CN107932514A - Airborne equipment based on Robot Visual Servoing control mounts method - Google Patents
Airborne equipment based on Robot Visual Servoing control mounts method Download PDFInfo
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- CN107932514A CN107932514A CN201711348364.9A CN201711348364A CN107932514A CN 107932514 A CN107932514 A CN 107932514A CN 201711348364 A CN201711348364 A CN 201711348364A CN 107932514 A CN107932514 A CN 107932514A
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Classifications
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of airborne equipment based on Robot Visual Servoing control to mount method, it includes the following steps：Step 1：Bomb hoist device people's end view picture is obtained, extracts characteristics of image；Step 2：Vision controller is designed according to characteristics of image；Step 3：The amount of exercise in each joint of robot is calculated according to robot kinematics；Step 4：Control law is generated, controls bomb truck movement that carry thing is moved at aircraft hanging point according to control law and is mounted.The present invention can effectively improve air weapon and mount efficiency；The present invention is applied widely, is suitable for the automatic of a variety of carry things of heterogenous and mounts.
Description
Technical field
The invention belongs to pattern-recognition and field of artificial intelligence, it is related to a kind of based on Robot Visual Servoing control
Airborne equipment mounts method, is mainly used in as the various guided missile of operational aircraft carry and bomb, can use manpower and material resources sparingly, significantly carry
The efficiency of the high various air weapon of opportunity of combat carry.
Background technology
Robot Visual Servoing control is pattern-recognition and the important technology in artificial intelligence field, is passed by introducing vision
Sensor, makes the ability of robot sensing external environment, is multi-sensor information fusion with integrated technology in robot skill
Important application in art, has the flexibility of higher compared with the Robot Control Technology based on traditional nonvisual sensor,
The precision of higher, possesses stronger environment self-adaption ability, can preferably complete various tasks.
Visual Servoing System provides external information from visual sensor to robot, so as to control robot real-time
Its pose is adjusted, is realized and is accurately tracked or position, completes corresponding work.
Mainly or by manpower completed when current ground crew mounts various carry thing for opportunity of combat, it is necessary to by visually observing position
Put, constantly manually adjust position and the posture of carry thing, time-consuming and laborious, inefficient, this very likely can left and right one in wartime
Field outcome of a war, therefore, research and utilization bomb truck on-vehicle machines people have important for the various carry thing of opportunity of combat carry automatically
Practical significance and engineering value.
The content of the invention
(1) goal of the invention
The purpose of the present invention is：Provide a kind of fast and effectively air weapon based on robot vision servo control method
Automatically method is mounted, carry thing can be rapidly completed using robot mounts work.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of airborne equipment extension based on Robot Visual Servoing control
Dress method, it includes the following steps：
Step 1：Bomb hoist device people's end view picture is obtained, extracts characteristics of image；
Step 2：Vision controller is designed according to characteristics of image；
Step 3：The amount of exercise in each joint of robot is calculated according to robot kinematics；
Step 4：Generate control law, according to control law control bomb truck movement by carry thing be moved at aircraft hanging point into
Row mounts.
Wherein, in the step 1, bomb hoist device people's end view picture is obtained, extracts characteristic point under camera coordinate systemcP=
[Xc,Yc,Zc]TImage coordinate [u, v]T, had according to imaging modelWherein fxAnd fyFor video camera equivalent focal length；
PointcP is change under visual sensor coordinate system, it is assumed that movement velocity of this under camera coordinate system beThen haveWhereincV=[cvx,cvy,cvz,]T,cΩ=[cωx,cωy,cωz,]TRespectivelycP is in camera coordinates
Linear velocity and angular speed under system.
Wherein, in the step 2, to image coordinate derivation in step 1, obtained further according to relation in step 2：
Wherein,Referred to as image jacobian matrix,c
Ψ=[cvx cvy cvz cωx cωy cωz]T。
Wherein, in the step 3, the amount of exercise in each joint of robot is calculated according to robot kinematics；
Bomb hoist device people's manipulator End features point is converted to robot mechanical arm end under camera coordinate system to sit
Mark system, draws each amount of articulation accordingly,
WhereinJrobot
For Robot Generalized Jacobian matrix, S (ePc) serve as reasonsePcElement composition antisymmetric matrix,Bomb hoist exactly to be asked
The amount of exercise in each joint of device people.
Wherein, in the step 4, the amount of exercise in each joint of bomb hoist device people provided according to step 3Design control
System rule, control robot end mount carry thing to designated position.
(3) beneficial effect
The airborne equipment based on Robot Visual Servoing control that above-mentioned technical proposal is provided mounts method, can effectively carry
High air weapon mounts efficiency；The present invention is applied widely, is suitable for the automatic of a variety of carry things of heterogenous and mounts.
Brief description of the drawings
Fig. 1 mounts method system frame automatically for a kind of air weapon based on Robot Visual Servoing proposed by the present invention
Figure.
Fig. 2 is the automatic bomb truck structure diagram based on method proposed by the invention.
Embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Embodiment is described in further detail.
Current hanging point image is obtained using a video camera, feature is extracted and compared with reference picture feature, according to vision
Control law constantly adjusts the pose of carry thing, suitably mounts position until carry thing reaches, visual sensor obtains at this time
Characteristics of image is identical with reference picture feature, so far just completes and mounts work.
