Research On The Method Of Synchronously Tracking Coal Gangue Based On Visual Servoing

When the coal gangue sorting robot is working,due to the slippage and deviation of the belt conveyor,the positioning of the coal gangue is inaccurate and the robot fails to grasp,and even the mechanical arm is damaged due to the impact load.Aiming at this problem,this paper proposes a dynamic target tracking method for robotic arms based on visual servoing.Aiming at the problem of precise positioning of dynamic coal gangue,a"robot-manipulator end-camera-gangue" positioning model was constructed,and the position and attitude information of the target gangue in the robot coordinate system was obtained,and the precise positioning of the dynamic target gangue was realized.According to the characteristics of the coal gangue sorting robot body,a mathematical model of the coal gangue sorting robot is established,and the inverse kinematics problem is solved according to the model,and the required pose information of the robot body is calculated as the motion basis for the precise control of the manipulator.Aiming at the problem of visual tracking target gangue,a dynamic target fast matching method based on Hu invariant moment is proposed to quickly obtain the position information of the target gangue,realize the transfer of the gangue information from the recognition module to the visual servo module,and obtain the initial position information of the target gangue.Aiming at the problem of tracking loss caused by occlusion in the process of tracking the target gangue,an extended FDSST(fast discriminative size space tracking algorithm)visual tracking and positioning method combined with Kalman filter is proposed to realize the rapid acquisition of the real-time position information of the target gangue.Aiming at the problem of gangue synchronously tracking dynamic target gangue for coal gangue sorting manipulator,this paper proposes a dynamic target tracking trajectory planning method based on visual servo three-loop PID control manipulator.The method uses the real-time precise position of the target gangue obtained visually as the input of the position loop controller,the output of the position loop controller is used as the input of the velocity loop controller,and the output of the velocity loop controller is used as the input of the acceleration loop controller,so as to realize the position,The optimal control of speed and acceleration makes the end of the manipulator and the target gangue reach synchronization,and finally realizes the quasi-static grasping of the gangue by the manipulator,which improves the success rate of grasping.On the basis of the precise positioning and synchronous tracking method of the coal gangue sorting robot proposed above,the experimental verification is carried out on the experimental platform of the coal gangue sorting robot built in the laboratory.The results show that the proposed method for synchronously tracking coal gangue based on visual servoing can effectively track the target gangue under different belt speeds,and the success rate of visual tracking can reach more than 97%.The average position error of the three-loop PID control trajectory planning algorithm is as small as about 1 mm,the average speed error at the grab point is about 1 mm/s,and the tracking speed error is small,which can meet the requirements of synchronous tracking and accurate tracking of high-speed targets.Crawl request.