CN108724183A - A kind of control method, system and the relevant apparatus of handling machinery arm - Google Patents
A kind of control method, system and the relevant apparatus of handling machinery arm Download PDFInfo
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- CN108724183A CN108724183A CN201810532037.7A CN201810532037A CN108724183A CN 108724183 A CN108724183 A CN 108724183A CN 201810532037 A CN201810532037 A CN 201810532037A CN 108724183 A CN108724183 A CN 108724183A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000007613 environmental effect Effects 0.000 claims abstract description 14
- 238000003860 storage Methods 0.000 claims abstract description 9
- 238000000605 extraction Methods 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000011084 recovery Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
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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
-
- 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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Abstract
This application discloses a kind of control method of handling machinery arm, the control method includes：After receiving object transport order, using more mesh depth of field camera shooting environmental images, and object to be handled is judged whether according to the ambient image；If so, carrying out three-dimensional restoring operation to the ambient image, the image depth information of the object to be handled is determined；Movement locus is generated according to described image depth information, and the handling machinery arm is controlled by the object transport to be handled to position corresponding with the object transport order according to the movement locus.This method can be determined the specific location of object to be handled using handling machinery arm and realize carrying operation.Disclosed herein as well is a kind of control system of handling machinery arm, a kind of computer readable storage medium and a kind of handling machinery arms, have the above advantageous effect.
Description
Technical field
The present invention relates to mechanical arm technical field, more particularly to a kind of control method of handling machinery arm, system, Yi Zhongji
Calculation machine readable storage medium storing program for executing and a kind of handling machinery arm.
Background technology
Mechanical arm has been widely used for industrial production in recent years, and various industrial machinery arm types are various, vdiverse in function.Machine
Tool arm usually has multiple degree of freedom, to capture or mobile object (tool or workpiece).So being appreciated that industrial machinery arm
For：The Mechatronic device of anthropomorphic arm, wrist and hand function, it can any object or tool spatially pose (position and
Posture) time-varying require moved, to complete a certain industrial job requirements.Soldering turret or welding gun is such as clamped, to vapour
Vehicle or body of motor cycle have carried out spot welding or arc-welding, carry die casting or stamping forming part or component；It is cut by laser, is sprayed
It applies；Make-up machinery parts etc..
Handling machinery arm in the prior art is mainly used in Automatic manual transmission field, handling machinery during Automatic manual transmission
Arm is all the program for executing mechanization, and the position of the object to be carried and the destination of carrying are fixed, therefore are worked
All mobile routes in the process, carrying operation are all that advance planning is good, it is thus only necessary to be calibrated i.e. using infrared laser
It can.But handling machinery arm in the prior art is not to be developed for daily life, in daily life there is also
To the needs of handling machinery arm, for example, old man or physical disabilities end cup, pen etc. is picked up from desktop.And in daily life
In the middle situation using handling machinery arm, the position of object to be handled is random, therefore can not use and move in the prior art
Path, carrying operation are fixed handling machinery arm to realize the operation of above application scene.
Therefore, how to determine the specific location of object to be handled using handling machinery arm and realize that carrying operation is this field
The current technical issues that need to address of technical staff.
Invention content
The purpose of the application is to provide a kind of control method of handling machinery arm, system, a kind of computer-readable storage medium
Matter and a kind of handling machinery arm can be determined the specific location of object to be handled using handling machinery arm and realize carrying operation.
In order to solve the above technical problems, the application provides a kind of control method of handling machinery arm, which includes：
After receiving object transport order, using more mesh depth of field camera shooting environmental images, and according to the environment
Image judges whether object to be handled；
If so, carrying out three-dimensional restoring operation to the ambient image, the picture depth letter of the object to be handled is determined
Breath；
Movement locus is generated according to described image depth information, and the handling machinery arm is controlled according to the movement locus
By the object transport to be handled to position corresponding with the object transport order.
