CN109664317A - The grasping body system and method for robot - Google Patents
The grasping body system and method for robot Download PDFInfo
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- CN109664317A CN109664317A CN201910069683.9A CN201910069683A CN109664317A CN 109664317 A CN109664317 A CN 109664317A CN 201910069683 A CN201910069683 A CN 201910069683A CN 109664317 A CN109664317 A CN 109664317A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- 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
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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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of grasping body system and methods of robot, which comprises identifies target object by the binocular camera of robot, and target object is set to binocular camera visual field central location；The tripolar coordinates of target object is calculated, and tripolar coordinates is converted to the control coordinate of robot arm；Arm master control increases multiple intermediate points in the intermediate of robot arm operating path, and provides intermediate point coordinate；Arm joint actuator driven robot arm is advanced according to setting intermediate point coordinate, and reaches target object coordinate position；Robot arm is controlled according to the offset angle mobile robot arm of calculating, until the deviation of arm terminal position and aiming spot is less than given threshold.Robot arm of the invention does not need to be equipped with the components such as high-precision motor, and movement can be freely rotated there is no limit redundant degree of freedom, two cameras and moment tracking target object, and robot is made to seem more to personalize in this way.
Description
Technical field
The grasping body system and method for the specific technical field of robot control of the present invention more particularly to a kind of robot.
Background technique
With the development of the society, all trades and professions have achieved unprecedented development, while there has also been bigger to productivity
Demand, the demand that robot complies with the epoch comes into being.It is unwilling because they can be the mankind such as some cumbersome or dangerous
The work done, this develops rapidly robot technology, wherein the identification sorting to article is even more to save largely
Manpower, such as the sorting to some defect wares or the classification pickup to courier packages in the production line.For anthropomorphic robot
For, crawl object also becomes the difficulty that must be captured.
Robot crawl object process relates generally to two technologies: identification to object simultaneously obtains the position in its space；
Operation mechanical arm reaches this position and grabs object.The two-dimensional coordinate for for example only needing to obtain object under simple scenario at present can be with
It is identified by single camera, but just needing to obtain the three-dimensional of object with binocular camera under certain complex scenes sits
Mark.
Monocular cam can achieve demand in the coordinate precision of a small range substantially at present, but exists and can only obtain two
The shortcomings that tieing up coordinate, the three-dimensional coordinate of the available object of binocular camera, but since the problems such as pattern distortion introduces
Error reduction and synthesis scheduling algorithm will increase many operands again.In terms of mechanical arm control, due to the arm of anthropomorphic robot
It is 7 degree of freedom, belongs to redundant degree of freedom mechanical arm, some reaches the simplification of control, but this by reducing arm freedom degree
Arm action can be made to seem more stiff inflexible.The arm for not reducing freedom degree then passes through gradient projection method, Jacobi puppet
Inverse method, weighted least-norm solution etc. solve the problems, such as redundant degree of freedom.And these methods are not easy for general developer
It grasps, and the requirement to actuator, sensor and mechanical structure etc. is relatively high.
Therefore, the prior art needs to improve.
Summary of the invention
The present invention provides a kind of grasping body system and method for robot, to solve problems of the prior art,
One aspect based on the embodiment of the present invention discloses a kind of grasping body system of robot, comprising:
Binocular camera, the binocular camera include two cameras, for identification target object；
Camera controls motor, and the camera control motor includes three, connect with the binocular camera, for controlling
The movement in binocular camera three degree of freedom processed direction, the camera control motor are arranged encoder, take the photograph for reading binocular
As the angle of head；
Camera controls holder, for binocular camera and camera control motor to be fixed thereon, controls the binocular
The position of camera makes camera scanning recognition target object, and the target object of identification is made to be located at the binocular camera
Center；
Camera master control is connect, for driving binocular camera and taking the photograph with the binocular camera, camera control motor
As head control motor, while the encoder pulse number for obtaining camera control motor calculates target object coordinate and is converted to machine
The polar coordinates of human arm coordinate system；
Arm master control is connect with the camera master control, for receiving the robot arm coordinate of camera master control transmission
The polar coordinates of system, and its coordinate value is parsed, output to robot arm；
Arm joint actuator is connect with the arm master control, carries out corresponding actions under the control of the arm master control；
Palm joint actuator is connect with the arm master control, carries out corresponding actions in the control line of the arm master control.
