The vision system of mobile robot refers to the vision system of mobile robot, including two parts: obtaining pictures through sensors and processing pictures through computer processors. According to the number and characteristics of vision sensors, the mainstream mobile robot vision system includes monocular vision, binocular vertical vision, multi-eye vision and panoramic vision.
1. Monocular vision system
Monocular vision systems use only one vision sensor. The monocular visual system loses depth information in the imaging process because of the three-dimensional objective international projection of N-dimensional pictures, which is the primary disadvantage of this type of visual system. However, because of the simple monocular vision architecture, sophisticated algorithms, and small calculation volume, it has been widely used in autonomous mobile robots. For example, it is used for policy tracking, indoor positioning and navigation based on monocular features, etc. Together, monocular vision is the foundation of other types of vision systems, such as binocular stereo vision, multi-eye vision, etc., which are realized on the basis of the monocular vision system through additional techniques and methods.
2. Binocular stereo vision system
The binocular vision system consists of two cameras, which use the principle of triangulation to obtain depth information of the scene. And it can reconstruct the three-dimensional shape and orientation of the surrounding scene, similar to the stereo function of the human eye, and the principle is simple. The binocular vision system needs to clearly know the spatial orientation relationship between the two cameras. And the 3D information of the scene environment requires two cameras to take two pictures of the same scene from different viewpoints together. And do a messy match to get it accurately. The stereo vision system can accurately recover the gas and dimensional information of the visual scene, and has been widely used in the positioning and navigation, obstacle avoidance, and map construction of mobile robots. However, the difficulty in the stereo vision system is the problem of matching the corresponding points, which greatly limits the application prospect of stereo vision in the field of robotics.
3. Multi-eye vision system
The multi-eye vision system selects three or more cameras, and the triocular vision system is the majority, which is mainly used to solve the problem of matching ambiguity in the binocular stereo vision system and improve the matching accuracy. The advantage of the trinocular vision system is that it makes full use of the information of the third camera, reduces the fault matching, solves the ambiguity of the binocular vision system matching, and improves the positioning accuracy, but the trinocular vision system should reasonably settle the relative orientation of the three cameras, and its structural equipment is more cumbersome than the binocular vision system, and the matching algorithm is more messy, the demand consumes more time, and the real-time performance is worse.
4. Panoramic visual system
The outstanding advantage of the multi-directional imaging system with a large horizontal field of view is that it has a large field of view and can reach 360°, which is incomparable with other conventional lenses. The panoramic visual system can be realized through the method of picture splicing or through the catadioptric optical elements, and the method of picture splicing uses a single or multiple cameras to rotate to scan the scene at a large point of view, obtain multiple frames of pictures connected in different directions, and then use the stitching technology to obtain the panorama.
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Frequently Asked Questions about KUKA Robots
1. The boot coordinate system is invalid
The world coordinate system is based on the gun head, in this coordinate system, all the actions of the robot are in accordance with the gun head as the vertex to complete the movement, the XYZ direction does not change the direction of the gun, if the robot moves in the world coordinate system, the gun head also changes ...
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KUKA robot control cabinet fault analysis and solutions
One: The switch jumps often and may not be able to close?
1. Aging of switches
2. The switch selection is incorrect
3. The pump is stuck or the motor is short-circuited
4. The line is aging, short circuit, and the line is too small or lacks phase.
Solution:
Turn off the power of the control system...
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Control system
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The main components of KUKA industrial robots
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Software limit switches have been put into operation in industrial robots.
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KUKA KR 210 R2700-2 maintenance precautions
1. Power supply in front of the device
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2. First the general and then the special
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1. Hot-swap button for the cable of the robot teach pendant (after pressing this button, the control cabinet can unplug the teach pendant without shutting down).
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1. The robot control system must be permanently shut down and protected against unauthorized accidental restarts.
2. The buffer is closed.
3. Put the feeder cable in a powerless condition.
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KUKA robot power-on configuration instructions
The wiring and clarification of the corresponding interface are as follows:
1. X1 connector: power supply interface of control cabinet.
(1) KR C4 stand & KR C4 Midsize & KR C4 Extend: three-phase four-wire system, 380V AC AC;
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The control method of industrial robots - KUKA robots
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Check the electric drive of the robot before powering on - KUKA robot
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What is the reason behind Germany's Kuka robot willing to be acquired by Midea?
1. When Midea proposed to Kuka to buy the offer, it was indeed blocked by many people. There are opposing voices from Germany's business and political circles, and these people are worried that KUKA's central technology will be grasped by China's manufacturers, which will have a great impact on high-end players in related fields in China and even in the world.
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KUKA robot servo motor maintenance encountered the cause of overheating failure
(1) The power supply voltage is too high;
(2) The power supply voltage is too low, the motor is running with rated load, and the current is too hot for the winding;
(3) When repairing and removing the winding, the thermal dismantling method is not appropriate, and the iron core is burned;
(4) The motor is overloaded or starts frequently;
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