Optionally, after receiving object transport order, using more mesh depth of field camera shooting environmental images, and according to institute
It states ambient image and judges whether that object to be handled includes：
After receiving object transport order, more mesh depth of field camera shooting environmental images are utilized；
The characteristic point in all ambient images is extracted, and by all ambient images of canny operator extractions
Image outline；
The dense degree fallen in described image profile according to the characteristic point obtains subject image to be identified；
Judge the quantity of characteristic point and peak value described in the subject image to be identified are made an uproar than whether meeting preset standard；Its
In, the preset standard includes the quantity of the standard feature point of standard subject image to be handled and typical peak is made an uproar ratio；
If meeting, there are the objects to be handled for the ambient image.
Optionally, three-dimensional restoring operation is carried out to the ambient image, determines the picture depth letter of the object to be handled
Breath includes：
Obtain the intrinsic parameter of more mesh depth of field cameras；Wherein, more mesh depth of field cameras are to be marked using Zhang Youzheng
Determine the camera of method calibration；
The similarity for comparing the characteristic point of all ambient images obtains the M group phases that the similarity is more than preset value
Like characteristic point, and image to be restored is determined in all ambient images for taking the object to be handled；
It is calculated according to the two-dimensional coordinate of the similar features point on the image to be restored and the intrinsic parameter described to be restored
The three-dimensional coordinate of similar features point on image；
It is executed according to the three-dimensional coordinate of the similar features point on the image to be restored and is waited for described in the determination of depth interpolation operation
The image depth information of carry an object.
Optionally, the characteristic point is specially surf characteristic points.
Optionally, further include：
Voice messaging input by user is received, the object transport order is generated according to the voice messaging.
Present invention also provides a kind of control system of handling machinery arm, which includes：
Image taking module, for after receiving object transport order, utilizing more mesh depth of field camera shooting environmental figures
Picture, and object to be handled is judged whether according to the ambient image；
Three-dimensional recovery module, for judging there are when the object to be handled, to the environment map when the ambient image
As carrying out three-dimensional restoring operation, the image depth information of the object to be handled is determined；
Transfer module for generating movement locus according to described image depth information, and is controlled according to the movement locus
The handling machinery arm is by the object transport to be handled to position corresponding with the object transport order.
Optionally, described image taking module includes：
Shooting unit, for after receiving object transport order, shooting preset quantity to open the environment of different shooting angles
Image；
Feature extraction unit for extracting the characteristic point in all ambient images, and passes through canny operator extractions institute
There is the image outline in the ambient image；
Image determination unit, the dense degree for being fallen in described image profile according to the characteristic point obtain to be identified
Subject image；
Judging unit judge the quantity of characteristic point and peak value described in the subject image to be identified make an uproar than whether meet it is pre-
Bidding is accurate；Wherein, the preset standard includes that the quantity of the standard feature point of standard subject image to be handled and typical peak are made an uproar
Than；If meeting, there are the objects to be handled for the ambient image.
Optionally, the three-dimensional recovery module includes：
Intrinsic parameter acquiring unit, the intrinsic parameter for obtaining more mesh depth of field cameras；Wherein, more mesh depth of field are taken the photograph
As head is the camera demarcated using Zhang Youzheng standardizations；
Similar features point determination unit, the similarity of the characteristic point for comparing all ambient images obtain described
Similarity is more than the M groups similar features point of preset value, and is determined in all ambient images for taking the object to be handled
Image to be restored；
Coordinate calculating unit is used for the two-dimensional coordinate according to the similar features point on the image to be restored and the internal reference
Number calculates the three-dimensional coordinate of the similar features point on the image to be restored；
Depth information determination unit, for executing depth according to the three-dimensional coordinate of the similar features point on the image to be restored
Degree interpolation operation determines the image depth information of the object to be handled.
Present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer
Program realizes the step of control method of above-mentioned handling machinery arm executes when executing.
