CN111360879A - Visual Servo Automatic Positioning Device Based on Ranging Sensor and Vision Sensor - Google Patents

Abstract

The invention discloses a visual servo automatic positioning device based on a distance measuring sensor and a visual sensor, belonging to the technical field of a robot visual servo target positioning system and a robot calibration, comprising an integrated mold, a visual sensor and at least two distance measuring sensors, a visual sensor and a measuring The distance sensor is integrally installed on the integrated mold, and the top of the integrated mold is provided with a fixed adapter plate for connecting with the end connecting block of the robot arm; the vision sensor and the distance measuring sensor are both connected with a signal of a master controller. In the present invention, the visual sensor and the ranging sensor can transmit image information and distance information to the main controller at the same time, which provides the possibility of high-precision positioning of the position and attitude of the target object, and has the advantages of integration, convenient installation, and easy visual information and measurement. The fusion and integration of distance information can simultaneously meet the requirements of simplicity, accuracy and stability for robot attitude control in servo, and has strong practicability.

Description

Visual Servo Automatic Positioning Device Based on Ranging Sensor and Vision Sensor

technical field

The invention belongs to the technical field of robot calibration, and relates to a robot visual servo target positioning system, in particular to a visual servo automatic positioning device based on a ranging sensor and a visual sensor.

Background technique

The camera is used to acquire images, analyze the image features, and then feed back the information of the target object to the robot to control the robot's motion, which is called visual servoing technology. At present, visual servo technology is widely used in industries such as sorting and 3C electronics. The automatic positioning of visual servoing refers to the technology of using a camera to capture images, obtaining the position of the target object relative to the robot or the end of the robot, and then controlling the robot to move to the corresponding position. Visual servo automatic positioning technology is the core of visual servo technology. The accuracy of the visual servo positioning technology determines the accuracy of the final motion position of the robot. At the same time, because the robot has the characteristics of high repetitive positioning accuracy and low absolute positioning accuracy, the use of visual servo positioning technology can calibrate the absolute positioning accuracy of the robot.

At present, most of the target positioning is completed in the image space, and only the image information on the positioning object is used as the feature quantity for calculation and analysis. When the camera is parallel to the target object, the camera can accurately obtain the information in the image and control the robot to move in parallel. However, when the camera is not parallel to the target object, the image error will increase, and the information from the image feature feedback cannot provide enough information to control the robot's end posture, which has the disadvantages of insufficient degrees of freedom, large errors and poor stability.

Today, high-precision ranging sensors have been rapidly developed. It provides a new solution for the plane pose detection of target objects. The fusion of ranging sensor and camera makes it possible to perform high-precision localization of the position and attitude of the target object. Using the multi-sensor target localization method, the first problem to be solved is the selection of sensors and the design of integrated devices. Therefore, it is necessary to design a device that is easy to integrate visual information and ranging information, so as to meet the requirements of simplicity, accuracy and stability for robot attitude control in servo.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a visual servo automatic positioning device based on a ranging sensor and a visual sensor with a reasonable structure design and good integration, which can integrate the feature information of multiple sensors and complete the visual servoing of the position and attitude of the target object. precision positioning tasks.

For achieving the above object, the present invention provides the following scheme:

The present invention provides a visual servo automatic positioning device based on a distance measuring sensor and a vision sensor, comprising an integrated mold, a vision sensor and at least two distance measuring sensors, wherein the vision sensor and the distance measuring sensor are integrally mounted on the integrated mold On the top, the top of the integrated mold is provided with a fixed adapter plate for connecting with the end connecting block of the robot arm; the vision sensor and the ranging sensor are both connected with a main controller signal.

Optionally, the ranging sensor is a contact ranging sensor; the ranging sensors are evenly distributed on the outer periphery of the vision sensor.

Optionally, the bottom of the integrated mold is provided with an installation partition, the ranging sensors are all installed on the installation partition, and the visual sensor is suspended above the installation partition.

Optionally, an anti-collision plate is further provided at the bottom of the installation partition.

Optionally, the vision sensor is mounted on the integrated mold through a mounting sleeve.

Optionally, the distance measuring sensor is mounted on the integrated mold through a mounting bracket.

