CN113084795A - Visual measurement system and method applied to meter-taking sampling mechanical arm - Google Patents
Visual measurement system and method applied to meter-taking sampling mechanical arm Download PDFInfo
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- CN113084795A CN113084795A CN202110217983.4A CN202110217983A CN113084795A CN 113084795 A CN113084795 A CN 113084795A CN 202110217983 A CN202110217983 A CN 202110217983A CN 113084795 A CN113084795 A CN 113084795A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 145
- 238000005259 measurement Methods 0.000 title claims abstract description 38
- 238000005070 sampling Methods 0.000 title claims abstract description 37
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- 238000012545 processing Methods 0.000 claims abstract description 62
- 238000003384 imaging method Methods 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000009516 primary packaging Methods 0.000 claims description 73
- 238000004806 packaging method and process Methods 0.000 claims description 39
- 238000012544 monitoring process Methods 0.000 claims description 8
- 239000003550 marker Substances 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000000691 measurement method Methods 0.000 claims description 6
- 239000003973 paint Substances 0.000 claims description 6
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- 238000004148 unit process Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 7
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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
- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Abstract
The invention discloses a vision measurement system and a method applied to a surface sampling mechanical arm, wherein the vision measurement system comprises a telephoto camera, a close-up camera, a telephoto camera vision characteristic, a close-up camera vision characteristic and an image processing unit; the telephoto camera is arranged on the arm rod of the meter sampling mechanical arm, and the close-up camera is arranged at the tail end of the meter sampling mechanical arm; the visual features of the telephoto camera and the visual features of the close-up camera are positioned near the sample container, and the relative pose relations between the camera and the sample container are respectively established through the visual features; the image processing unit performs imaging control on the telephoto camera and the close-up camera, receives image data of the telephoto camera and the close-up camera, processes the image data to calculate the pose relation of the sample container relative to the tail end of the mechanical arm, sends the pose relation to the mechanical arm motion control unit for processing, and controls the mechanical arm to complete corresponding operation. The invention can realize the lofting of the large flexible mechanical arm and the relative measurement in the task of transferring the sample container.
Description
Technical Field
The invention relates to the technical field of mechanical arm sampling, in particular to a vision measurement system and a vision measurement method applied to a surface sampling mechanical arm.
Background
In the lunar autonomous surface sampling task performed by the mechanical arm, the mechanical arm moves to the upper part of the primary packaging container and pours lunar soil into the primary packaging container after acquiring lunar soil on the surface layer. After the lofting operation is complete, the primary packaging container is closed and the robotic arm sampler will accurately grasp the primary packaging container and transfer it to the sealed packaging container. Accurate sample container relative position and posture information needs to be provided for the mechanical arm in the processes of pouring and lofting of the mechanical arm and transferring of the sample packaging container.
In the autonomous operation process of the mechanical arm, a visual camera is often used as a measurement means to acquire the relative position and posture of an operated object. The lunar surface sampling mechanical arm is limited by various factors such as mass, energy and dimension, has the characteristic of large length-rigidity ratio, and cannot be performed in an open-loop mode in the processes of lofting of the sampling mechanical arm and transferring of a sample packaging container due to the influence of factors such as lunar surface gravity and the landing attitude which cannot be known in advance. In order to guide the mechanical arm to move, a measurement system is required to realize reliable detection, identification and high-precision measurement of a target in the task process. The existing ground mechanical arm measuring system is generally only provided with a monocular camera, cannot overcome the influence of the mechanical arm flexibility, uncertain landing postures and other factors, and is difficult to reliably search and detect the visual mark of the sample packaging container.
Disclosure of Invention
In view of the above, the present invention provides a vision measurement system and method applied to a surface sampling mechanical arm, which can realize the lofting of a large flexible mechanical arm and the relative measurement in a sample container transfer task.