Present invention also provides a kind of handling machinery arms, including：More mesh depth of field for shooting subject image to be handled are taken the photograph
As head；It is connect with more mesh depth of field cameras, for generating image depth information, and root according to shooting subject image to be handled
The microcomputer of control instruction is generated according to described image depth information；It is connect by control circuit with the microcomputer,
Robot assemblies for carrying the object to be handled according to the control instruction.
The present invention provides a kind of control methods of handling machinery arm, including after receiving object transport order, utilize
More mesh depth of field camera shooting environmental images, and object to be handled is judged whether according to the ambient image；If so, right
The ambient image carries out three-dimensional restoring operation, determines the image depth information of the object to be handled；According to described image depth
It spends information and generates movement locus, and the handling machinery arm is controlled by the object transport to be handled extremely according to the movement locus
Position corresponding with the object transport order.
The spatial position residing for object that handling machinery arm in the prior art is carried is fixed, need to only be executed fixed
Operation, but handling machinery arm in the prior art can not normally be held when the spatial position residing for the object to be handled is not fixed
Row carries operation.Based on this, the present invention carries out three-dimensional go back by more mesh depth of field camera shooting environmental images, according to ambient image
Origin operation and then the spatial position for determining object to be handled generate corresponding control according to the real space position of object to be handled
Instruction operates to complete to carry.This programme can determine the specific location of object to be handled using handling machinery arm and realization is removed
Fortune operation.The application additionally provides a kind of control system of handling machinery arm, a kind of computer readable storage medium and one simultaneously
Kind handling machinery arm, has above-mentioned advantageous effect, details are not described herein.
Description of the drawings
In order to illustrate more clearly of the embodiment of the present application, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present application, for ordinary skill people
For member, without creative efforts, other drawings may also be obtained based on these drawings.
A kind of flow chart of the control method for handling machinery arm that Fig. 1 is provided by the embodiment of the present application；
The flow chart of the control method for another handling machinery arm that Fig. 2 is provided by the embodiment of the present application；
A kind of structural schematic diagram of the control system for handling machinery arm that Fig. 3 is provided by the embodiment of the present application；
A kind of structural representation of the robot assemblies for desktop grade handling machinery arm that Fig. 4 is provided by the embodiment of the present application
Figure.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Refer to Fig. 1 below, a kind of flow of the control method for handling machinery arm that Fig. 1 is provided by the embodiment of the present application
Figure.
Specific steps may include：
S101：After receiving object transport order, using more mesh depth of field camera shooting environmental images, and according to described
Ambient image judges whether object to be handled；If so, into S102；If it is not, then terminating flow；
Wherein, there is the operation for sending object transport order in the present embodiment acquiescence, may include in the object transport order
The type of object to be handled is needed the spatial position of object transport to be handled.Object transport order can be passed through by user
What the forms such as voice, Touch Screen, wireless signal were sent.More mesh depth of field cameras are made of multiple sub- cameras, such as
The binocular depth of field camera being made of two 150 ° of wide-angle cameras may be used.More mesh depth of field cameras can shoot multiple rings
Border image judges to whether there is object to be handled in multiple ambient images.
It should be noted that there is the feature letter of normal pictures or picture about object to be handled in the present embodiment acquiescence
Breath can judge to whether there is object to be handled in ambient image according to the mode that similarity compares.It can be in the present embodiment
The transmission operation of object transport order is realized by modes such as voice input, touch screen, remote controls.
S102：Three-dimensional restoring operation is carried out to the ambient image, determines the image depth information of the object to be handled；
Wherein, this step is established has determined in ambient image there are on the basis of object to be handled, further in S101
Determine the spatial relation of object to be handled and handling machinery arm.Since what is shot by more mesh depth of field cameras is plan view
Two-dimensional coordinate as that can only determine object to be handled, can not learn the three-dimensional coordinate of object to be handled.Since more mesh depth of field image
Head can obtain the object distance range that the imager axis of clear image is measured, therefore can be in two-dimensional ambient image
Object to be handled carry out three-dimensional restoring operation, learn the three-dimensional coordinate of all characteristic points on object to be handled, that is, obtain and wait removing
The image depth information of transported object.