In another embodiment of grasping body system based on robot of the invention, the arm joint actuator packet
Servo motor or steering engine are included, the servo motor or steering engine are used to control the movement of robot arm, and action control mode is
Position control mode.
Other side based on the embodiment of the present invention discloses a kind of grasping body method of robot, comprising:
Target object is identified by the binocular camera of robot, and by target object under the control of camera control holder
It is set to binocular camera visual field central location；
Camera master control calculates the tripolar coordinates of target object, and the tripolar coordinates of target object is converted to robot
The control coordinate of arm is sent to arm master control；
Arm master control is according to target object coordinate and arm master control changing coordinates in the centre of robot arm operating path
Increase multiple intermediate points, and provides intermediate point coordinate；
Arm joint actuator driven robot arm is advanced according to setting intermediate point coordinate, and reaches target object coordinate
Position；
Binocular camera returns to the visual pattern of arm end and target object, judges arm terminal position and target point
Whether the deviation set is less than given threshold；
If it is, completing the crawl of target object；
If it is not, then calculating the departure of arm terminal position and aiming spot, the benefit of robot arm movement is obtained
Repay angle；
Arm master control controls arm joint actuator driven robot arm according to the offset angle mobile robot of calculating
Arm, until the deviation of arm terminal position and aiming spot is less than given threshold.
It is described to be taken the photograph by the binocular of robot in another embodiment of grasping body method based on robot of the invention
Target object is set to binocular camera visual field center as head identification target object, and under the control of camera control holder
Position includes:
Holder is controlled by camera and adjusts binocular camera position, and the space in front of binocular camera is scanned；
When in the binocular camera visual field scanning to target object after gained image is handled, obtain target object and scheming
Position as in；
Camera controls holder and adjusts holder angle according to the position of target object in image, keeps target object in image
The position of centre.
In another embodiment of grasping body method based on robot of the invention, the camera master control calculates mesh
Mark the tripolar coordinates of object are as follows:
T (α, X, Y):
α is the pitch angle of binocular camera；
In formula: A, B are respectively that two cameras of binocular camera control holder with camera after lock onto target object
Angle, c be binocular camera the distance between two cameras.
In another embodiment of grasping body method based on robot of the invention, three poles by target object
Coordinate is converted to the control coordinate of robot arm are as follows:
T (β, X ', Y):
In formula: e be binocular camera central point with robot arm origin in the horizontal direction at a distance from, f is double
The central point of mesh camera with robot arm origin in the vertical direction at a distance from.
In another embodiment of grasping body method based on robot of the invention, the control of the robot arm
Coordinate further include:
Robot arm its each section number since shoulder joint is followed successively by J0, J1, J2, and J3, J0 are shoulder segments, and J1 is
Shoulder joint, J2 are large arm, and J3 is elbow joint, calculate J0, J1, J2 according to coordinates of targets, J3 is obtained:
The joint J2 is 0 degree；
In formula: r and l0 is the intermediate quantity in calculating process, and a is a camera distance objective object of binocular camera
Distance, b be binocular camera another camera distance objective object distance.
In another embodiment of grasping body method based on robot of the invention, the arm master control is according to target
Object coordinates and arm master control changing coordinates increase multiple intermediate points among robot arm operating path, and provide centre
Putting coordinate includes:
Arm master control is according to the optimal motion path of the control coordinate planning robot arm of the robot arm of calculating；
The coordinate of multiple intermediate points of robot arm motion path is obtained, and coordinate value is sent to arm master control；
Arm main control computer device human arm successively reaches the path of multiple intermediate points, and by path information storage to arm
Master control；
Arm master control controls robot arm and passes sequentially through multiple intermediate points according to the routing information of setting.
