CN110315536B - High-precision multi-degree-of-freedom operation mechanical arm control method based on machine vision - Google Patents
High-precision multi-degree-of-freedom operation mechanical arm control method based on machine vision Download PDFInfo
- Publication number
- CN110315536B CN110315536B CN201910526885.1A CN201910526885A CN110315536B CN 110315536 B CN110315536 B CN 110315536B CN 201910526885 A CN201910526885 A CN 201910526885A CN 110315536 B CN110315536 B CN 110315536B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- center
- camera
- instruction
- machine vision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
- 235000007164 Oryza sativa Nutrition 0.000 claims description 3
- 235000009566 rice Nutrition 0.000 claims description 3
- 240000007594 Oryza sativa Species 0.000 claims 1
- 241000209094 Oryza Species 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007105 physical stamina Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a machine vision-based high-precision multi-degree-of-freedom operating mechanical arm control method, which comprises the steps of starting a camera after an instruction is obtained, moving a mechanical arm until the geometric center of an image of the camera is aligned with the center of a two-dimensional code, obtaining the coordinate of the current mechanical arm, aligning a tail end sleeve at the tail end of the mechanical arm with an operating hole, inserting the tail end sleeve into the operating hole, operating a rotary switch according to the instruction if the instruction is effective, withdrawing after the instruction is finished, and resetting to a mechanical arm withdrawing state. According to the invention, the high-risk equipment is operated by automatically operating the knob switch with high precision instead of manpower, and the two-dimensional code attached to the body of the high-voltage switch cabinet is combined, so that the high-precision positioning and automatic operation functions are realized, the error is small, the operation success rate is high, unified planning and standardization are facilitated, and the operation time is easy to grasp.
Description
Technical Field
The present invention relates to a manipulator; the technical field of containers provided with operating devices, in particular to a high-precision multi-degree-of-freedom operating mechanical arm control method based on machine vision.
Background
The high-voltage switch cabinet is related corollary equipment commonly used in electric power facilities, and the main purpose is to perform operations such as a switch circuit and the like during power conversion and play a role in protecting the circuit at the same time. When the handcart type circuit breaker in the high-voltage switch cabinet is operated, an operator is required to manually insert the sleeve into the operation hole, and the rotary switch in the operation hole is rotated clockwise or anticlockwise to move the switch trolley to a test position or a working position.
However, in actual operation, when operating handcart-type circuit breaker, need the staff manually to insert the sleeve in the handle hole, clockwise or anticlockwise turns twenty circles, physical stamina consumption is big, and if taking place to pause in the operation process, will lead to the sound contact time increase in the circuit breaker, has certain hidden danger, in addition, handcart-type circuit breaker still probably takes place the circumstances such as electric leakage, explosion, causes the casualties, has very big potential safety hazard in the whole.
Based on this, current many occasions begin to select to use mechanical arm automatic operation switch knob to replace manual operation, can effectively avoid operating personnel to receive the injury, improve automatic level simultaneously.
However, the prior art has the following technical difficulties:
(1) the precision requirement of the rotary switch on the mechanical arm is high, the diameter of a sleeve for operating the rotary switch is only slightly smaller than that of an operation hole, the allowable error is within 2 mm, and once the error exceeds 2 mm, the rotary switch cannot be operated successfully;
(2) the types of the on-site high-voltage switch cabinets are various, the operation point positions are complex, and the torques required by the rotation of the rotary switches are different, so that the unified planning and the standardization are not facilitated;
(3) the operation time of each operation point position should be controlled within 2 minutes, the manual operation time generally needs about 4 minutes, and the requirement on the operation time is high.
Disclosure of Invention
The invention solves the problems that in the prior art, although manual operation is replaced by using an automatic operation switch knob of a mechanical arm in many occasions, the operation precision is low, the operation success rate is unstable, and uniform planning and standardization are not facilitated due to the fact that the operation point position is complex and the torque required by rotation of each rotary switch is different, and provides an optimized machine vision-based high-precision multi-degree-of-freedom operation mechanical arm control method.
