SUBJECT COORDINATE RECOGNIZING METHOD FOR VISUAL SERVOING

摘要

The present invention relates to a subject coordinate recognizing method for visual servoing comprising: a step of acquiring images with a predetermined camera installed in at least one arm of a manipulator positioned at a predetermined distance from a subject for visual servoing; a step of extracting a characteristic point or a characteristic section corresponding to the subject from the acquired image; a step of specifying the subject based on the extracted characteristic point or the characteristic section; a step of setting a predetermined X-Y plane having a position of the camera as a starting point; a step of measuring an angle between the camera and the subject from an X-axis and a Y-axis of the X-Y plane; and a step of calculating coordinates of the subject on the X-Y plane based on the measured angle. Accordingly, an effect of calculating the coordinates of the subject regardless of a number and position of the cameras is obtained if the desirable subject for visual servoing is within a photographing range of the camera installed in the manipulator.;COPYRIGHT KIPO 2017