S103：Movement locus is generated according to described image depth information, and the carrying is controlled according to the movement locus
Mechanical arm is by the object transport to be handled to position corresponding with the object transport order.
Wherein, after obtaining image depth information, it will be able to the geometric center and contour of object of object to be handled are obtained,
Further, handling machinery arm can generate movement locus according to the position of self-position and object to be handled, wait removing by described
Transported object is carried to position corresponding with the object transport order.
The present embodiment by more mesh depth of field camera shooting environmental images, according to ambient image carry out three-dimensional restoring operation into
And determine the spatial position of object to be handled, according to the real space position of object to be handled generate corresponding control instruction so as to
It completes to carry operation.This programme can be determined the specific location of object to be handled using handling machinery arm and realize carrying operation.
Refer to Fig. 2 below, the stream of the control method for another handling machinery arm that Fig. 2 is provided by the embodiment of the present application
Cheng Tu；Specific steps may include：
S201：After receiving object transport order, more mesh depth of field camera shooting environmental images are utilized；
S202：The characteristic point in all ambient images is extracted, and passes through all environment maps of canny operator extractions
Image outline as in；
Wherein, canny operators full name：Canny edge detection operators are a kind of multistage edge detection algorithms.It needs to illustrate
, do not limit the type of characteristic point herein, surf characteristic points can be extracted, HARRIS angle points can also be extracted, but can only be
A kind of characteristic point.
S203：The dense degree fallen in described image profile according to the characteristic point obtains subject image to be identified；
Wherein, the dense degree that characteristic point is fallen in image outline is assured that obtain object to be identified when being more than some value
Body image.It should be noted that the subject image to be identified determined in this step is only some object present in ambient image
The image of body, the image of object not necessarily to be handled, it is therefore desirable to carry out the judgement operation in S204.
S204：Judge the quantity of characteristic point and peak value described in the subject image to be identified are made an uproar than whether meeting pre- bidding
It is accurate；If meeting, enter S205；If not meeting, enter S201；
Wherein, the preset standard includes that the quantity of the standard feature point of standard subject image to be handled and typical peak are made an uproar
Than；Judge that operation is specifically in S204：Judge whether the quantity of characteristic point described in the subject image to be identified is more than standard
The quantity of characteristic point judges in the subject image to be identified that peak value is made an uproar and makes an uproar ratio than being more than typical peak, when above-mentioned two judges
Then explanation complies with standard when being "Yes", on the contrary then be not inconsistent standardization.If not meeting preset standard, S201 can be entered
Re-shoot ambient image.
S205：Obtain the intrinsic parameter of more mesh depth of field cameras；Wherein, more mesh depth of field cameras are using Zhang You
The camera of positive standardization calibration；
S206：The similarity for comparing the characteristic point of all ambient images obtains the M that the similarity is more than preset value
Group similar features point, and image to be restored is determined in all ambient images for taking the object to be handled；
Wherein, more mesh depth of field cameras can disposably shoot with the equal numbers of ambient image of sub- camera, therefore will
Characteristic point in all ambient images carries out similarity-rough set, can obtain M groups similar features point, do not limit M herein says tool
Body quantity, M are the arbitrary positive integer more than 1.Determine that the purpose of image to be restored is in all ambient images in this step
The calculating that picture carries out three-dimensional coordinate is chosen, does not limit the quantity of image to be restored, embodiment as one preferred herein
It can select 1 picture to be restored.Such as x1, x2, x3, x4, x5 these characteristic points are extracted by ambient image X, pass through ring
Border image Y extracts y1, y2, y3, y4, y5 these characteristic points, and " feature of all ambient images is compared by this step
The similarity of point " determines that x1 is more than preset value with y1 similarities, and x2 is more than preset value with y2 similarities, and x3 and y3 similarities are more than
Preset value others similarity is not larger than preset value, obtains 3 groups of similar features points at this time.Select ambient image X as wait for also
Original image, x1, x2, x3 in image to be restored are the similar features point on image to be restored.