The invention adopts the technical scheme that a high-precision multi-degree-of-freedom operation mechanical arm control method based on machine vision is characterized in that a mechanical arm is matched with a camera through a controller, and the method comprises the following steps:
step 1: if the instruction is obtained, starting the camera to perform the next step, otherwise, continuing to wait for the instruction;
step 2: moving the mechanical arm until the geometric center of the image of the camera is aligned with the center of the two-dimensional code, wherein the coordinate of the mechanical arm is (X center , Y center , Z center )；
And step 3: aligning a sleeve at the tail end of the mechanical arm with the operation hole;
and 4, step 4: inserting the tail end sleeve into the operation hole, if the instruction is valid, operating the rotary switch according to the instruction, and carrying out the next step, otherwise, directly carrying out the next step;
and 5: and after the operation is finished, withdrawing and resetting to a mechanical arm withdrawing state.
Preferably, the step 2 comprises the steps of:
step 2.1: moving the robotic arm to an initial pose with initialization data stored in a database;
step 2.2: the image identification unit controls the camera to shoot, and coordinates of the center of the two-dimensional code in the image coordinate system are identified and obtained (x 1, y 1)；
Step 2.3: the controller controls the mechanical arm to move upwardsiMove rice to the leftjThe image recognition unit controls the camera to shoot again to obtain the coordinate (of the center of the two-dimensional code in the image coordinate system) at the momentx 2, y 2) Wherein, in the step (A),i≥0，j≥0；
step 2.4: computingdx=| x 2- x 1|/i，dy=| y 2- y 1|/j；
Step 2.5: calculating the actual distance of the transverse moving mechanical arm required for moving the center of the two-dimensional code to coincide with the geometric center of the imageL 1=(x 2-m/2)/dxLongitudinal movement of the armL 2=(y 2-n/2)/dyWherein, in the step (A),mandnthe sizes of the picture pixels shot by the camera are respectively;
step 2.6: the current coordinate of the mechanical arm is (X, Y, Z) Wherein, in the step (A),XYthe plane is parallel to the plane of operation,Zthe axis is perpendicular to the operating plane; controlling the mechanical arm to move stably toX+(x 2-m/2)/dx, Y+(y 2-n/2)/dy, Z) In a ratio of (A) to (B)X+(x 2-m/2)/dx, Y+(y 2-n/2)/dy，Z) Is prepared from (a)X center , Y center , Z center ) And completing the position movement of the mechanical arm.
Preferably, in the step 2.6, after the robot arm moves once, the robot arm is repeatedly controlled to move stably to (c)X+(x 2-m/2)/dx, Y+(y 2-n/2)/dy, Z) The positioning accuracy is in millimeter level.
Preferably, the two-dimensional code is placed on the surface of any equipment provided with an operation hole.
Preferably, the step 3 comprises the steps of:
step 3.1: reading values stored in a databasea、bNamely, the mechanical arm moves from the center of the two-dimensional code to the displacement value of the tail end sleeve aligning with the operation hole;
step 3.2: moving the arm to (a)X center +a, Y center +b, Z center ) The end sleeve at the end of the mechanical arm is aligned with the operation hole.
Preferably, step 4 comprises the steps of:
step 4.1: reading values stored in a databasec，The displacement value required for inserting the end sleeve into the operation hole, and moving the mechanical arm to the coordinates (X center +a, Y center +b, Z center +c) Inserting the end sleeve into the operation hole;
step 4.2: if the switch trolley is in the target state, directly performing the step 5, otherwise, performing the next step;
step 4.3: and starting the motor to control the tail end sleeve to rotate and drive the rotary switch.
Preferably, the controller establishes connection with a control unit of the mechanical arm through a specified communication protocol, obtains a state of the mechanical arm, and sends an instruction to control the mechanical arm; the controller receives the instruction and receives and processes the pictures shot by the camera.
Preferably, the robot arm state includes a robot arm coordinate, a joint angle, and an operation state.
Preferably, the control unit of the tip sleeve communicates with the controller using CANopen.