Compared with prior art, the invention has the following advantages that
The grasping body system and method for robot of the invention scans to obtain target object by binocular camera, and by
Camera master control obtains object relative to the coordinate of robot arm and feeds back to arm master control, is carried out by arm master control to coordinate
Parsing obtains the running track of robot arm, and is finely adjusted to manipulator in conjunction with visual feedback to reach target position, machine
Device human arm, which does not need to be equipped with the high cost components such as high-precision motor and harmonic speed reducer and do not need the computer of high configuration yet, to be set
It is standby, the crawl to target object is completed, and acting is the linkage of multiple joints there is no limit redundant degree of freedom, arm action has been seen
Come closer to the mankind, two cameras can be freely rotated and moment tracking target object, seem robot more in this way
It personalizes, increases the interactivity and interest of product.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
The attached drawing for constituting part of specification describes the embodiment of the present invention, and together with description for explaining
The principle of the present invention.
The present invention can be more clearly understood according to following detailed description referring to attached drawing, in which:
Fig. 1 is the structural schematic diagram of one embodiment of the grasping body system of robot of the invention.
Fig. 2 is the flow chart of one embodiment of the grasping body method of robot of the invention.
In figure: 1 binocular camera, 2 cameras control motor, 3 cameras control holder, 4 camera master controls, 5 arm masters
Control, 6 arm joint actuators, 7 palm joint actuators.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention
And its application or any restrictions used.
Technology and equipment known to person of ordinary skill in the relevant may be not discussed in detail, but in appropriate situation
Under, the technology and equipment should be considered as part of specification.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Fig. 1 is the structural schematic diagram of one embodiment of the grasping body system of robot of the invention, as shown in Figure 1,
The grasping body system of the robot includes:
Binocular camera 1, the binocular camera 1 include two cameras, for identification target object；
Camera controls motor 2, and the camera control motor 2 includes three, connect, uses with the binocular camera 1
Movement in control 1 three degree of freedom direction of binocular camera, encoder is arranged in the camera control motor 2, for reading
The angle of binocular camera 1；
Camera controls holder 3, for binocular camera 1 and camera control motor 2 to be fixed thereon, controls described double
The position of mesh camera 1 makes camera scanning recognition target object, and the target object of identification is made to be located at the binocular camera
1 center；
Camera master control 4 is connect, for driving binocular camera 1 with the binocular camera 1, camera control motor 2
Motor 2 is controlled with camera, while the encoder pulse number for obtaining camera control motor 2 calculates target object coordinate and converts
For the polar coordinates of robot arm coordinate system；
Arm master control 5 is connect with the camera master control 4, and the robot arm for receiving the transmission of camera master control 4 is sat
The polar coordinates of system are marked, and parse its coordinate value, output to robot arm；
Arm joint actuator 6 is connect with the arm master control 5, is accordingly moved under the control of the arm master control 5
Make；
Palm joint actuator 7 is connect with the arm master control 5, is accordingly moved in the control line of the arm master control 5
Make.
The arm joint actuator 6 includes servo motor or steering engine, and the servo motor or steering engine are for controlling machine
The movement of human arm, action control mode are position control mode.
Fig. 2 is the flow chart of one embodiment of the grasping body method of robot of the invention, as shown in Fig. 2, described
The grasping body method of robot, comprising:
10, target object is identified by the binocular camera 1 of robot, and by mesh under the control of camera control holder 3
Mark object is set to 1 visual field central location of binocular camera；
20, camera master control 4 calculates the tripolar coordinates of target object, and the tripolar coordinates of target object is converted to machine
The control coordinate of human arm is sent to arm master control 5；
30, arm master control 5 is according to target object coordinate and 5 changing coordinates of arm master control in robot arm operating path
Centre increases multiple intermediate points, and provides intermediate point coordinate；
40, arm joint actuator 6 drives robot arm to advance according to setting intermediate point coordinate, and reaches target object
Coordinate position；
50, binocular camera 1 returns to the visual pattern of arm end and target object, judges arm terminal position and target
Whether the deviation of point position is less than given threshold；
60, if it is, completing the crawl of target object；
70, if it is not, then calculating the departure of arm terminal position and aiming spot, obtain robot arm movement
Offset angle；
80, arm master control 5 controls the offset angle moving machine that arm joint actuator 6 drives robot arm according to calculating
Device human arm, until the deviation of arm terminal position and aiming spot is less than given threshold.
