and mechanical arm coordinate system includes:
The first object of reference is shot by binocular camera, according to first object of reference in world coordinate system and camera coordinates
Position in system determines the transformational relation between the world coordinate system and the camera coordinates system；
The second object of reference is determined by binocular camera and mechanical arm, according to second object of reference in the camera coordinates system
And the position in mechanical arm coordinate system, determine the transformational relation between the camera coordinates system and the mechanical arm coordinate system；
According between the world coordinate system and the camera coordinates system transformational relation and the camera coordinates system with
Transformational relation between the mechanical coordinate system determines that the conversion between the world coordinate system and the mechanical arm coordinate system is closed
System.
Optionally, it is described target power instrument is classified and is identified by SIFT feature matching rule before, it is described
Method further include:
It is identified by model of the SIFT feature matching rule to each instrument in the area instrument Hou Jian, so that identified instrument
Table is transported by transmission belt to instrument calibration corresponding with model area.
Optionally, the method also includes:
Each instrument is obtained in the world coordinates information in the area the instrument Hou Jian, so that the mechanical arm root by binocular camera
According to each instrument each instrument described in the world coordinates information scratching in the area the instrument Hou Jian, and it is placed on calibrating assembly line
In transmission belt.
Optionally, clamping jaw, the category feature and institute according to the target power instrument are additionally provided on the mechanical arm
It states the second target position and the target power instrument grab and include:
The clamping jaw is moved to according to the category feature of the target power instrument and second target position described
The predeterminated position of target power instrument；
The clamping jaw is controlled to clamp to grab the target power instrument.
The present invention also provides a kind of mechanical arm positioning grabbing device based on binocular stereo vision, described device includes ontology
With the mechanical arm and binocular camera of setting on the body, the mechanical arm is equipped with clamping jaw, is additionally provided with use on the ontology
In the controller for controlling the mechanical arm, the clamping jaw and the binocular camera；
The controller is used to determine the transformational relation between world coordinate system and mechanical arm coordinate system；
The controller be also used to by Scale invariant features transform SIFT feature matching rule to target power instrument into
Row classification and identification；
The controller is also used to calculate first object position of the target power instrument in world coordinate system, and root
Determine the first object position in mechanical arm according to the transformational relation between the world coordinate system and the mechanical arm coordinate system
The second target position in coordinate system；
The controller is also used to be controlled according to the category feature of the target power instrument and second target position
Clamping jaw on the mechanical arm grabs the target power instrument.
Optionally, the controller is specifically used for:
It controls the binocular camera and shoots the first object of reference, and according to first object of reference in world coordinate system and phase
Position in machine coordinate system determines the transformational relation between the world coordinate system and the camera coordinates system；
It controls the binocular camera and mechanical arm determines the second object of reference, sat according to second object of reference in the camera
Position in mark system and mechanical arm coordinate system determines that the conversion between the camera coordinates system and the mechanical arm coordinate system is closed
System；
According between the world coordinate system and the camera coordinates system transformational relation and the camera coordinates system with
Transformational relation between the mechanical coordinate system determines that the conversion between the world coordinate system and the mechanical arm coordinate system is closed
System.
Optionally, the controller is also used to:
It is identified by model of the SIFT feature matching rule to each instrument in the area instrument Hou Jian, so that identified instrument
Table is transported by transmission belt to instrument calibration corresponding with model area.
Optionally, the controller is also used to:
It controls the binocular camera and obtains each instrument in the world coordinates information in the area the instrument Hou Jian, so that the machinery
Arm is placed on calibrating flowing water according to each instrument each instrument described in the world coordinates information scratching in the area the instrument Hou Jian
In the transmission belt of line.
Optionally, the controller is specifically used for:
Controlling the mechanical arm according to the category feature of the target power instrument and second target position will be described
Clamping jaw is moved to the predeterminated position of the target power instrument；
The clamping jaw is controlled to clamp to grab the target power instrument.
In the method for mechanical arm positioning crawl provided by the invention based on binocular stereo vision, flowed in instrument wait examine and determine
Positioning link during waterline is sat using the Binocular Stereo Vision System of trick structure, and by world coordinates and mechanical arm
Transformational relation between mark is accurately positioned instrument to be detected；And Binocular Stereo Vision System acquired image is utilized, fortune
The model that may recognize that instrument to be examined and determine with digital image processing techniques facilitates subsequent detecting platform to carry out instrument calibration, and
And meter size can get according to the mter model identified, the precision of instrument crawl can be improved；Instrument to be checked is placed
Entire verification system can be made to improve calibrating efficiency in rotating platform.