Preferably, the image recognition unit remotely controls the camera to photograph through a TCP protocol, recognizes the center coordinates of the two-dimensional code in the image and assists the mechanical arm in positioning.
The invention provides an optimized machine vision-based high-precision multi-degree-of-freedom operation mechanical arm control method, which comprises the steps of starting a camera after an instruction is obtained, moving a mechanical arm until the geometric center of an image of the camera is aligned with the center of a two-dimensional code, obtaining the coordinate of the current mechanical arm, aligning a tail end sleeve at the tail end of the mechanical arm with an operation hole, inserting the tail end sleeve into the operation hole, operating a rotary switch according to the instruction if the instruction is effective, withdrawing after the instruction is finished, and resetting to a mechanical arm withdrawing state.
According to the invention, the high-risk equipment is operated by automatically operating the knob switch with high precision instead of manpower, and the two-dimensional code attached to the body of the high-voltage switch cabinet is combined, so that the high-precision positioning and automatic operation functions are realized, the error is small, the operation success rate is high, unified planning and standardization are facilitated, and the operation time is easy to grasp.
Drawings
FIG. 1 is a flow chart of the present invention;
fig. 2 is a schematic structural diagram of the rotary switch of the present invention, wherein a rectangular hatched block is an operation hole, and clockwise and counterclockwise arrows indicate on or off, respectively.
Detailed Description
The present invention is described in further detail with reference to the following examples, but the scope of the present invention is not limited thereto.
The invention relates to a machine vision-based high-precision multi-degree-of-freedom operation mechanical arm control method.
The center of the two-dimensional code is arranged on the surface of any equipment with an operation hole.
The controller is connected with a control unit of the mechanical arm through a specified communication protocol to obtain the state of the mechanical arm and send an instruction to control the mechanical arm; the controller receives the instruction and receives and processes the pictures shot by the camera.
The mechanical arm state comprises mechanical arm coordinates, joint angles and an operation state.
The control unit of the end sleeve communicates with the controller using CANopen.
The image recognition unit remotely controls the camera to shoot images through a TCP protocol, recognizes the center coordinates of the two-dimensional codes in the images and assists the mechanical arm in positioning.
In the invention, the logic of the method is as follows: the camera or camera arranged at the tail end of the mechanical arm is used for shooting pictures, the center position of any target two-dimensional code in the pictures is identified, and the coordinates of the mechanical arm in the three-dimensional world at present are obtained through reverse deduction, so that the mechanical arm is controlled to move to a target posture, and a rotary switch in an operation hole in the high-voltage switch cabinet is operated; the control unit of the mechanical arm, the control unit of the tail end sleeve and the image recognition unit are controlled by the main control unit, and the high-precision positioning and automatic operation functions are realized by combining the two-dimensional code center attached to the body of the high-voltage switch cabinet.
In the invention, a main control unit is connected with a control unit of a mechanical arm through a specified communication protocol to obtain the state of the mechanical arm, including the coordinates, joint angles and running state of the mechanical arm, and send instructions to control the mechanical arm; generally, the coordinate control and the joint angle control may be maintained at one state, and the operation state includes an operation (on) of the robot arm, a protective stop, an emergency stop, a standby (off), and the like.
In the present invention, the control unit of the tip sleeve controls the sleeve rotation direction, the number of rotations, the speed, etc. for finally operating the rotary switch.
In the invention, the image recognition unit assists the mechanical arm in positioning by recognizing the center coordinate of the two-dimensional code. At present, the mechanical arm is carried on a patrol and examine robot, because the robot has some deviations in the position that removes when patrolling and examining at every turn, so adopt two-dimensional code center auxiliary machinery arm location calibration, all need discern the two-dimensional code center again at every turn and fix a position.
In the invention, for convenience of operation, the distance from the center of the two-dimensional code attached to the surface of each device with the operation hole to the operation hole is fixed, the distance is directly stored, and the current coordinate is directly added with the displacement value after the two-dimensional code is aligned with the center of the two-dimensional code.