The technical scheme adopted by the invention is as follows:
a vision measurement system applied to a surface sampling mechanical arm comprises a telephoto camera, a close-up camera, a telephoto camera vision characteristic, a close-up camera vision characteristic and an image processing unit;
the telephoto camera and the close-up camera are used for imaging visual features in a visual field, the telephoto camera is arranged on the arm rod of the surface sampling mechanical arm, and the close-up camera is arranged at the tail end of the surface sampling mechanical arm; the telephoto camera visual feature and the close-up camera visual feature are positioned near the sample container, and the relative pose relationship between the telephoto camera or the close-up camera and the sample container is respectively established through the telephoto camera visual feature and the close-up camera visual feature;
the image processing unit performs imaging control on the telephoto camera and the close-up camera and acquires the telemetering parameters of each camera; receiving image data of a telephoto camera and a close-up camera, processing, detecting and identifying visual features of the telephoto camera and the close-up camera according to the image data, and calculating a pose relation of the sample container relative to the tail end of the mechanical arm; and the image processing unit sends the calculated pose relation to the mechanical arm motion control unit for processing, and controls the mechanical arm to complete corresponding operation.
Further, the telephoto camera visual feature and the close-up camera visual feature both comprise an artificial visual marker and a natural feature;
the artificial visual markers of the visual features of the telephoto camera comprise primary packaging container visual markers of the telephoto camera and sealed packaging container visual markers of the telephoto camera; the artificial visual markers of the visual features of the close-up camera comprise a visual marker of a primary packaging container of the close-up camera and a visual marker of a sealed packaging container of the close-up camera;
the primary packaging container visual mark of the telephoto camera is arranged on the deck near the primary packaging container and is used for assisting the telephoto camera to complete the relative identification and measurement of the primary packaging container; the vision mark of the sealed packaging container of the telephoto camera is arranged on the deck plate near the sealed packaging container and is used for assisting the telephoto camera to finish the relative identification and measurement of the sealed packaging container; the primary packaging container visual mark of the close-up camera is arranged on the deck board near the primary packaging container and is used for assisting the close-up camera to complete the relative identification and measurement of the primary packaging container; the close-up camera sealed container visual mark is arranged on the cabin board near the sealed container and is used for assisting the close-up camera to complete relative identification and measurement of the sealed container.
Further, the artificial visual marks are circular mark points, white paint is sprayed on the mark points, and black paint is sprayed on the background part.
Further, bidirectional data transmission of remote control instructions and telemetering data is realized among the telephoto camera, the close-up camera and the image processing unit through an RS422 bus, and transmission of image data is realized through an LVDS bus.
Further, cubic mirrors are mounted on the telephoto camera, the close-up camera, the end of the table sampling mechanical arm, the sample container, the visual feature of the telephoto camera and the visual feature of the close-up camera, and are used for determining mounting coordinate systems of the telephoto camera, the close-up camera, the end of the table sampling mechanical arm, the sample container, the visual feature of the telephoto camera and the visual feature of the close-up camera.
