半智能排爆机器人的单手双目手眼系统  

Single-Hand and Binocular Eye-in-Hand System for Semi-Intelligent EOD Robot

作　　者：范路桥[1] 姚锡凡[1] 蒋梁中[1] 汪伟[1] 

机构地区：[1]华南理工大学排爆机器人研究室,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2008年第4期40-44,共5页Journal of South China University of Technology(Natural Science Edition)

基　　金：广东省科技计划资助项目(2004A10403006);华南理工大学高水平大学建设重点项目(B01-D7041010)

摘　　要：针对目前排爆机器人手动控制方式的不足,研究和开发了一个单手双目手眼系统用于半智能排爆机器人的自动控制.该系统基于双目视觉原理,采用Matlab7.0作为运算引擎,调用机器视觉软件eVision6.2中的EasyMatch模式匹配库进行立体匹配,实时捕获图像,进行摄像机标定、图像预处理和匹配,确定可疑目标物的坐标,并把图像实时显示在控制台,自动控制手臂靠近并准确抓取可疑目标物.该半智能排爆机器人抓取实验的相对误差小于2.54%,表明该立体视觉系统在精度上能满足半智能排爆机器人的要求.The existing explosive ordnance disposal （EOD） robots are usually operated manually and are hard to operate. In order to solve this problem, this paper develops a single-hand and binocular eye-in-hand system based on binocular stereo vision for the semi-intelligent EOD robot. The system uses Matlab7.0 as the calculation engine and adopts the pattern matching library EasyMatch in machine vision software eVision6.2 to perform the stereo matching. It can capture real-time images and make camera calibrations, image preprocessing as well as feature point matching. It can also determine the coordinate of suspicious objects, display real-time images on the console, and control the semi-intelligent EOD robot to grasp suspicious objects automatically and accurately. Experimental results show that the proposed system is of a relative error of less than 2.54% , which meets the practical requirements of EOD robots.

关 键 词：排爆机器人 双目立体视觉 手眼系统 摄像机标定 特征匹配 三维重建 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]