Detailed description of the invention
Fig. 1 is that the present invention is based on the schematic diagrames of the mechanical arm positioning grabbing device of binocular stereo vision；
Fig. 2 is that the present invention is based on the schematic diagrames of the method for the mechanical arm of binocular stereo vision positioning crawl；
Fig. 3 is one embodiment figure of the method for the mechanical arm positioning crawl of the invention based on binocular stereo vision；
Fig. 4 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Method provided by the present application can be applied in application environment as shown in Figure 1, controller, mechanical arm, and binocular is vertical
Body vision system, electronic clamping jaw are detected instrument and wait inspection rotating platform.Binocular Stereo Vision System and electronic clamping jaw are fixed on machinery
On the ring flange of arm, tested instrument is put in time inspection rotating platform；Controller passes through ethernet line and mechanical arm and binocular tri-dimensional
Feel system is connected；Controller waits inspection rotating platform with electronic clamping jaw and tested instrument by pci interface and is connected, to realize control
Control of the device to all the next equipment.Controller is connected by Ethernet with Binocular Stereo Vision System and mechanical arm, and camera is adopted
The image of collection is transmitted to controller by ethernet line, and will calculate resulting data is transmitted to machinery by ethernet line to controller again
Arm；Controller is connected by serial ports with measurement criteria source, realizes the control to standard source.Controller by pci interface with it is electronic
Clamping jaw is connected with the rotating platform of gauge field to be checked, realizes the control to the rotating platform of electronic clamping jaw and gauge field to be checked.
Wherein, controller can be computer, single-chip microcontroller etc., and controller is completed by control binocular camera 106 to be detected
Electric instrument classified and identified, and obtain electric instrument location information, controller 102 also by control mechanical arm
Electric instrument is grabbed with clamping jaw.Binocular Stereo Vision System in verification system uses the MV-EM200M of dimensional view picture
Type black and white camera, what mechanical arm was selected is the IRB2600-20/1.65 type mechanical arm of ABB, the SMC's that electronic clamping jaw is selected
The electronic clamping jaw of LEHF32K2-64-6P3D type, the MSME082G1T type servo motor for the Panasonic that rotating platform motor is selected.
Wherein, the Binocular Stereo Vision System uses the MV-EM200M type black and white camera of dimensional view picture, such camera
Have the function of high rate burst communication and 2,000,000 pixels, the quality and efficiency of effective guarantee Image Acquisition；Mechanical arm select be
The IRB 2600-20/1.65 type mechanical arm of ABB, positional repeatability can reach 0.04mm；The SMC's that electronic clamping jaw is selected
The electronic clamping jaw of LEHF32K2-64-6P3D type, stroke 64mm, maximum grip power are 120N；The pine that rotating platform motor is selected
Under MSME082G1T type servo motor, rated output 750W can load rotating platform and instrument to be checked.
In one embodiment, as shown in Fig. 2, provide it is a kind of based on binocular stereo vision mechanical arm positioning crawl
Method, comprising the following steps:
202, the transformational relation between world coordinate system and mechanical arm coordinate system is determined.
Wherein, the coordinate system in world coordinate system, that is, true three-dimensional world, when mechanical arm coordinate system, that is, manipulator motion
Referenced coordinate system.
As optional, the transformational relation between world coordinate system and mechanical arm coordinate system specifically can be used as under type into
Row conversion:
The first object of reference is shot by binocular camera, according to first object of reference in world coordinate system and camera coordinates
Position in system determines the transformational relation between the world coordinate system and the camera coordinates system；
The second object of reference is determined by binocular camera and mechanical arm, according to second object of reference in the camera coordinates system
And the position in mechanical arm coordinate system, determine the transformational relation between the camera coordinates system and the mechanical arm coordinate system；
According between the world coordinate system and the camera coordinates system transformational relation and the camera coordinates system with
Transformational relation between the mechanical coordinate system determines that the conversion between the world coordinate system and the mechanical arm coordinate system is closed
System.
As can be seen that the practical process for using coordinate conversion twice of the conversion process sits world coordinates and mechanical arm
Transformational relation is established between mark, so that controller, which more can accurately control mechanical arm, is moved and controlled clamping jaw
Electric instrument is grabbed.
204, target power instrument is classified and is identified by Scale invariant features transform SIFT feature matching rule.
Optionally, before target power instrument is classified and identified by SIFT feature matching rule, the side
Method further include:
It is identified by model of the SIFT feature matching rule to each instrument in the area instrument Hou Jian, so that identified instrument
Table is transported by transmission belt to instrument calibration corresponding with model area.
