The robot vision servo system is an organic combination of machine vision and robot control . It is a nonlinear and strongly coupled complex system, which covers the fields of image processing, robot kinematics and dynamics, and control theory. With the improvement of the performance price ratio of camera equipment and the speed of computer information processing, and the improvement of relevant theories, visual servo has the technical conditions for practical application, and related technical problems have become the hotspot of current research.
The so-called machine vision, the machine vision branch of the smesociety of manufacturing engineers and the automated vision chapter of the riarobotic industry association are defined as: "machine vision is automatically received and processed by optical devices and non-contact sensors. An image of a real object to obtain the desired information or means for controlling the movement of the robot."
Machine vision is a machine-like biomimetic system similar to the human eye. From a broad perspective, the information of real objects acquired through optical devices and the processing and execution of related information are machine vision, which includes visible vision and non-visible vision, even including The acquisition and processing of internal information of objects that cannot be directly observed by human vision.
Definition of visual servo:
Human access to external information is mostly obtained through the eyes. For thousands of years, humans have always dreamed of being able to create intelligent machines . This intelligent machine first has the function of the human eye and can understand and understand the outside world. There are many organizations in the human brain who are involved in the processing of visual information, so that many visual problems can be easily handled. However, visual cognition as a process, but humans know very little, thus making the dream of intelligent machines difficult to achieve. With the development of camera technology and the emergence of computer technology, intelligent machines with visual functions began to be manufactured by humans, gradually forming a machine vision discipline and industry. The so-called machine vision, the machine vision branch of the smesociety of manufacturing engineers and the automated vision chapter of the riarobotic industry association are:
"Machine vision is the automatic receipt and processing of an image of a real object by optical means and non-contact sensors to obtain the desired information or means for controlling the movement of the robot."
Machine vision is a machine-like biomimetic system similar to the human eye. From a broad perspective, the information of real objects acquired through optical devices and the processing and execution of related information are machine vision, which includes visible vision and non-visible vision, even including The acquisition and processing of internal information of objects that cannot be directly observed by human vision.
Robot vision development history
In the 1960s, due to the development of robotics and computer technology, people began to study robots with visual functions. But in these studies, the robot's vision and robotic movements are strictly open-loop. The robot's vision system obtains the target pose through image processing, and then calculates the pose of the machine motion according to the target pose. During the whole process, the vision system “provides†the information once and then does not participate in the process. In 1973, a visual system was applied to a robotic control system, during which time this process was called visual feedback. Until 1979, Hill and Park proposed the concept of "visualservo". Obviously, the meaning of visual feedback is only to extract the feedback signal from the visual information, while the visual servo includes the whole process from visual signal processing to robot control, so visual servo can reflect robot vision and control more comprehensively than visual feedback. Related research content.
In the 80 years since the last century, with the development of computer technology and camera equipment, the technical problems of robot vision servo system have attracted the attention of many researchers. In the past few years, robotic visual servo has made great progress both in theory and in application. At many academic conferences, visual servo technology is often listed as a topic of the conference. Visual servo has gradually evolved into an independent technology in the fields of robotics, automatic control and image processing.
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