CN105729468B - A kind of robotic workstation based on the enhancing of more depth cameras - Google Patents
A kind of robotic workstation based on the enhancing of more depth cameras Download PDFInfo
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- CN105729468B CN105729468B CN201610056940.1A CN201610056940A CN105729468B CN 105729468 B CN105729468 B CN 105729468B CN 201610056940 A CN201610056940 A CN 201610056940A CN 105729468 B CN105729468 B CN 105729468B
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- coordinate system
- target object
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- control processor
- manipulator
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40005—Vision, analyse image at one station during manipulation at next station
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Image Processing (AREA)
Abstract
Description
Claims (7)
- A kind of 1. robotic workstation based on the enhancing of more depth cameras, it is characterised in that:Including workbench, located at work Manipulator on platform, the more depth cameras and a control processor for being arranged in workbench surrounding;Described machine Tool hand strap has gripper, and the centre of the palm of gripper is provided with Quick Response Code, and the Quick Response Code includes positioned at the accessible spatial dimension of manipulator Inside positional information of four calibration points under robot coordinate system not at grade;Described depth camera is used to carry out IMAQ to workbench, and the image collected is supplied into control process Device;For any depth camera, described control processor is handled the image that it is collected, and identifies that work is put down Target object on platform to determine its three dimensional local information under the camera coordinate system, while to the camera coordinate system and Robot coordinate system's auto-scaling, three-dimensional position of the target object under robot coordinate system is calculated by Coordinate Conversion and believed Breath, and then manipulator is moved near target object simultaneously control machine machinery claw crawl target object;Described control processor is as follows to the detailed process of camera coordinate system and robot coordinate system's auto-scaling:First, Control processor parses to the Quick Response Code occurred in the picture, obtains position of four calibration points under robot coordinate system Information, and then control machinery hand reaches this four calibration points one by one;After manipulator reaches any calibration point, control processor obtains current two dimension using depth camera by IMAQ Positional information of the code central point under camera coordinate system, and then combine position letter of the calibration point under robot coordinate system Breath, calculates positional information of the current two-dimension central point under robot coordinate system;Four calibration points are traveled through according to this;Finally, according to corresponding four groups obtained on Quick Response Code central point respectively under camera coordinate system and robot coordinate system Positional information, calculate the spin matrix and translation vector between camera coordinate system and robot coordinate system;The standard that described manipulator reaches any calibration point is defined as the connecting points between manipulator and gripper and the demarcation Point overlaps.
- 2. robotic workstation according to claim 1, it is characterised in that:The number of units of the depth camera is more than or equal to 3, depth camera uses Kinect video camera.
- 3. robotic workstation according to claim 1, it is characterised in that:Described control processor identification target object To determine its three dimensional local information under camera coordinate system, detailed process is as follows:First, the multiple template on target object is obtained;Then, the image that depth camera collects is cut, obtains ROI region;Finally, matching is scanned for target object to find target object in ROI region according to described template, and then really Set the goal three dimensional local information of the object in camera coordinate system.
- 4. robotic workstation according to claim 3, it is characterised in that:Described control processor is to depth camera The image collected, which is cut, removes the area of space that manipulator can not touch in image.
- 5. robotic workstation according to claim 3, it is characterised in that:Described control processor utilizes according to template Affine-SIFT algorithms scan for matching in ROI region to target object.
- 6. robotic workstation according to claim 1, it is characterised in that:Described control processor is to camera coordinates System and robot coordinate system's auto-scaling are to calculate spin matrix and translation vector between the two.
- 7. robotic workstation according to claim 1, it is characterised in that:Corresponding more depth cameras, described control Processor processed is by being calculated multigroup three dimensional local information on target object under robot coordinate system, comprehensive each group letter Breath reject error exceed tolerance interval three dimensional local information, from remaining information appoint take one group or in a manner of averaging it is true Determine three dimensional local information of the final goal object under robot coordinate system, and then manipulator is moved to target object nearby simultaneously Control machine machinery claw captures target object.
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CN201610056940.1A CN105729468B (en) | 2016-01-27 | 2016-01-27 | A kind of robotic workstation based on the enhancing of more depth cameras |
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CN201610056940.1A CN105729468B (en) | 2016-01-27 | 2016-01-27 | A kind of robotic workstation based on the enhancing of more depth cameras |
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CN105729468B true CN105729468B (en) | 2018-01-09 |
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CN103707300A (en) * | 2013-12-20 | 2014-04-09 | 上海理工大学 | Manipulator device |
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