S207：It is waited for according to described in the two-dimensional coordinate of the similar features point on the image to be restored and intrinsic parameter calculating
The three-dimensional coordinate of similar features point also on original image；
The intrinsic parameter of camera represents the mapping relations between two-dimensional coordinate and three-dimensional coordinate in picture, therefore can root
Three-dimensional coordinate is determined according to the two-dimensional coordinate and intrinsic parameter of similar features point.Since similar features point is not in picture to be restored
Whole characteristic points, therefore also need to execute the operation in S208 with the three-dimensional coordinate of all characteristic points of determination.
S208：Depth interpolation operation, which is executed, according to the three-dimensional coordinate of the similar features point on the image to be restored determines institute
State the image depth information of object to be handled.
S209：Movement locus is generated according to described image depth information, and the carrying is controlled according to the movement locus
Mechanical arm is by the object transport to be handled to position corresponding with the object transport order.
Refer to Fig. 3, a kind of structural representation of the control system for handling machinery arm that Fig. 3 is provided by the embodiment of the present application
Figure；
The system may include：
Image taking module 100, for after receiving object transport order, utilizing more mesh depth of field camera shooting environmentals
Image, and object to be handled is judged whether according to the ambient image；
Three-dimensional recovery module 200, for judging there are when the object to be handled, to the environment when the ambient image
Image carries out three-dimensional restoring operation, determines the image depth information of the object to be handled；
Transfer module 300, for generating movement locus according to described image depth information, and according to the movement locus control
The handling machinery arm is made by the object transport to be handled to position corresponding with the object transport order.
Further, described image taking module 100 includes：
Shooting unit, for after receiving object transport order, shooting preset quantity to open the environment of different shooting angles
Image；
Feature extraction unit for extracting the characteristic point in all ambient images, and passes through canny operator extractions institute
There is the image outline in the ambient image；
Image determination unit, the dense degree for being fallen in described image profile according to the characteristic point obtain to be identified
Subject image；
Judging unit judge the quantity of characteristic point and peak value described in the subject image to be identified make an uproar than whether meet it is pre-
Bidding is accurate；Wherein, the preset standard includes that the quantity of the standard feature point of standard subject image to be handled and typical peak are made an uproar
Than；If meeting, there are the objects to be handled for the ambient image.
Further, the three-dimensional recovery module 200 includes：
Intrinsic parameter acquiring unit, the intrinsic parameter for obtaining more mesh depth of field cameras；Wherein, more mesh depth of field are taken the photograph
As head is the camera demarcated using Zhang Youzheng standardizations；
Similar features point determination unit, the similarity of the characteristic point for comparing all ambient images obtain described
Similarity is more than the M groups similar features point of preset value, and is determined in all ambient images for taking the object to be handled
Image to be restored；
Coordinate calculating unit is used for the two-dimensional coordinate according to the similar features point on the image to be restored and the internal reference
Number calculates the three-dimensional coordinate of the similar features point on the image to be restored；
Depth information determination unit executes depth according to the three-dimensional coordinate of the similar features point on the image to be restored and inserts
Value Operations determine the image depth information of the object to be handled.
Further, which further includes：
Speech control module generates the object for receiving voice messaging input by user according to the voice messaging
Carrying command.
Since the embodiment of components of system as directed is corresponded with the embodiment of method part, the embodiment of components of system as directed is asked
Referring to the description of the embodiment of method part, wouldn't repeat here.