In the present invention, the unit is a meter (m).
In the invention, the main control unit receives operation task information and controls each unit to complete tasks, and also needs to receive and process state information of each unit, such as mechanical arm in place, tail end sleeve in place, image recognition completion, error information reporting and the like.
In the invention, a mechanical arm control unit is responsible for reading the current coordinate of the mechanical arm and controlling the mechanical arm to be powered on, powered off, moved and the like; the control unit of the mechanical arm supports Ethernet connection, and the mechanical arm can be remotely controlled to carry out operations such as power-on, starting, moving, stopping, power-off and the like. This is a matter that is easily understood by those skilled in the art, and those skilled in the art can set itself as needed.
The method of the invention mainly realizes three-stage mechanical arm movement:
moving the mechanical arm in a first stage to enable the two-dimensional code center coordinate in the camera image to be located at the geometric center of the image and to be a first target posture;
moving the mechanical arm at the second stage to enable a tail end sleeve carried at the tail end of the mechanical arm to be aligned to the operation hole and to be in a second target posture;
and in the third stage, the mechanical arm is operated to insert the tail end sleeve into the operation hole to achieve a third target posture, and the mechanical arm automatically exits and resets after the rotary switch is operated.
The method comprises the following steps.
Step 1: and if the instruction is obtained, starting the camera and carrying out the next step, otherwise, continuing to wait for the instruction.
In the invention, the main control unit receives an operation requirement on an operation point position, moves the mechanical arm to an initial posture through initialization data stored in a database, and then starts a camera to shoot.
Step 2: moving the mechanical arm until the geometric center of the image of the camera is aligned with the center of the two-dimensional code, wherein the coordinate of the mechanical arm is (X center , Y center , Z center )。
The step 2 comprises the following steps:
step 2.1: moving the robotic arm to an initial pose with initialization data stored in a database;
step 2.2: the image identification unit controls the camera to shoot, and coordinates of the center of the two-dimensional code in the image coordinate system are identified and obtained (x 1, y 1)；
Step 2.3: the controller controls the mechanical arm to move upwardsiMove rice to the leftjThe image recognition unit controls the camera to shoot again to obtain the coordinate (of the center of the two-dimensional code in the image coordinate system) at the momentx 2, y 2) Wherein, in the step (A),i≥0，j≥0；
step 2.4: computingdx=| x 2- x 1|/i，dy=| y 2- y 1|/j；
Step 2.5: calculating the actual distance of the transverse moving mechanical arm required for moving the center of the two-dimensional code to coincide with the geometric center of the imageL 1=(x 2-m/2)/dxLongitudinal movement of the armL 2=(y 2-n/2)/dyWherein, in the step (A),mandnthe sizes of the picture pixels shot by the camera are respectively;
step 2.6: the current coordinate of the mechanical arm is (X, Y, Z) Wherein, in the step (A),XYthe plane is parallel to the plane of operation,Zthe axis is perpendicular to the operating plane; controlling the mechanical arm to move stably toX+(x 2-m/2)/dx, Y+(y 2-n/2)/dy, Z) In a ratio of (A) to (B)X+(x 2-m/2)/dx, Y+(y 2-n/2)/dy，Z) Is prepared from (a)X center , Y center , Z center ) And completing the position movement of the mechanical arm.
In the step 2.6, after the mechanical arm moves once, the mechanical arm is repeatedly controlled to move stably to (A)X+(x 2-m/2)/dx, Y+(y 2-n/2)/dy, Z) The positioning accuracy is in millimeter level.
In the present invention, the coordinates (A), (B), (C), (D), (C), (x 1, y 1) And (a)x 2, y 2) The unit of (d) is a pixel (px).
In the present invention, for the sake of convenience of calculation,iandjtypically 0.01 meter may be selected.
In the present invention, in step 2.5mAndnthe sizes of the picture pixels shot by the camera respectively correspond to two directions, and the values are different.
In the invention, the operation plane refers to the plane of the operation panel of the high-voltage cabinet.