The binocular camera 1 by robot identifies target object, and by mesh under the control of camera control holder 3
Mark object is set to 1 visual field central location of binocular camera and includes:
Holder 3 is controlled by camera and adjusts 1 position of binocular camera, and the space in 1 front of binocular camera is swept
It retouches；
When in 1 visual field of binocular camera scanning to target object after gained image is handled, obtain target object and exist
Position in image；
Camera controls holder 3 and adjusts holder angle according to the position of target object in image, and target object is kept to scheme
As the position of centre.
The camera master control 4 calculates the tripolar coordinates of target object are as follows:
T (α, X, Y):
α is the pitch angle of binocular camera 1；
In formula: A, B are respectively that two cameras of binocular camera 1 control holder with camera after lock onto target object
3 angle, c are the distance between two cameras of binocular camera 1.
Since binocular camera origin is not overlapped with arm shoulder rotation axis origin, so needing to carry out coordinate system change
It changes, the control coordinate that the tripolar coordinates of target object is converted to robot arm are as follows:
T (β, X ', Y):
In formula: e be binocular camera 1 central point with robot arm origin in the horizontal direction at a distance from, f is double
The central point of mesh camera 1 with robot arm origin in the vertical direction at a distance from.
The control coordinate of the robot arm further include:
Robot arm its each section number since shoulder joint is followed successively by J0, J1, J2, and J3, J0 are shoulder segments, and J1 is
Shoulder joint, J2 are large arm, and J3 is elbow joint, calculate J0, J1, J2 according to coordinates of targets, J3 is obtained:
The joint J2 is 0 degree；
In formula: r and l0 is the intermediate quantity in calculating process, and a is the big arm lengths of robot arm, and b is robot arm
Forearm lengths, target object relative to robot arm rotation center tripolar coordinates be T (α, X, Y).
The arm master control 5 is according to target object coordinate and 5 changing coordinates of arm master control in robot arm operating path
It is intermediate increase multiple intermediate points, and provide intermediate point coordinate and include:
Arm master control 5 is according to the optimal motion path of the control coordinate planning robot arm of the robot arm of calculating；
The coordinate of multiple intermediate points of robot arm motion path is obtained, and coordinate value is sent to arm master control 5；
5 computing machine human arm of arm master control successively reaches the path of multiple intermediate points, and by path information storage to hand
Arm master control 5；
Arm master control 5 controls robot arm and passes sequentially through multiple intermediate points according to the routing information of setting.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with its
The difference of its embodiment, the same or similar part cross-reference between each embodiment.
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (8)
1. a kind of grasping body system of robot characterized by comprising
Binocular camera, the binocular camera include two cameras, for identification target object；
Camera controls motor, and the camera control motor includes three, is connect with the binocular camera, double for controlling
The movement in mesh camera three degree of freedom direction, encoder is arranged in the camera control motor, for reading binocular camera
Angle；
Camera controls holder, for binocular camera and camera control motor to be fixed thereon, controls the binocular camera shooting
The position of head, makes camera scanning recognition target object, and the target object of identification is made to be located at the center of the binocular camera；
Camera master control is connect, for driving binocular camera and camera with the binocular camera, camera control motor
Motor is controlled, while the encoder pulse number for obtaining camera control motor calculates target object coordinate and is converted to robot
The polar coordinates of arm coordinate system；
Arm master control connect with the camera master control, for receiving the robot arm coordinate system of camera master control transmission
Polar coordinates, and its coordinate value is parsed, output to robot arm；
Arm joint actuator is connect with the arm master control, carries out corresponding actions under the control of the arm master control；
Palm joint actuator is connect with the arm master control, carries out corresponding actions in the control line of the arm master control.
2. the grasping body system of robot according to claim 1, which is characterized in that the arm joint actuator packet
Servo motor or steering engine are included, the servo motor or steering engine are used to control the movement of robot arm, and action control mode is
Position control mode.