Present invention also provides a kind of computer readable storage mediums, have computer program thereon, the computer program
It is performed and the step of above-described embodiment is provided may be implemented.The storage medium may include：USB flash disk, read-only is deposited mobile hard disk
Reservoir (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or
The various media that can store program code such as CD.
Present invention also provides a kind of handling machinery arms, can be used for shooting more mesh depth of field camera shooting of subject image to be handled
Head；
It is connect with more mesh depth of field cameras, for generating image depth information according to shooting subject image to be handled,
And the microcomputer of control instruction is generated according to described image depth information；Connected by control circuit with the microcomputer
It connects, the robot assemblies for carrying the object to be handled according to the control instruction.Certain handling machinery arm may be used also
To include various network interfaces, the components such as power supply.Fig. 4 is referred to, Fig. 4 is removed by a kind of desktop grade that the embodiment of the present application provides
Transport the structural schematic diagram of the robot assemblies of mechanical arm；The robot assemblies include：
It is connect with the first steering engine 401, the mechanical arm for driving active mechanical arm 404 to be rotated in the horizontal plane around rotary shaft
Turntable 402；
It rotatably connect with the mechanical arm turntable 402 and slave manipulator arm 405, connect with the second steering engine component 403,
Active mechanical arm 404 for driving slave manipulator arm 405 to move；
It is set to 405 end of the slave manipulator arm, is connect with third steering engine 407, for the object to be handled to be clamped
Clamping device 406.
Further, the active mechanical arm 404 includes：
The first connecting rod rotatably being connect with the first tie point of the mechanical arm turntable and the slave manipulator arm；
The second connecting rod rotatably being connect with the second tie point of the mechanical arm turntable and the slave manipulator arm；
Correspondingly, the second steering engine component includes main rudder machine and auxiliary steering engine；Wherein, the main rudder machine connects with described first
Bar connects, and the auxiliary steering engine is connect with the second connecting rod.First tie point of first connecting rod and slave manipulator arm connects, and second
Second tie point of connecting rod and slave manipulator arm connects, there are a certain distance between the first tie point and the second tie point, with
Just slave manipulator arm is controlled.
Wherein, which has 5 degree of freedom, including：The one degree of freedom of mechanical arm turntable 402, first connects
The one degree of freedom of bar, the one degree of freedom of second connecting rod and topple over two degree of freedom at the clamping of clamping device 406.
Further, further include：
It is connect with the microcomputer, for receiving voice messaging and converting the voice messaging to object transport life
The speech recognition component of order.
Acquisition voice messaging can be realized by microphone array, is stored as pcm formats, uploaded to the network platform and realized language
Sound identifies that, according to the information of return, the keyword for extracting control instruction generates object carrying command.
Further, further include：
The wireless signal transceiver being connect with the microcomputer.
Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part illustration
?.It should be pointed out that for those skilled in the art, under the premise of not departing from the application principle, also
Can to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the application scope of the claims
It is interior.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.Under the situation not limited more, the element limited by sentence "including a ..." is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of control method of handling machinery arm, which is characterized in that including：
After receiving object transport order, using more mesh depth of field camera shooting environmental images, and according to the ambient image
Judge whether object to be handled；
If so, carrying out three-dimensional restoring operation to the ambient image, the image depth information of the object to be handled is determined；
Movement locus is generated according to described image depth information, and the handling machinery arm is controlled by institute according to the movement locus
Object transport to be handled is stated to position corresponding with the object transport order.
2. control method according to claim 1, which is characterized in that after receiving object transport order, utilize more mesh scapes
Deep camera shooting environmental image, and judge whether that object to be handled includes according to the ambient image：
After receiving the object transport order, the ambient image is shot using more mesh depth of field cameras；
The characteristic point in all ambient images is extracted, and passes through the figure in all ambient images of canny operator extractions
As profile；
The dense degree fallen in described image profile according to the characteristic point obtains subject image to be identified；
Judge the quantity of characteristic point and peak value described in the subject image to be identified are made an uproar than whether meeting preset standard；Wherein,
The preset standard includes the quantity of the standard feature point of standard subject image to be handled and typical peak is made an uproar ratio；If meeting,
There are the objects to be handled.