It is that a kind of airborne equipment based on Robot Visual Servoing control mounts method as described above, this method is for the first time
Using needing to carry out teaching campaign to bomb hoist device people, reference picture, afterwards such carry of carry are obtained at hanging point when reaching
It can implement carry as with reference to control robot during thing, specifically comprise the following steps：
Step 1：Bomb hoist device people's end view picture is obtained, extracts characteristics of image；
Bomb hoist device people's end view picture is obtained, extracts characteristic point under camera coordinate systemcP=[Xc,Yc,Zc]TImage sit
Mark [u, v]T, had according to imaging modelWherein fxAnd fyFor video camera equivalent focal length；PointcP is sat in visual sensor
Change under mark system, it is assumed that movement velocity of this under camera coordinate system beThen haveIts
IncV=[cvx,cvy,cvz,]T,cΩ=[cωx,cωy,cωz,]TRespectivelycLinear velocities and angle speed of the P under camera coordinate system
Degree；
Step 2：Vision controller is designed according to characteristics of image；
To image coordinate derivation in step 1, obtained further according to relation in step 2：
Wherein,Referred to as image jacobian matrix,cΨ=[cvx cvy cvz cωx cωy cωz]T。
Step 3：The amount of exercise in each joint of robot is calculated according to robot kinematics；
Bomb hoist device people's manipulator End features point is converted to robot mechanical arm end under camera coordinate system to sit
Mark system, draws each amount of articulation accordingly,WhereinJrobotFor Robot Generalized Jacobian matrix, S (ePc) serve as reasonsePcElement composition opposition
Claim matrix,The amount of exercise in each joint of bomb hoist device people exactly to be asked.
Step 4：Generate control law, according to control law control bomb truck movement by carry thing be moved at aircraft hanging point into
Row mounts.
The amount of exercise in each joint of bomb hoist device people provided according to step 3Design control law, control robot end
End mounts carry thing to designated position.
In conclusion the present invention is using the robot vision servo control method of view-based access control model image, to be embodied as aircraft automatic
The method of the various carry things of carry, can greatly improve carry efficiency.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of airborne equipment based on Robot Visual Servoing control mounts method, it is characterised in that includes the following steps：
Step 1：Bomb hoist device people's end view picture is obtained, extracts characteristics of image；
Step 2：Vision controller is designed according to characteristics of image；
Step 3：The amount of exercise in each joint of robot is calculated according to robot kinematics；
Step 4：Control law is generated, controls bomb truck movement that carry thing is moved at aircraft hanging point according to control law and is hung
Dress.
2. the airborne equipment as claimed in claim 1 based on Robot Visual Servoing control mounts method, it is characterised in that institute
State in step 1, obtain bomb hoist device people's end view picture, extract characteristic point under camera coordinate systemcP=[Xc,Yc,Zc]TImage
Coordinate [u, v]T, had according to imaging modelWherein fxAnd fyFor video camera equivalent focal length；PointcP is in visual sensor
It is change under coordinate system, it is assumed that movement velocity of this under camera coordinate system beThen haveIts
IncV=[cvx,cvy,cvz,]T,cΩ=[cωx,cωy,cωz,]TRespectivelycLinear velocities and angle speed of the P under camera coordinate system
Degree.
3. the airborne equipment as claimed in claim 2 based on Robot Visual Servoing control mounts method, it is characterised in that institute
State in step 2, to image coordinate derivation in step 1, obtained further according to relation in step 2：
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Wherein,Referred to as image jacobian matrix,cΨ=
[cvx cvy cvz cωx cωy cωz]T。
4. the airborne equipment as claimed in claim 3 based on Robot Visual Servoing control mounts method, it is characterised in that institute
State in step 3, the amount of exercise in each joint of robot is calculated according to robot kinematics；
Bomb hoist device people's manipulator End features point is converted to robot mechanical arm ending coordinates system under camera coordinate system, accordingly
Draw each amount of articulation,Wherein
JrobotFor Robot Generalized Jacobian matrix, S (ePc) serve as reasonsePcElement composition antisymmetric matrix,Extension exactly to be asked
Play the amount of exercise in each joint of robot.
5. the airborne equipment as claimed in claim 4 based on Robot Visual Servoing control mounts method, it is characterised in that institute
State in step 4, the amount of exercise in each joint of bomb hoist device people provided according to step 3Design control law, controls robot
End mounts carry thing to designated position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711348364.9A CN107932514A (en) | 2017-12-15 | 2017-12-15 | Airborne equipment based on Robot Visual Servoing control mounts method |
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| CN201711348364.9A CN107932514A (en) | 2017-12-15 | 2017-12-15 | Airborne equipment based on Robot Visual Servoing control mounts method |
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| CN108927807A (en) * | 2018-08-14 | 2018-12-04 | 河南工程学院 | A kind of robot vision control method based on point feature |
| CN108985184A (en) * | 2018-06-26 | 2018-12-11 | 齐霄强 | A kind of automatic carry system of multipurpose aircraft store Combinations and hanging method |
| CN109648555A (en) * | 2018-12-18 | 2019-04-19 | 湖北航天技术研究院总体设计所 | A kind of automatic transferring tool arm control method based on Multi-sensor Fusion |
| CN113268089A (en) * | 2021-04-08 | 2021-08-17 | 成都立航科技股份有限公司 | Method for adjusting pose of hanging object outside hanging vehicle |
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Application publication date: 20180420 |