In the present invention, theL 1=(x 2-m/2)/dxFor example, it may be negative in nature, so in calculating the movement of the arm, only a plus sign is used, i.e. a plus sign is usedX+(x 2-m/2)/dx。
According to the invention, the mechanical arm is repeatedly controlled to move stably, and the positioning is more accurate due to repeated control.
And step 3: the sleeve at the end of the mechanical arm is aligned with the operation hole.
The step 3 comprises the following steps:
step 3.1: reading values stored in a databasea、bNamely, the mechanical arm moves from the center of the two-dimensional code to the displacement value of the tail end sleeve aligning with the operation hole;
step 3.2: moving the arm to (a)X center +a, Y center +b, Z center ) The end sleeve at the end of the mechanical arm is aligned with the operation hole.
In the present invention, in particular,a、bdisplacement values in the X-axis and Y-axis, respectively, which are predefined, ensure the accuracy of the operation.
And 4, step 4: and inserting the tail end sleeve into the operation hole, if the instruction is effective, operating the rotary switch according to the instruction, and carrying out the next step, otherwise, directly carrying out the next step.
Step 4 comprises the following steps:
step 4.1: reading values stored in a databasec，I.e. end sleeve insertion operationDisplacement values required for drilling, moving the arm to coordinates: (X center +a, Y center +b, Z center +c) Inserting the end sleeve into the operation hole;
step 4.2: if the switch trolley is in the target state, directly performing the step 5, otherwise, performing the next step;
step 4.3: and starting the motor to control the tail end sleeve to rotate and drive the rotary switch.
In the invention, the inspection robot moves in the process of realityZThe error in the axial direction is extremely small, and the tail end sleeve has a certain telescopic amount to compensate the error, so that the error of each operating point is compensatedcThe value is fixed by default.
And 5: and after the operation is finished, withdrawing and resetting to a mechanical arm withdrawing state.
In the invention, after the operation is finished, the mechanical arm must be retracted, so that the collision is prevented from occurring in the moving process of the trolley, and the operation effect is prevented from being influenced.
The camera is started after the instruction is obtained, the mechanical arm is moved until the geometric center of the image of the camera is aligned with the center of the two-dimensional code, the current coordinate of the mechanical arm is obtained, the tail end sleeve at the tail end of the mechanical arm is aligned with the operation hole, the tail end sleeve is inserted into the operation hole, if the instruction is effective, the rotary switch is operated according to the instruction, and the mechanical arm is withdrawn after the instruction is finished and reset to the mechanical arm withdrawing state. According to the invention, the high-risk equipment is operated by automatically operating the knob switch with high precision instead of manpower, and the two-dimensional code attached to the body of the high-voltage switch cabinet is combined, so that the high-precision positioning and automatic operation functions are realized, the error is small, the operation success rate is high, unified planning and standardization are facilitated, and the operation time is easy to grasp.