Optionally, a through hole and a threaded hole are spaced apart on the fixed adapter plate, and a nut placement hole is provided on the outer surface of the threaded hole.

Optionally, a light-transmitting hole coaxial with the visual sensor is formed in the center of the mounting partition.

Optionally, a light-transmitting hole coaxial with the visual sensor is provided in the center of the mounting baffle and the anti-collision plate.

The present invention has achieved the following technical effects with respect to the prior art:

In the visual servo automatic positioning device provided by the present invention, the visual sensor and the ranging sensor can transmit image information and distance information to the main controller at the same time, which provides the possibility for high-precision positioning of the position and posture of the target object. The device is integrated, easy to install, easy to integrate visual information and ranging information, and can simultaneously meet the requirements of simplicity, accuracy and stability for robot attitude control in servo, so that visual servo technology will be more widely used in the industry. Wide range of applications, strong practicability.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.

Fig. 1 is the integrated structure schematic diagram of the visual servo automatic positioning device in the present invention;

Fig. 2 is the side view of Fig. 1;

Fig. 3 is the top view of Fig. 1;

4 is a schematic view of the upper plane structure of the fixed adapter plate of the present invention;

5 is a schematic diagram of the lower plane structure of the fixed adapter plate of the present invention;

Wherein, the reference signs are: 1. Fixed adapter plate; 2. Vision sensor; 3. Mounting sleeve; 4. Ranging sensor; 5. Mounting bracket; 6. Anti-collision plate; 7. Vision sensor fixing threaded hole; 8. Threaded hole for installation sleeve; 9. Installation partition; 10. Connecting block at the end of robot arm; 11. Integrated mold; 12. Light transmission hole; 13. Installation hole for distance measuring sensor; 14. Through hole; 15. Threaded hole ;16 Nut placement holes.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example 1:

As shown in Figures 1-5, this embodiment provides a visual servo automatic positioning device based on a ranging sensor and a vision sensor. The visual servo automatic positioning device is formed by fusing the ranging sensor and the vision sensor, which is used for the target in the visual servoing. positioning task. As shown in Figure 2, the visual servo automatic positioning device based on distance measuring sensors and vision sensors includes a vision sensor 2 and its mounting sleeve 3, three distance measuring sensors 4 and its mounting brackets 5, and a mechanical device for fixing on the robot. The fixed adapter plate 1 of the arm end connecting block 10 and the integrated mold 11 . The installation steps of the device combination are as follows:

Step 1: along the four through holes 14 in the vertical direction on the fixed adapter plate 1, fix the fixed adapter plate 1 on the connecting block 10 at the end of the robot arm with bolts;

Step 2: Fix the installation sleeve 3 to the side wall of the integrated mold 11 by bolts with the installation sleeve threaded holes 8 on the mold, and the vision sensor 2 is fixed in the installation sleeve 3 by bolts with the vision sensor fixing threaded holes 7; The sensor 2 can preferably be a camera, which can collect information on the target object by installing the partition plate 9 and the light-transmitting hole 12 on the anti-collision plate 6;

Step 3: Install the distance-measuring sensor mounting holes 13 on the partition plate 9 to fix the mounting bracket 5, and fix the distance-measuring sensor 4 in combination with nuts; The axis is the central axis; the anti-collision plate 6 is used to protect the sensor head of the high-precision ranging sensor 4 to prevent the device from being damaged by lateral force and uncontrollable pressing force;

Step 4: Fix the assembled mold to the fixed adapter plate 1 through the bolts with the threaded holes 15 and the corresponding nuts with the nut placement holes 16 .

Among them, the visual sensor 2 and the distance measuring sensor 4 are both conventional structures in the prior art, and the specific structures and working principles are not repeated here; the integrated mold 11 is preferably a conventional 3D printing material.