A vision measurement method applied to a surface sampling mechanical arm adopts the vision measurement system, and the specific measurement method comprises the following steps:
when a sample carried by the tail end of a sampling mechanical arm moves from a lunar surface to a primary packaging container, a telephoto camera visually monitors the primary packaging container area panorama, the panorama is transmitted to an image processing unit after imaging, the image processing unit detects and identifies the visual characteristics of the telephoto camera, the relative pose relationship between the telephoto camera and the primary packaging container is obtained through processing, and the tail end of the mechanical arm is guided to move towards the primary packaging container; when the visual features of the close-up camera enter the effective field range of the close-up camera, the close-up camera images and transmits the images to the image processing unit, the image processing unit detects and identifies the visual features of the close-up camera, the relative pose relationship between the close-up camera and the lofting opening of the primary packaging container is obtained through processing, and the mechanical arm is guided to reach the lofting position at the tail end of the mechanical arm to finish the operation of pouring lofting;
when the primary packaging container is grabbed by the metering mechanical arm, imaging the visual features of the close-up camera in the visual field by the close-up camera and transmitting the imaged visual features to the image processing unit; the image processing unit processes the image to obtain the relative pose relation between the close-up camera and the primary packaging container capture point, and guides the tail end of the mechanical arm to move towards the primary packaging container until the container capture point enters the capture envelope of the tail end of the mechanical arm, so that the mechanical arm can capture the primary packaging container;
when the tail end of the mechanical arm grasps the primary packaging container to move towards the sealed packaging container, the telephoto camera performs visual monitoring on the panoramic view of the sealed packaging container area, the panoramic view is transmitted to the image processing unit after imaging, the image processing unit detects and identifies the visual characteristics of the telephoto camera, the relative pose relation between the telephoto camera and the sealed packaging container is obtained through processing, and the tail end of the mechanical arm is guided to move towards the sealed packaging container; when the visual features of the close-up camera enter the effective field range of the close-up camera, the close-up camera images and transmits the images to the image processing unit, the image processing unit detects and identifies the visual features of the close-up camera, and the relative pose relationship between the close-up camera and the sealed packaging container is obtained through processing until the position of the primary packaging container released by the tail end of the mechanical arm is reached.
Further, the telephoto camera visual feature in the first step is a telephoto camera primary packaging container visual mark and/or a natural feature;
in the first step, the visual features of the close-up camera are visual marks and/or natural features of the primary packaging container of the close-up camera;
the visual features of the close-up camera in the second step are visual marks and/or natural features of the primary packaging container of the close-up camera;
the vision characteristics of the telephoto camera in the third step are vision marks and/or natural characteristics of the sealed packaging container of the telephoto camera;
the close-up camera visual features in the third step are close-up camera sealed packaging container visual marks and/or natural features.
Has the advantages that:
1. aiming at the problem that the mechanical arm cannot reach a preset position due to large flexibility and uncertain lunar landing posture of the mechanical arm, the invention provides a multi-camera and multi-feature vision measurement system which is formed by arranging a telephoto camera on an arm rod of the mechanical arm, arranging a close-up camera at the tail end and arranging a multi-point mark near a sample container. The relative pose relationship between the visual characteristics and the sample container is established by utilizing the visual characteristics, and after the three-dimensional parameters of the sample container are calibrated, the three-dimensional pose of the sample container can be calculated through the three-dimensional coordinates of the visual characteristics. Through multi-camera and multi-feature information fusion, high-precision, high-robustness and strong-fault-tolerance visual measurement is realized, and therefore the fully-autonomous lunar surface operation of the mechanical arm with large length-rigidity ratio can be guided. Besides the automatic operation of the mechanical arm, the automatic remote control system can also provide support for ground remote control operation.
2. In the invention, in addition to the artificial visual mark, in order to improve the reliability of visual measurement, the characteristics which can be used for extraction are searched in natural characteristics to assist identification and measurement, under the condition of better imaging quality, the characteristics with clear edges and strong contrast in the image can overcome the influence generated by the change of the illumination environment, and a curve fitting method is adopted to obtain higher extraction precision; secondly, the circular mark points are used as artificial visual marks, the characteristic of circular isotropy can be utilized, and the accuracy of the circular position can be ensured to the maximum extent under the imaging conditions of diverse lunar surface changes.
Drawings
FIG. 1 is a schematic diagram of a vision measuring system according to the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a vision measurement system applied to a surface sampling mechanical arm, which comprises a telephoto camera, a close-up camera, a telephoto camera vision characteristic, a close-up camera vision characteristic and an image processing unit, as shown in figure 1. By the system, the three-dimensional space pose parameters of the sample container are estimated with high precision, and the mechanical arm is guided to complete various operations such as pouring lofting, sample container transfer and the like. The sample container includes a primary containment container and a sealed containment container.