Claims (9)
1. A high-precision multi-degree-of-freedom operation mechanical arm control method based on machine vision is characterized in that a mechanical arm is matched with a camera through a controller, and the method comprises the following steps: the method comprises the following steps:
step 1: if the instruction is obtained, starting the camera to perform the next step, otherwise, continuing to wait for the instruction;
step 2: moving the mechanical arm until the geometric center of the image of the camera is aligned with the center of the two-dimensional code, wherein the coordinate of the mechanical arm is (X center , Y center , Z center )；
The step 2 comprises the following steps:
step 2.1: moving the robotic arm to an initial pose with initialization data stored in a database;
step 2.2: the image identification unit controls the camera to shoot, and coordinates of the center of the two-dimensional code in the image coordinate system are identified and obtained (x 1, y 1)；
Step 2.3: the controller controls the mechanical arm to move upwardsiMove rice to the leftjThe image recognition unit controls the camera to shoot again to obtain the coordinate (of the center of the two-dimensional code in the image coordinate system) at the momentx 2, y 2) Wherein, in the step (A),i≥0，j≥0；
step 2.4: computingdx=| x 2- x 1|/i，dy=| y 2- y 1|/j；
Step 2.5: calculating the actual distance of the transverse moving mechanical arm required for moving the center of the two-dimensional code to coincide with the geometric center of the imageL 1=(x 2-m/2)/dxLongitudinal movement of the armL 2=(y 2-n/2)/dyWherein, in the step (A),mandnthe sizes of the picture pixels shot by the camera are respectively;
step 2.6: the current coordinate of the mechanical arm is (X, Y, Z) Wherein, in the step (A),XYthe plane is parallel to the plane of operation,Zthe axis is perpendicular to the operating plane; controlling the mechanical arm to move stably toX+(x 2-m/2)/dx, Y+(y 2-n/2)/dy, Z) In a ratio of (A) to (B)X+(x 2-m/2)/dx, Y+(y 2-n/2)/dy，Z) Is prepared from (a)X center , Y center , Z center ) Completing the position movement of the mechanical arm;
and step 3: aligning a sleeve at the tail end of the mechanical arm with the operation hole;
and 4, step 4: inserting the tail end sleeve into the operation hole, if the instruction is valid, operating the rotary switch according to the instruction, and carrying out the next step, otherwise, directly carrying out the next step;
and 5: and after the operation is finished, withdrawing and resetting to a mechanical arm withdrawing state.
2. The machine vision-based high-precision multi-degree-of-freedom operating mechanical arm control method is characterized in that: in the step 2.6, after the mechanical arm moves once, the mechanical arm is repeatedly controlled to move stably to (A)X+(x 2-m/2)/dx, Y+(y 2-n/2)/dy, Z) The positioning accuracy is in millimeter level.
3. The machine vision-based high-precision multi-degree-of-freedom operating mechanical arm control method is characterized in that: the two-dimensional code is arranged on the surface of any equipment with an operation hole.
4. The machine vision-based high-precision multi-degree-of-freedom operating mechanical arm control method is characterized in that: the step 3 comprises the following steps:
step 3.1: reading values stored in a databasea、bNamely, the mechanical arm moves from the center of the two-dimensional code to the displacement value of the tail end sleeve aligning with the operation hole;
step 3.2: moving the arm to (a)X center +a, Y center +b, Z center ) The end sleeve at the end of the mechanical arm is aligned with the operation hole.
5. The machine vision-based high-precision multi-degree-of-freedom operating mechanical arm control method is characterized in that: step 4 comprises the following steps:
step 4.1: reading values stored in a databasec，The displacement value required for inserting the end sleeve into the operation hole, and moving the mechanical arm to the coordinates (X center +a, Y center +b, Z center +c) Inserting the end sleeve into the operation hole;
step 4.2: if the switch trolley is in the target state, directly performing the step 5, otherwise, performing the next step;
step 4.3: and starting the motor to control the tail end sleeve to rotate and drive the rotary switch.
6. The machine vision-based high-precision multi-degree-of-freedom operating mechanical arm control method is characterized in that: the controller is connected with a control unit of the mechanical arm through a specified communication protocol to obtain the state of the mechanical arm and send an instruction to control the mechanical arm; the controller receives the instruction and receives and processes the pictures shot by the camera.
7. The machine vision-based high-precision multi-degree-of-freedom operating mechanical arm control method according to claim 6, characterized in that: the mechanical arm state comprises mechanical arm coordinates, joint angles and an operation state.
8. The machine vision-based high-precision multi-degree-of-freedom operating mechanical arm control method is characterized in that: the control unit of the end sleeve communicates with the controller using CANopen.