It can be seen from the above that the visual servo automatic positioning device based on the ranging sensor and the visual sensor in this embodiment has the following characteristics:

1. Integrated vision sensor 2, which can be replaced as needed; when the object needs to be positioned, using the integrated vision sensor 2, the current mature visual servo technology can be used to position the target object with high precision;

2. Three high-precision contact ranging sensors are integrated, which can read the height data accurately and quickly, and perform high-precision positioning of the target object's posture; through the measurement values of the three ranging sensors 4, the plane where the target object is located is calculated in real time. The attitude of the target object is fed back to the host of the robot, that is, the main controller, so as to adjust the end of the robot, so that the robot can locate the target object;

3. The fixed adapter plate 1 designed by the device can set the shape and the position of the screw hole according to different robots, which is convenient for the rapid installation of the automatic positioning device in different occasions;

4. Multi-sensor information fusion

Since the device integrates the vision sensor and the ranging sensor at the same time, the multi-information fusion technology of the robot pose control based on image information and the pose control based on the ranging sensor can be studied based on this device. Provides new tools for robot end control.

The specific working principle of this embodiment will be described below.

The visual sensor 2 is directly connected to the main controller through the USB port, and image acquisition is performed to obtain image information. The ranging sensor 4 is connected to the corresponding amplifying unit of the main controller through the corresponding connecting line, and the amplifying unit is plugged and connected to the communication module. Communication The module transmits the measured distance value to the main controller by means of TCP/IP, and the main controller calculates the acquired information data. When working, the device moves with the end of the robotic arm of the robot. The vision sensor 2 and the ranging sensor 4 collect image information and distance information in real time, and transmit the image information and distance information to the main controller for processing. The main controller sends The control command is given to the robot, and then the robot is controlled to complete the visual servo positioning task. Among them, the main controller is an existing robot host structure, and its connection with the vision sensor 2 and the ranging sensor 4, as well as the calculation and processing mode of image information and distance information are all known in the art. , and will not be repeated here.

It can be seen that, in the visual servo automatic positioning device provided by the present invention, the visual sensor and the ranging sensor can transmit image information and distance information to the main controller at the same time, which provides the possibility for high-precision positioning of the position and posture of the target object. The device is integrated, easy to install, easy to integrate visual information and ranging information, and can simultaneously meet the requirements of simplicity, accuracy and stability for robot attitude control in servo, so that visual servo technology will be more widely used in the industry. Wide range of applications, strong practicability.

It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. . Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes that come within the meaning and range of equivalents of , are intended to be embraced within the invention, and any reference signs in the claims shall not be construed as limiting the involved claim.

In the present invention, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (9)

1. A visual servo automatic positioning device based on a distance measuring sensor and a vision sensor, characterized in that: comprising an integrated mold, a vision sensor and at least two distance measuring sensors, and the vision sensor and the distance measuring sensor are integrated and installed in the On the integrated mold, the top of the integrated mold is provided with a fixed adapter plate for connecting with the end connecting block of the robotic arm of the robot; both the vision sensor and the ranging sensor are signal-connected to a main controller. 2 . The visual servo automatic positioning device according to claim 1 , wherein the distance measuring sensor is a contact distance measuring sensor; and the distance measuring sensors are evenly distributed on the outer circumference of the visual sensor. 3 . 3 . The visual servo automatic positioning device according to claim 1 , wherein the bottom of the integrated mold is provided with an installation partition, the distance measuring sensors are all installed on the installation partition, and the visual sensor is installed on the installation partition. 4 . Suspended above the mounting baffle. 4 . The visual servo automatic positioning device according to claim 3 , wherein an anti-collision plate is further provided at the bottom of the installation partition. 5 . 5 . The automatic positioning device for visual servoing according to claim 1 , wherein the visual sensor is mounted on the integrated mold through a mounting sleeve. 6 . 6 . The automatic positioning device for visual servoing according to claim 1 , wherein the distance measuring sensor is mounted on the integrated mold through a mounting bracket. 7 . 7 . The automatic positioning device for visual servoing according to claim 1 , wherein a through hole and a threaded hole are spaced apart on the fixed adapter plate, and a nut placement hole is provided on the outer surface of the threaded hole. 8 . 8 . The automatic positioning device for visual servoing according to claim 3 , wherein a light-transmitting hole coaxial with the visual sensor is formed in the center of the mounting partition. 9 . 9 . The automatic positioning device for visual servoing according to claim 4 , wherein a light-transmitting hole coaxial with the visual sensor is provided in the center of the mounting partition and the anti-collision plate. 10 .

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