基于双目立体视觉的排爆机器人自动目标抓取  

Automatic Target Catching of an Explosive-disposal Robot Based on Binocular Stereo Vision

作　　者：祁亨年[1,2] 汪伟[1] 蒋梁中[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510641 [2]浙江林学院信息工程学院,浙江临安311300

出　　处：《广西师范大学学报（自然科学版）》2008年第3期137-140,共4页Journal of Guangxi Normal University:Natural Science Edition

基　　金：中国博士后科学基金资助项目(20060400217);广东省科技厅工业攻关计划项目(2004A10403006)

摘　　要：目前各种多关节、多自由度的排爆机器人在实战中都存在操作复杂、速度慢的问题。为此,基于双目立体视觉设计并实现了一个排爆机器人的目标物自动抓取系统。该系统能根据目标物在两摄像机获取的图像坐标计算其三维坐标,从而对机械臂进行轨迹规划和控制,完成目标物自动抓取。首先,建立了一个完整的双目立体视觉系统数学模型,然后,用张氏平面法标定两摄像机的内参数,再采用最小二乘法进行立体标定,得到双目立体视觉系统的外参数,从而根据目标物在左右摄像机成像得到的图像坐标计算其三维坐标。实验表明该系统能在满足作业精度要求的前提下,大大提高排爆作业的易操作性。The explosive-disposal robots developed for commercial use are：difficult to manipulate and act slowly. In order to solve this problem,an automatic target catching system is designed for the explosive disposal robot,based on binocular stereo vision technique. Under this intelligent system, the three dimensional location of a target is computed given its left and right image projections,then the explosive disposal manipulator is planned and controlled to reach the position of the target and catch it according to the three dimensional coordinate acquired. First ,the mathematic description of the binocular stereo vision system is set up,then identify the internal parameters with zhang＇s,and identify the external parameters,with a least square method for stereo calibration to after that,the three dimensional location of a target can be computed. The experiment results show that satisfied manageability is acquired under the automatic target catching mode ,the requirement of accuracy can also be satisfied.

关 键 词：双目立体视觉 排爆机器人 摄像机标定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]