3. control method according to claim 1, which is characterized in that carry out three-dimensional restoring operation to the ambient image, really
The image depth information of the object to be handled includes calmly：
Obtain the intrinsic parameter of more mesh depth of field cameras；Wherein, more mesh depth of field cameras are using Zhang Youzheng standardizations
The camera of calibration；
The similarity for comparing the characteristic point of all ambient images obtains the similar spy of M groups that the similarity is more than preset value
Point is levied, and determines image to be restored in all ambient images for taking the object to be handled；
The image to be restored is calculated according to the two-dimensional coordinate of the similar features point on the image to be restored and the intrinsic parameter
On similar features point three-dimensional coordinate；
It is determined according to the three-dimensional coordinate of the similar features point on the image to be restored execution depth interpolation operation described to be handled
The image depth information of object.
4. according to any one of Claims 2 or 3 control method, which is characterized in that the characteristic point is specially surf features
Point.
5. control method according to claim 1, which is characterized in that further include：
Voice messaging input by user is received, the object transport order is generated according to the voice messaging.
6. a kind of control system of handling machinery arm, which is characterized in that including：
Image taking module, for after receiving object transport order, using more mesh depth of field camera shooting environmental images, and
Object to be handled is judged whether according to the ambient image；
Three-dimensional recovery module, for judging there are when the object to be handled when the ambient image, to the ambient image into
Row three-dimensional restoring operation, determines the image depth information of the object to be handled；
Transfer module, for generating movement locus according to described image depth information, and according to described in movement locus control
Handling machinery arm is by the object transport to be handled to position corresponding with the object transport order.
7. control system according to claim 6, which is characterized in that described image taking module includes：
Shooting unit, for after receiving the object transport order, shooting preset quantity to open the environment of different shooting angles
Image；
Feature extraction unit for extracting the characteristic point in all ambient images, and passes through all institutes of canny operator extractions
State the image outline in ambient image；
Image determination unit, the dense degree for being fallen in described image profile according to the characteristic point obtain object to be identified
Image；
Judging unit judges the quantity of characteristic point and peak value described in the subject image to be identified are made an uproar than whether meeting pre- bidding
It is accurate；Wherein, the preset standard includes the quantity of the standard feature point of standard subject image to be handled and typical peak is made an uproar ratio；If
Meet, then there is the object to be handled.
8. wanting 6 control systems according to right, which is characterized in that it is described three-dimensional recovery module include：
Intrinsic parameter acquiring unit, the intrinsic parameter for obtaining more mesh depth of field cameras；Wherein, more mesh depth of field cameras
For using the camera of Zhang Youzheng standardizations calibration；
Similar features point determination unit, the similarity of the characteristic point for comparing all ambient images, obtains described similar
Degree is more than the M groups similar features point of preset value, and determines and waited for also in all ambient images for taking the object to be handled
Original image；
Coordinate calculating unit, based on according to the two-dimensional coordinate of the similar features point on the image to be restored and the intrinsic parameter
Calculate the three-dimensional coordinate of the similar features point on the image to be restored；
Depth information determination unit executes depth interpolation behaviour according to the three-dimensional coordinate of the similar features point on the image to be restored
Make the image depth information of the determining object to be handled.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the control such as handling machinery arm described in any one of claim 1 to 5 when the computer program is executed by processor
The step of method processed.
10. a kind of handling machinery arm, which is characterized in that including：
More mesh depth of field cameras for shooting subject image to be handled；
It is connect with more mesh depth of field cameras, for generating image depth information, and root according to shooting subject image to be handled
The microcomputer of control instruction is generated according to described image depth information；
It is connect by control circuit with the microcomputer, for carrying the object to be handled according to the control instruction
Robot assemblies.
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