Optionally, the method also includes:
Each instrument is obtained in the world coordinates information in the area the instrument Hou Jian, so that the mechanical arm root by binocular camera
According to each instrument each instrument described in the world coordinates information scratching in the area the instrument Hou Jian, and it is placed on calibrating assembly line
In transmission belt.
Optionally, clamping jaw, the category feature and institute according to the target power instrument are additionally provided on the mechanical arm
It states the second target position and the target power instrument grab and include:
The clamping jaw is moved to according to the category feature of the target power instrument and second target position described
The predeterminated position of target power instrument；
The clamping jaw is controlled to clamp to grab the target power instrument.
206, first object position of the target power instrument in world coordinate system is calculated, and is sat according to the world
Transformational relation between mark system and the mechanical arm coordinate system determines the of the first object position in mechanical arm coordinate system
Two target positions.
208, according to the category feature of the target power instrument and second target position to the target power instrument
Table is grabbed.
In the present embodiment, positioning link during wait examine and determine assembly line in instrument is vertical using the binocular of trick structure
Body vision system, and instrument to be detected is accurately positioned by the transformational relation between world coordinates and mechanical arm coordinate；And
Using Binocular Stereo Vision System acquired image, the type of instrument to be examined and determine may recognize that with digital image processing techniques
Number, facilitate subsequent detecting platform to carry out instrument calibration, and can get meter size according to the mter model identified, it can
To improve the precision of instrument crawl；Instrument to be checked, which is placed on rotating platform, can make entire verification system improve calibrating efficiency.
The above method is illustrated with the example in a practical work process below.
Referring to Fig. 3, Fig. 3 is a reality of the method for the mechanical arm positioning crawl of the invention based on binocular stereo vision
Example diagram is applied, as shown in Figure 3, comprising:
Hardware platform is put up according to attached drawing 1, Binocular Stereo Vision System and electronic clamping jaw are fixed on to the method for mechanical arm
On blue disk, controller is connect by cable with camera；Controller is connected with electronic clamping jaw and rotating platform respectively by pci interface
It connects.
By instrument to be checked placement and gauge field rotating platform to be checked, and initial proving range is selected, carries out tested instrument
School odd-job is made.
Binocular Stereo Vision System is opened, camera is allow to acquire clearly image.
Manipulator motion is controlled to starting point, and open rotating platform to make its setting in motion.
Controller starts to carry out moving object detection instrument i.e. to be checked, when target is moved to the visual field center of left camera,
Closing rotating platform makes its stop motion.
Computer controls binocular camera acquisition instrument image and carries out Stereo matching, calculates the three-dimensional information of instrument.
Controller controls manipulator motion to the surface of instrument and close to instrument, carries out the type of characteristic matching identification instrument
Number.
According to the size for identifying the resulting available instrument of mter model, in conjunction with the three-dimensional information of (6) resulting instrument
Control mechanical arm and electronic clamping jaw grab instrument.
Controller controls above manipulator motion to the transmission belt of electric instrument calibrating assembly line and places instrument, then controls
Mechanical arm processed returns to initial point.
Wherein, it is being not connected to the ceasing and desisting order with before emergency stop order of master control system, Repetitive controller manipulator motion arrives
The step of starting point to controller controls above manipulator motion to the transmission belt of electric instrument calibrating assembly line and places instrument,
Then the step of control mechanical arm returns to initial point.
The present invention has carried out automatic updating to existing pointer meters verification system, using Binocular Stereo Vision System to instrument
Table is positioned, and is identified using digital image processing techniques to mter model, treats inspection using mechanical arm and electronic clamping jaw
Instrument is grabbed and is placed.Therefore, compared with prior art, the present invention has the advantages that automatization level is higher.
Above to of the invention based on binocular stereo vision mechanical arm positioning crawl method be described, below it is right
Mechanical arm positioning grabbing device based on binocular stereo vision of the invention is introduced.
Described device includes the mechanical arm and binocular camera of ontology and setting on the body, and the mechanical arm is equipped with
Clamping jaw is additionally provided with the controller for controlling the mechanical arm, the clamping jaw and the binocular camera on the ontology；
The controller is used to determine the transformational relation between world coordinate system and mechanical arm coordinate system；
The controller be also used to by Scale invariant features transform SIFT feature matching rule to target power instrument into
Row classification and identification；
The controller is also used to calculate first object position of the target power instrument in world coordinate system, and root
Determine the first object position in mechanical arm according to the transformational relation between the world coordinate system and the mechanical arm coordinate system
The second target position in coordinate system；
The controller is also used to be controlled according to the category feature of the target power instrument and second target position
Clamping jaw on the mechanical arm grabs the target power instrument.
