METHOD AND APPARATUS FOR CONTROLLING MECHANICAL ARM ON BASIS OF MONOCULAR VISUAL POSITIONING

WIPO Patent Application WO/2021/217976

A1

Provided are a method and apparatus for controlling a mechanical arm on the basis of monocular visual positioning. The method comprises: first, acquiring pixel coordinates of a target point of a target object in a pixel coordinate system; then performing transformation by using a homogeneous transformation matrix of a camera coordinate system with respect to a mechanical arm tail end and a homogeneous transformation matrix of the mechanical arm tail end with respect to a world coordinate system, so as to obtain an equation of a straight line-of-sight; and finally, acquiring, in the world coordinate system, a plane equation of a plane in which the target point is located, and obtaining world coordinates of the target point by means of the equation of the straight line-of-sight and the plane equation. Therefore, compared with the prior art, the embodiments of the present application have no need for two monocular cameras, refine a positioning system, provide simple operations, do not involve the matching of image feature points and the measurement and calculation of an optimal distance, simplify a processing algorithm, and reduce the requirements for a hardware device.

GAO KAIKAI (CN)
ZHOU CHEN (CN)
ZHOU BAO (CN)
GONG LIANYIN (CN)

PCT/CN2020/111190

November 04, 2021

August 26, 2020

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PING AN TECH SHENZHEN CO LTD (CN)

B25J9/16; B25J19/02; G06K9/00; G06T7/80

CN110370286A	2019-10-25
CN107883929A	2018-04-06
CN108920996A	2018-11-30
CN103471500A	2013-12-25
CN109961485A	2019-07-02
CN109472829A	2019-03-15
JP2017071033A	2017-04-13
US20200023521A1	2020-01-23

SCIHEAD IP LAW FIRM (CN)

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