In this embodiment, a telephoto camera is configured on a mechanical arm lever, and index parameters of the telephoto camera satisfy monitoring of a sampling scene of the mechanical arm within a large field of view, and can image visual features of the telephoto camera within the field of view. The telephoto camera is a monocular camera, the body of which is arranged on the arm rod of the surface sampling mechanical arm and consists of an optical component, a mechanical component, an electronic component, a thermal control component and the like. The telephoto camera is mainly used for monitoring lunar surface landforms and mechanical arm sampling scenes, and can clearly image the visual features of the telephoto camera in a visual field.
Two samplers are installed at the tail end of the mechanical arm, so that two close-up cameras are configured, each close-up camera is fixedly connected with the sampler at the tail end of the mechanical arm, the field of view of the camera corresponds to the operation area of each tail-end sampler, the operation of the sampler at the tail end of the mechanical arm can be monitored, and the visual features of the close-up cameras in the field of view can be imaged. The close-up camera is two monocular cameras, structurally adopts modular integrated design, is fixedly connected with the mechanical arm tail end sampler, and also comprises an optical component, a mechanical component, an electronic component, a thermal control component and the like. Each close-up camera corresponds to one end sampler of the mechanical arm respectively, the operation of the end sampler of the mechanical arm can be monitored, and the visual features of the close-up cameras in a visual field can be clearly imaged.
And the relative pose relationship between the telephoto camera or the close-up camera and the sample container is respectively established through the visual features of the telephoto camera and the close-up camera. The telephoto camera visual feature and the close-up camera visual feature both comprise an artificial visual marker and a natural feature. The artificial visual mark is a circular mark point, only black and white are adopted as the primary colors of the pattern, white paint is sprayed on the mark point, and black paint is sprayed on the background part.
The artificial visual markers of the visual features of the telephoto camera comprise primary packaging container visual markers of the telephoto camera and sealed packaging container visual markers of the telephoto camera; the artificial visual indicia of the close-up camera visual features include a close-up camera primary packaging container visual indicia and a close-up camera sealed packaging container visual indicia. The primary packaging container visual mark of the telephoto camera is arranged on the deck near the primary packaging container and is used for assisting the telephoto camera to complete the relative identification and measurement of the primary packaging container; the vision mark of the sealed packaging container of the telephoto camera is arranged on the deck plate near the sealed packaging container and is used for assisting the telephoto camera to finish the relative identification and measurement of the sealed packaging container; the primary packaging container visual mark of the close-up camera is arranged on the deck board near the primary packaging container and is used for assisting the close-up camera to complete the relative identification and measurement of the primary packaging container; the close-up camera sealed container visual mark is arranged on the cabin board near the sealed container and is used for assisting the close-up camera to complete relative identification and measurement of the sealed container.
And an image processing unit is arranged in the lander cabin and is used for receiving and processing image data of the telephoto camera and the close-up camera, calculating the relative position of the visual features in the field of view of the cameras, and further calculating the position relationship of the sample container relative to the tail end of the mechanical arm. The functions specifically include: 1) imaging control is carried out on a telephoto camera and a close-up camera, and telemetering parameters of each camera are obtained; 2) receiving image data of a telephoto camera and a close-up camera, compressing and downloading the image data to the ground; 3) and processing images of the telephoto camera and the close-up camera, detecting and identifying visual features of the telephoto camera and the close-up camera, calculating the relative pose of the visual features in the camera field of view, and further calculating the pose relation of the sample container relative to the tail end of the mechanical arm. The image processing unit sends the calculated relative pose parameters to the mechanical arm motion control unit for processing so as to plan and control the mechanical arm to complete corresponding operation.