Optionally, the controller is specifically used for:
It controls the binocular camera and shoots the first object of reference, and according to first object of reference in world coordinate system and phase
Position in machine coordinate system determines the transformational relation between the world coordinate system and the camera coordinates system；
It controls the binocular camera and mechanical arm determines the second object of reference, sat according to second object of reference in the camera
Position in mark system and mechanical arm coordinate system determines that the conversion between the camera coordinates system and the mechanical arm coordinate system is closed
System；
According between the world coordinate system and the camera coordinates system transformational relation and the camera coordinates system with
Transformational relation between the mechanical coordinate system determines that the conversion between the world coordinate system and the mechanical arm coordinate system is closed
System.
Optionally, the controller is also used to:
It is identified by model of the SIFT feature matching rule to each instrument in the area instrument Hou Jian, so that identified instrument
Table is transported by transmission belt to instrument calibration corresponding with model area.
Optionally, the controller is also used to:
It controls the binocular camera and obtains each instrument in the world coordinates information in the area the instrument Hou Jian, so that the machinery
Arm is placed on calibrating flowing water according to each instrument each instrument described in the world coordinates information scratching in the area the instrument Hou Jian
In the transmission belt of line.
Optionally, the controller is specifically used for:
Controlling the mechanical arm according to the category feature of the target power instrument and second target position will be described
Clamping jaw is moved to the predeterminated position of the target power instrument；
The clamping jaw is controlled to clamp to grab the target power instrument.
In the present embodiment, positioning link during wait examine and determine assembly line in instrument is vertical using the binocular of trick structure
Body vision system, and instrument to be detected is accurately positioned by the transformational relation between world coordinates and mechanical arm coordinate；And
Using Binocular Stereo Vision System acquired image, the type of instrument to be examined and determine may recognize that with digital image processing techniques
Number, facilitate subsequent detecting platform to carry out instrument calibration, and can get meter size according to the mter model identified, it can
To improve the precision of instrument crawl；Instrument to be checked, which is placed on rotating platform, can make entire verification system improve calibrating efficiency.
In one embodiment, a kind of computer equipment is provided, which can be server, internal junction
Composition can be as shown in Figure 4.The computer equipment include by system bus connect processor, memory, network interface and
Database.Wherein, the processor of the computer equipment is for providing calculating and control ability.The memory packet of the computer equipment
Include non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system, computer program and data
Library.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The calculating
The database of machine equipment is for user information, business information etc..The network interface of the computer equipment is used for and external terminal
It is communicated by network connection.To realize the mechanical arm positioning based on binocular stereo vision when the computer program is executed by processor
The method of crawl.
It will be understood by those skilled in the art that structure shown in Fig. 4, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment, including memory and processor are provided, which is stored with
Computer program, the processor realize the step in above-mentioned each embodiment of the method when executing computer program.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program realizes the step in above-mentioned each embodiment of the method when being executed by processor.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of method of the mechanical arm positioning crawl based on binocular stereo vision, which comprises
Determine the transformational relation between world coordinate system and mechanical arm coordinate system；
Target power instrument is classified and identified by Scale invariant features transform SIFT feature matching rule；
First object position of the target power instrument in world coordinate system is calculated, and according to the world coordinate system and institute
It states the transformational relation between mechanical arm coordinate system and determines second target position of the first object position in mechanical arm coordinate system
It sets；
The target power instrument is grabbed according to the category feature of the target power instrument and second target position
It takes.
2. the method for the mechanical arm positioning crawl according to claim 1 based on binocular stereo vision, the determining world
Transformational relation between coordinate system and mechanical arm coordinate system includes:
The first object of reference is shot by binocular camera, according to first object of reference in world coordinate system and camera coordinates system
Position, determine the transformational relation between the world coordinate system and the camera coordinates system；
Determine the second object of reference by binocular camera and mechanical arm, according to second object of reference in the camera coordinates system and
Position in mechanical arm coordinate system determines the transformational relation between the camera coordinates system and the mechanical arm coordinate system；
According between the world coordinate system and the camera coordinates system transformational relation and the camera coordinates system with it is described
Transformational relation between mechanical coordinate system determines the transformational relation between the world coordinate system and the mechanical arm coordinate system.
3. the method for the mechanical arm positioning crawl according to claim 1 based on binocular stereo vision, which is characterized in that institute
It states before target power instrument is classified and identified by SIFT feature matching rule, the method also includes:
It is identified by model of the SIFT feature matching rule to each instrument in the area instrument Hou Jian, so that identified instrument quilt
Transmission belt is transported to instrument calibration corresponding with model area.
