基于QR Code技术的家庭服务机器人视觉伺服抓取操作研究  

Research on QR code-based visual servo handling of room service robot

作　　者：李国栋[1] 田国会[1] 薛英花[1] 

机构地区：[1]山东大学控制科学与工程学院,济南250061

出　　处：《东南大学学报（自然科学版）》2010年第S1期30-36,共7页Journal of Southeast University：Natural Science Edition

基　　金：国家高技术研究发展计划(863计划)资助项目(2006AA040206;2009AA04Z220)

摘　　要：通过在物品上布置QR Code标签实现了被操作物的快速定位识别和抓取.首先设计了便于视觉伺服系统定位、识别的QR Code人工物标,然后对移动机器人和其上搭载的四自由度机械臂组成的视觉伺服系统进行了运动学建模,并标定出了末端执行器上搭载的摄像头的内外参数.最后设计了基于位置的视觉伺服控制律并进行了物品的抓取试验.试验结果显示,将QR Code技术应用于视觉伺服领域,可大大解决由于家庭环境物品种类多、操作方式复杂带来的困难,使家庭服务机器人走向家庭之路变得平坦、宽阔.In home environment,the main task for home service robot is to handle and deliver the targets,such as cups,medicine,books. Fast location and recognition of the targets is realized through putting QR Code tags on them. In this paper,QR Code tags,which are easy to be located and recognized by the visual servo system,are designed firstly. Then a kinematic model of visual servo system,which is composed of a mobile robot and a 4 DOF manipulator,is proposed,and the internal and external parameters of the camera mounted on the manipulator's end effect are calibrated. Finally a position based visual servo control law is designed and its validity is verified through an object handling experiment. It is shown that by applying QR Code technique to visual servo system the difficulties caused by variety of objects and complexity of operation can be greatly solved.

关 键 词：QR Code 视觉伺服 家庭服务机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]