The device comprises a telephoto camera, a close-up camera, a tail end sampler, a sample container, a telephoto camera visual feature and a close-up camera visual feature, wherein the cube mirrors are arranged on the telephoto camera, the close-up camera, the tail end sampler, the sample container, the telephoto camera visual feature and the close-up camera visual feature and used for determining installation coordinate systems of the telephoto camera, the close-up camera, the tail end of a surface sampling mechanical arm, the sample container, the telephoto camera visual feature and the close-up camera visual feature so as to realize the calibration of the pose. Further, each camera uses the cubic mirror to calibrate the relative pose relationship between the camera coordinate system and the camera mount coordinate system.
Bidirectional data transmission of remote control instructions and telemetering data is realized among the telephoto camera, the close-up camera and the image processing unit through an RS422 bus, and high-speed transmission of image data is realized through an LVDS bus.
The visual measurement method applied to the surface sampling mechanical arm by adopting the visual measurement system comprises the following steps:
step one, when the table taking mechanical arm executes a pouring and lofting operation task:
when the tail end of the meter taking and sampling mechanical arm carries a sample to move from a lunar surface to a primary packaging container, the vision measurement system realizes the steps from searching for a detection target, rough positioning and fine positioning, and then guides the mechanical arm to finish the pouring and lofting operation. The method specifically comprises the following steps:
step 101, powering on each camera of a vision measurement system, and normally outputting images by the cameras to realize monitoring of scenes in a visual field;
step 102, after the sampling mechanical arm moves to the monitoring range of the measuring system, the measuring system starts to start a measuring function;
103, after the visual features of the telephoto camera enter the effective field of view of the telephoto camera, the telephoto camera images the visual features of the primary packaging container of the telephoto camera and transmits the images to the image processing unit;
104, detecting and identifying a visual mark and/or a natural characteristic of a primary packaging container of a telephoto camera in an image by an image processing unit, calculating to obtain a relative pose relation between the telephoto camera and the primary packaging container, and outputting a relative pose parameter to a mechanical arm motion control unit;
105, the mechanical arm motion control unit carries out planning control by using the relative pose parameters in the step 104 to realize that the tail end of the mechanical arm moves towards the primary packaging container;
step 106, after the visual features of the close-up camera enter the effective field range of the close-up camera, the close-up camera images the visual features of the close-up camera and transmits the images to the image processing unit;
step 107, detecting and identifying a visual mark and/or natural features of the primary packaging container of the close-up camera in the image by the image processing unit to obtain a relative pose relationship between the close-up camera and a lofting opening of the primary packaging container, namely the relative pose relationship between the tail end of the mechanical arm and the lofting opening of the primary packaging container, and acquiring relative pose data with higher precision;
and step 108, the mechanical arm motion control unit performs short-range guidance on the mechanical arm by using the relative pose data in the step 107, and finally reaches the lofting position at the tail end of the mechanical arm to finish the pouring lofting operation.
Step two, when the operation task of grabbing the primary packaging container is executed by the meter-taking mechanical arm:
the close-up camera in the vision measurement system can accurately position the primary packaging container and guide the tail end of the mechanical arm to complete the grabbing operation. The close-up camera images visual features of the close-up camera in the visual field and transmits the images to the image processing unit; the image processing unit detects and identifies visual marks and/or natural features of the primary packaging container of the close-up camera in an image, obtains high-precision relative pose data, obtains the relative pose relation between the close-up camera and a capture point of the primary packaging container, namely obtains the relative pose relation between the tail end of the mechanical arm and the capture point of the primary packaging container, and guides the tail end of the mechanical arm to move towards the primary packaging container until the capture point of the container enters a capture envelope at the tail end of the mechanical arm so as to realize the capture of the primary packaging container by the mechanical arm.
Step three, when the sample taking mechanical arm executes a sample transfer operation task:
in the process that the tail end of the mechanical arm grabs the primary packaging container to move towards the sealed packaging container, the vision measuring system can realize the steps from searching a detection target, rough positioning and fine positioning, and then the mechanical arm is guided to complete the sample container transfer operation.
And after the mechanical arm moves to the monitoring range of the vision measuring system, the image processing unit starts to start the pose measuring function. The telephoto camera firstly carries out visual monitoring on the panoramic view of the sealed container area and transmits an image to the image processing unit; the image processing unit detects and identifies visual marks and/or natural features of the sealed packaging container of the telephoto camera in the image, processes the visual marks and/or the natural features to obtain the relative pose relation between the telephoto camera and the sealed packaging container, and conducts remote guidance for the movement of the mechanical arm to guide the tail end of the mechanical arm to move towards the direction of the sealed packaging container; when the visual features of the close-up camera enter the effective field range of the close-up camera, the close-up camera images the visual features of the close-up camera and transmits the images to the image processing unit; the image processing unit detects and identifies visual marks and/or natural features of the close-up camera sealed packaging container in the image, the relative pose relation between the close-up camera and the sealed packaging container is obtained through processing, relative pose data with higher precision are obtained, the mechanical arm is guided in a short range, and finally the mechanical arm reaches the position where the primary packaging container is released at the tail end of the mechanical arm.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A vision measurement system applied to a surface sampling mechanical arm is characterized by comprising a telephoto camera, a close-up camera, a telephoto camera vision characteristic, a close-up camera vision characteristic and an image processing unit;
the telephoto camera and the close-up camera are used for imaging visual features in a visual field, the telephoto camera is arranged on the arm rod of the surface sampling mechanical arm, and the close-up camera is arranged at the tail end of the surface sampling mechanical arm; the telephoto camera visual feature and the close-up camera visual feature are positioned near the sample container, and the relative pose relationship between the telephoto camera or the close-up camera and the sample container is respectively established through the telephoto camera visual feature and the close-up camera visual feature;
the image processing unit performs imaging control on the telephoto camera and the close-up camera and acquires the telemetering parameters of each camera; receiving image data of a telephoto camera and a close-up camera, processing, detecting and identifying visual features of the telephoto camera and the close-up camera according to the image data, and calculating a pose relation of the sample container relative to the tail end of the mechanical arm; and the image processing unit sends the calculated pose relation to the mechanical arm motion control unit for processing, and controls the mechanical arm to complete corresponding operation.
2. The vision measurement system as defined in claim 1 applied to a form taking sampling robotic arm, wherein the telephoto camera vision feature and the close-up camera vision feature each comprise an artificial vision mark and a natural feature;
the artificial visual markers of the visual features of the telephoto camera comprise primary packaging container visual markers of the telephoto camera and sealed packaging container visual markers of the telephoto camera; the artificial visual markers of the visual features of the close-up camera comprise a visual marker of a primary packaging container of the close-up camera and a visual marker of a sealed packaging container of the close-up camera;
the primary packaging container visual mark of the telephoto camera is arranged on the deck near the primary packaging container and is used for assisting the telephoto camera to complete the relative identification and measurement of the primary packaging container; the vision mark of the sealed packaging container of the telephoto camera is arranged on the deck plate near the sealed packaging container and is used for assisting the telephoto camera to finish the relative identification and measurement of the sealed packaging container; the primary packaging container visual mark of the close-up camera is arranged on the deck board near the primary packaging container and is used for assisting the close-up camera to complete the relative identification and measurement of the primary packaging container; the close-up camera sealed container visual mark is arranged on the cabin board near the sealed container and is used for assisting the close-up camera to complete relative identification and measurement of the sealed container.
3. A visual measurement system as claimed in claim 2 applied to a form-taking sampling arm, wherein said artificial visual marker is a circular marking point, the marking point is painted with white paint, and the background portion is painted with black paint.
4. The vision measuring system applied to the sampling mechanical arm for taking table as described in claim 1, wherein the telephoto camera, the close-up camera and the image processing unit realize bidirectional data transmission of remote control instructions and telemetric data through an RS422 bus, and realize transmission of image data through an LVDS bus.