9. The machine vision-based high-precision multi-degree-of-freedom operating mechanical arm control method is characterized in that: the image recognition unit remotely controls the camera to shoot images through a TCP protocol, recognizes the center coordinates of the two-dimensional codes in the images and assists the mechanical arm in positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526885.1A CN110315536B (en) | 2019-06-18 | 2019-06-18 | High-precision multi-degree-of-freedom operation mechanical arm control method based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526885.1A CN110315536B (en) | 2019-06-18 | 2019-06-18 | High-precision multi-degree-of-freedom operation mechanical arm control method based on machine vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110315536A CN110315536A (en) | 2019-10-11 |
| CN110315536B true CN110315536B (en) | 2021-05-14 |
Family
ID=68120913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910526885.1A Active CN110315536B (en) | 2019-06-18 | 2019-06-18 | High-precision multi-degree-of-freedom operation mechanical arm control method based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110315536B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111951248B (en) * | 2020-08-12 | 2023-11-28 | 上海仁度生物科技股份有限公司 | Positioning calibration device and method for automatic nucleic acid extraction equipment |
| CN113675029B (en) * | 2021-08-27 | 2023-10-20 | 广东电网有限责任公司 | Knife switch operating device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012142587A1 (en) * | 2011-04-15 | 2012-10-18 | Irobot Corporation | Method for path generation for an end effector of a robot |
| CN105500406B (en) * | 2015-12-25 | 2017-07-28 | 山东建筑大学 | A kind of transformer substation system |
| CN106531484B (en) * | 2016-11-23 | 2018-12-25 | 国网四川省电力公司成都供电公司 | A kind of high-tension switch cabinet separating brake automated handling machines people on the spot |
| CN108582088A (en) * | 2017-09-15 | 2018-09-28 | 广东电网有限责任公司清远供电局 | A kind of backup actuating device suitable for power distribution network switchgear |
| CN107984201B (en) * | 2017-11-30 | 2019-08-16 | 中国地质大学（武汉） | A kind of screw hole positioning of view-based access control model servo and lock unload screw method |
| CN109411268A (en) * | 2018-12-11 | 2019-03-01 | 四川艾德瑞电气有限公司 | A kind of rail traction substation control cabinet button vision positioning method |
-
2019
- 2019-06-18 CN CN201910526885.1A patent/CN110315536B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110315536A (en) | 2019-10-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108312144B (en) | Robot automatic locking control system and method based on machine vision | |
| CN110315536B (en) | High-precision multi-degree-of-freedom operation mechanical arm control method based on machine vision | |
| US8406923B2 (en) | Apparatus for determining pickup pose of robot arm with camera | |
| WO2017033359A1 (en) | Remote control robot system | |
| CN110919654B (en) | Automatic airplane butt joint method based on visual servo and mechanical arm | |
| CN113084808A (en) | Monocular vision-based 2D plane grabbing method for mobile mechanical arm | |
| US20240083032A1 (en) | System for correcting robot operations among simultaneously automatically operated robots | |
| US20110320039A1 (en) | Robot calibration system and calibrating method thereof | |
| WO2020024178A1 (en) | Hand-eye calibration method and system, and computer storage medium | |
| JP2010089257A (en) | Method for teaching industrial robot, and correspondingly equipped industrial robot | |
| JP2015080843A (en) | Fastening device, robot system, and fastening method for fastening a plurality of fastening members | |
| CN109949370B (en) | Automatic method for IMU-camera combined calibration | |
| JP2005074600A (en) | Robot and robot moving method | |
| CN111590567B (en) | Space manipulator teleoperation planning method based on Omega handle | |
| US7957834B2 (en) | Method for calculating rotation center point and axis of rotation, method for generating program, method for moving manipulator and positioning device, and robotic system | |
| JP2925072B2 (en) | Movement control method for robot position teaching | |
| JP2015127096A (en) | Robot system | |
| CN110488751B (en) | Graphite tray visual positioning system of automatic process line | |
| CN113858206B (en) | Robot job control method, robot, and computer-readable storage medium | |
| CN109397266A (en) | A kind of teaching machine device by visual programming | |
| JP2778376B2 (en) | Camera viewpoint change method | |
| KR101330048B1 (en) | Apparatus and Method for controlling a parallel robot | |
| CN114559417A (en) | Kneading machine paddle automatic cleaning robot system based on 3D vision | |
| JPH09323280A (en) | Control method and system of manupulator | |
| US20220401169A1 (en) | Master-slave system and controlling method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |