Optical positioning technology of an assisted puncture robot based on binocular vision

Jiang, Guanwu; Luo, Minzhou; Bai, Keqiang

doi:10.1002/ima.22303

Cited by 19 publications

(10 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Jiang et al aimed to study a robot-assisted puncture procedure based on optical positioning technology. This robot can be used for point marking in puncture operations [ 4 ]. Zhang et al proposed an exploration on restriction innovation in light of recurrence regulation band computerized sound telecom (FM-CDR) [ 5 ].…”

Section: Introductionmentioning

confidence: 99%

Key Technologies of Real-Time Location Service in Satellite Navigation and Positioning Network Based on Internet of Things

Cui

Yuan

2022

Computational Intelligence and Neuroscience

View full text Add to dashboard Cite

In this day and age, the necessities for route and situating exactness are getting ever more elevated. The global positioning and navigation system (GPS) can give high-accuracy and long haul route and situating data. But it largely depends on the external environment and is susceptible to environmental disturbances. As a result, the number of visible stars is insufficient, and even placement fails. The research on node positioning technology is of great significance to the research of wireless sensor networks, and node positioning technology is one of the important technologies in wireless sensor networks. Therefore, this paper will introduce the relevant algorithms and technologies of positioning in detail. The purpose of this text is to research how to analyze and research based on Internet of things (IoT) satellite navigation and positioning technology. And the wireless sensor network is described. The two simulation results have showed that, with the positioning technology proposed in this paper, the average positioning error of the anchor node can be kept a small constant regardless of the conditions of different packet sending intervals, changing moving rates, or increasing the transmission power and changing distance. The average positioning error provided in this paper has been kept at about 0.80 m, and the positioning accuracy is high, which is naturally newer and better than the Ssu positioning technology.

show abstract

Section: Introductionmentioning

confidence: 99%

Key Technologies of Real-Time Location Service in Satellite Navigation and Positioning Network Based on Internet of Things

Cui

Yuan

2022

Computational Intelligence and Neuroscience

View full text Add to dashboard Cite

show abstract

“…Figure 8 shows the actual pose information of the object in the scene in the robot base coordinate system can be read from the robot teaching device, and the robot can be manually operated to move its end to the designated position for recording. The rotation angle of the target around any of the x, y, and z axes is around 180° [25][26][27]. Therefore, the error between the pose of the object obtained by the program matching and the actual pose of the object in the scene is shown in the figure: 1 shows that through the statistics and analysis of the pose error results of the target object, the average error on the x, y and z axes is 4.12mm, 3.56mm and 3.87mm respectively, and the overall average position error is 3.85mm.…”

Section: Random Sorting Experiments Of Target Objectsmentioning

confidence: 99%

Application of Robot Sorting Technology in Automatic Sorting of 3d Vision Target Pose Manipulator

2021

IJOMAM

View full text Add to dashboard Cite

A disordered sorting platform is designed to realize the application of robot sorting technology in the automatic sorting of 3D vision target positioning manipulator. First, the camera is used to detect the object to be sorted visually in order to obtain the pose information of the object. According to the environment and the specific information related to the Salsa object, the hardware of the sorting system is selected, and the process and scheme of the whole system are designed. Second, the calibration of the robot vision system composed of Kinect camera and ABB1200 robot is studied. The connection between the Kinect camera and the robot is determined as the installation mode of Eye-to-hand, and the Kinect camera itself is calibrated. Then, the Eye-to-hand system composed of the robot and the camera is calibrated, and the position relationship between the camera coordinate system and the robot base coordinate system is obtained. Subsequently, the pose estimation of randomly stacked objects is studied. The point cloud information collected by the camera is pre-processed, and the template is preliminarily matched with the target object by using the SHOT (Signature of Histogram of Orientation). And then the ICP (Iterative Closure Point) algorithm is used for further point cloud registration. Finally, the pose of the target object is estimated under the Eye-to-hand calibration results. The experimental platform of the whole unordered sorting system is built, and the multiple unordered sorting experiments of multiple objects are carried out, followed by the analysis of the experimental results. The error between the pose estimation results and the actual position is about 4mm, which verifies the feasibility of the system scheme and method and enables the robot to perform the unordered sorting task in centimetres, meeting the design requirements of the system. Therefore, the study provides a reference for future related research.

show abstract

“…As shown in Figure 8, in order to further illustrate that the improved DTW algorithm has better recognition rate and accuracy than other algorithms, the k-NN algorithm and the decision tree algorithm are used in the experiment to classify these five sets of actions. Recognition, it can be found that the DTW recognition algorithm recognizes five types of table tennis batting action recognition rate are higher than k-NN algorithm, and decision tree recognition algorithm [31][32][33][34][35].…”

Section: Recognition Of Batting Actionmentioning

confidence: 99%

Visual Inspection and Batting Decision of Table Tennis Robot

2020

IJMC

View full text Add to dashboard Cite

The table tennis robot is a hand-eye system that combines a visual system, a mechanical system, and a control system. The visual system is equivalent to the human brain and eyes. The visual system predicts the flight trajectory of table tennis and calculates the hitting point and hitting ball. When the time comes, the hitter can return the ball effectively. This article mainly studies the visual detection and decision-making of table tennis robots. This article introduces the method of dual target calibration, calculates the relationship between the internal parameters of the camera and the camera, and uses the calibration results to calculate the three-dimensional coordinate information of the table tennis. By comparing the existing target tracking image processing algorithms, and according to the flight characteristics of table tennis, research and formulate a set of fast real-time image processing algorithms. Through the force analysis of the table tennis in flight, the parameter model of the table tennis flight trajectory is established, and the experimental analysis of the landing point and the hitting point predicted by the flight model is carried out. In the online decision-making process, the multi-initial value quasi-Newton method is used to maximize the hitting evaluation function to solve the optimal hitting trajectory. The experimental results in this paper show that the average error of the return point of the table tennis robot in these 10 experiments is 13.4cm; the average value of the return point of the robot in 10 shots is [-2.5cm, 78.8cm], and the variance is [5.3cm, 13.4cm]; The average value of the person's return point is [-3.1cm, 13.9cm], and the variance is [11.6cm, 22.9cm]. The experimental results of this paper show that the return accuracy of table tennis robots is better than those who have little experience in hitting the ball; table tennis robots can adapt to changes in the state of the incoming ball and complete the fixed-point return task with higher accuracy and success rate.

show abstract

Optical positioning technology of an assisted puncture robot based on binocular vision

Cited by 19 publications

References 17 publications

Key Technologies of Real-Time Location Service in Satellite Navigation and Positioning Network Based on Internet of Things

Key Technologies of Real-Time Location Service in Satellite Navigation and Positioning Network Based on Internet of Things

Application of Robot Sorting Technology in Automatic Sorting of 3d Vision Target Pose Manipulator

Visual Inspection and Batting Decision of Table Tennis Robot

Contact Info

Product

Resources

About