5. The vision measuring system as claimed in claim 1, wherein the telephoto camera, the close-up camera, the end of the meter sampling arm, the sample container, the telephoto camera vision feature, and the close-up camera vision feature have cubic mirrors mounted thereon for determining the mounting coordinate system of the telephoto camera, the close-up camera, the end of the meter sampling arm, the sample container, the telephoto camera vision feature, and the close-up camera vision feature.
6. A visual measurement method applied to a sampling mechanical arm for taking a table is characterized in that the visual measurement system of claim 1 is adopted, and the specific measurement method is as follows:
when a sample carried by the tail end of a sampling mechanical arm moves from a lunar surface to a primary packaging container, a telephoto camera visually monitors the primary packaging container area panorama, the panorama is transmitted to an image processing unit after imaging, the image processing unit detects and identifies the visual characteristics of the telephoto camera, the relative pose relationship between the telephoto camera and the primary packaging container is obtained through processing, and the tail end of the mechanical arm is guided to move towards the primary packaging container; when the visual features of the close-up camera enter the effective field range of the close-up camera, the close-up camera images and transmits the images to the image processing unit, the image processing unit detects and identifies the visual features of the close-up camera, the relative pose relationship between the close-up camera and the lofting opening of the primary packaging container is obtained through processing, and the mechanical arm is guided to reach the lofting position at the tail end of the mechanical arm to finish the operation of pouring lofting;
when the primary packaging container is grabbed by the metering mechanical arm, imaging the visual features of the close-up camera in the visual field by the close-up camera and transmitting the imaged visual features to the image processing unit; the image processing unit processes the image to obtain the relative pose relation between the close-up camera and the primary packaging container capture point, and guides the tail end of the mechanical arm to move towards the primary packaging container until the container capture point enters the capture envelope of the tail end of the mechanical arm, so that the mechanical arm can capture the primary packaging container;
when the tail end of the mechanical arm grasps the primary packaging container to move towards the sealed packaging container, the telephoto camera performs visual monitoring on the panoramic view of the sealed packaging container area, the panoramic view is transmitted to the image processing unit after imaging, the image processing unit detects and identifies the visual characteristics of the telephoto camera, the relative pose relation between the telephoto camera and the sealed packaging container is obtained through processing, and the tail end of the mechanical arm is guided to move towards the sealed packaging container; when the visual features of the close-up camera enter the effective field range of the close-up camera, the close-up camera images and transmits the images to the image processing unit, the image processing unit detects and identifies the visual features of the close-up camera, and the relative pose relationship between the close-up camera and the sealed packaging container is obtained through processing until the position of the primary packaging container released by the tail end of the mechanical arm is reached.
7. The vision measuring method applied to the mechanical arm for sampling table taking as set forth in claim 6, wherein the vision characteristic of the telephoto camera in the first step is a vision mark and/or a natural characteristic of the primary packaging container of the telephoto camera;
in the first step, the visual features of the close-up camera are visual marks and/or natural features of the primary packaging container of the close-up camera;
the visual features of the close-up camera in the second step are visual marks and/or natural features of the primary packaging container of the close-up camera;
the vision characteristics of the telephoto camera in the third step are vision marks and/or natural characteristics of the sealed packaging container of the telephoto camera;
the close-up camera visual features in the third step are close-up camera sealed packaging container visual marks and/or natural features.
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| CN202110217983.4A CN113084795A (en) | 2021-02-26 | 2021-02-26 | Visual measurement system and method applied to meter-taking sampling mechanical arm |
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| CN202110217983.4A CN113084795A (en) | 2021-02-26 | 2021-02-26 | Visual measurement system and method applied to meter-taking sampling mechanical arm |
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| WO2023103184A1 (en) * | 2021-12-06 | 2023-06-15 | The Hongkong Polytechnic University | Regolith sampling apparatus and arm |
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