3. a kind of grasping body method of robot characterized by comprising
Target object is identified by the binocular camera of robot, and target object is arranged under the control of camera control holder
In binocular camera visual field central location；
Camera master control calculates the tripolar coordinates of target object, and the tripolar coordinates of target object is converted to robot arm
Control coordinate is sent to arm master control；
Arm master control increases according to target object coordinate and arm master control changing coordinates in the intermediate of robot arm operating path
Multiple intermediate points, and provide intermediate point coordinate；
Arm joint actuator driven robot arm is advanced according to setting intermediate point coordinate, and reaches target object coordinate bit
It sets；
Binocular camera returns to the visual pattern of arm end and target object, judges arm terminal position and aiming spot
Whether deviation is less than given threshold；
If it is, completing the crawl of target object；
If it is not, then calculating the departure of arm terminal position and aiming spot, the compensation angle of robot arm movement is obtained
Degree；
Arm master control control arm joint actuator driven robot arm according to calculating offset angle mobile robot arm,
Until the deviation of arm terminal position and aiming spot is less than given threshold.
4. the grasping body method of robot according to claim 3, which is characterized in that described to be taken the photograph by the binocular of robot
Target object is set to binocular camera visual field center as head identification target object, and under the control of camera control holder
Position includes:
Holder is controlled by camera and adjusts binocular camera position, and the space in front of binocular camera is scanned；
When in the binocular camera visual field scanning to target object after gained image is handled, obtain target object in the picture
Position；
Camera controls holder and adjusts holder angle according to the position of target object in image, and target object is kept to hit exactly in image
The position of centre.
5. the grasping body method of robot according to claim 3, which is characterized in that the camera master control calculates mesh
Mark the tripolar coordinates of object are as follows:
T (α, X, Y):
α is the pitch angle of binocular camera；
In formula: A, B are respectively folder of two cameras of binocular camera after lock onto target object with camera control holder
Angle, c are the distance between two cameras of binocular camera.
6. the grasping body method of robot according to claim 5, which is characterized in that three poles by target object
Coordinate is converted to the control coordinate of robot arm are as follows:
T (β, X ', Y):
In formula: e be binocular camera central point with robot arm origin in the horizontal direction at a distance from, f takes the photograph for binocular
As head central point and robot arm origin in the vertical direction at a distance from.
7. the grasping body method of robot according to claim 6, which is characterized in that the control of the robot arm
Coordinate further include:
Robot arm its each section number since shoulder joint is followed successively by J0, J1, J2, and J3, J0 are shoulder segments, and J1 is shoulder joint
Section, J2 is large arm, and J3 is elbow joint, calculates J0, J1, J2 according to coordinates of targets, J3 is obtained:
The joint J2 is 0 degree；
In formula: r and l0 are the intermediate quantity in calculating process, a be a camera distance objective object of binocular camera away from
From b is the distance of another camera distance objective object of binocular camera.
8. the grasping body method of robot according to claim 3, which is characterized in that the arm master control is according to target
Object coordinates and arm master control changing coordinates increase multiple intermediate points among robot arm operating path, and provide centre
Putting coordinate includes:
Arm master control is according to the optimal motion path of the control coordinate planning robot arm of the robot arm of calculating；
The coordinate of multiple intermediate points of robot arm motion path is obtained, and coordinate value is sent to arm master control；
Arm main control computer device human arm successively reaches the path of multiple intermediate points, and by path information storage to arm master
Control；
Arm master control controls robot arm and passes sequentially through multiple intermediate points according to the routing information of setting.
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| CN110605714A (en) * | 2019-08-06 | 2019-12-24 | 华中科技大学 | Hand-eye coordination grabbing method based on human eye fixation point |
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| CN111956348A (en) * | 2020-06-24 | 2020-11-20 | 深圳市美鸣齿科技术有限公司 | Method, system, equipment and storage medium for automatic brushing false tooth |
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| CN113459841A (en) * | 2021-09-01 | 2021-10-01 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Automatic charging control method and device based on uncalibrated binocular vision |
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