4. the method for the mechanical arm positioning crawl according to claim 3 based on binocular stereo vision, which is characterized in that institute
State method further include:
Each instrument is obtained in the world coordinates information in the area the instrument Hou Jian, so that the mechanical arm is according to institute by binocular camera
Each instrument each instrument described in the world coordinates information scratching in the area the instrument Hou Jian is stated, and is placed on the transmission of calibrating assembly line
It takes.
5. the method for the mechanical arm positioning crawl according to claim 1 based on binocular stereo vision, which is characterized in that institute
It states and is additionally provided with clamping jaw on mechanical arm, the category feature and second target position according to the target power instrument is to institute
It states target power instrument and grab and include:
The clamping jaw is moved to the target according to the category feature of the target power instrument and second target position
The predeterminated position of electric instrument；
The clamping jaw is controlled to clamp to grab the target power instrument.
6. a kind of mechanical arm positioning grabbing device based on binocular stereo vision, which is characterized in that described device include ontology and
Mechanical arm and binocular camera on the body is set, and the mechanical arm is equipped with clamping jaw, is additionally provided with and is used on the ontology
Control the controller of the mechanical arm, the clamping jaw and the binocular camera；
The controller is used to determine the transformational relation between world coordinate system and mechanical arm coordinate system；
The controller is also used to divide target power instrument by Scale invariant features transform SIFT feature matching rule
Class and identification；
The controller is also used to calculate first object position of the target power instrument in world coordinate system, and according to institute
Stating the transformational relation between world coordinate system and the mechanical arm coordinate system determines the first object position in mechanical arm coordinate
The second target position in system；
The controller is also used to according to the category feature of the target power instrument and second target position control
Clamping jaw on mechanical arm grabs the target power instrument.
7. the mechanical arm positioning grabbing device according to claim 6 based on binocular stereo vision, the control implement body
For:
It controls the binocular camera and shoots the first object of reference, and sat according to first object of reference in world coordinate system and camera
Position in mark system, determines the transformational relation between the world coordinate system and the camera coordinates system；
It controls the binocular camera and mechanical arm determines the second object of reference, according to second object of reference in the camera coordinates system
And the position in mechanical arm coordinate system, determine the transformational relation between the camera coordinates system and the mechanical arm coordinate system；
According between the world coordinate system and the camera coordinates system transformational relation and the camera coordinates system with it is described
Transformational relation between mechanical coordinate system determines the transformational relation between the world coordinate system and the mechanical arm coordinate system.
8. the mechanical arm positioning grabbing device according to claim 6 based on binocular stereo vision, which is characterized in that described
Controller is also used to:
It is identified by model of the SIFT feature matching rule to each instrument in the area instrument Hou Jian, so that identified instrument quilt
Transmission belt is transported to instrument calibration corresponding with model area.
9. the mechanical arm positioning grabbing device according to claim 8 based on binocular stereo vision, which is characterized in that described
Controller is also used to:
It controls the binocular camera and obtains each instrument in the world coordinates information in the area the instrument Hou Jian, so that the mechanical arm root
According to each instrument each instrument described in the world coordinates information scratching in the area the instrument Hou Jian, and it is placed on calibrating assembly line
In transmission belt.
10. the mechanical arm positioning grabbing device according to claim 6 based on binocular stereo vision, which is characterized in that institute
Controller is stated to be specifically used for:
The mechanical arm is controlled by the clamping jaw according to the category feature of the target power instrument and second target position
It is moved to the predeterminated position of the target power instrument；
The clamping jaw is controlled to clamp to grab the target power instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810752380.2A CN108942929B (en) | 2018-07-10 | 2018-07-10 | Mechanical arm positioning and grabbing method and device based on binocular stereo vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810752380.2A CN108942929B (en) | 2018-07-10 | 2018-07-10 | Mechanical arm positioning and grabbing method and device based on binocular stereo vision |
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| Publication Number | Publication Date |
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| CN108942929A true CN108942929A (en) | 2018-12-07 |
| CN108942929B CN108942929B (en) | 2020-11-27 |
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| CN201810752380.2A Active CN108942929B (en) | 2018-07-10 | 2018-07-10 | Mechanical arm positioning and grabbing method and device based on binocular stereo vision |
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| CN112285625A (en) * | 2020-09-21 | 2021-01-29 | 广东电网有限责任公司广州供电局 | Universal automatic electric power instrument verification system and method |
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| CN109483554A (en) * | 2019-01-22 | 2019-03-19 | 清华大学 | Robotic Dynamic grasping means and system based on global and local vision semanteme |
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