基于双目立体视觉技术的轮式机器人位姿测量方法研究  

Study of position and posture measuring method for wheeled robot based on binocular stereo vision technique

作　　者：尤波[1] 李楠[1] 沈爱华[1] 许家忠[1] 

机构地区：[1]哈尔滨理工大学自动化学院,哈尔滨150080

出　　处：《机械设计与制造》2011年第8期173-175,共3页Machinery Design & Manufacture

摘　　要：为规划轮式机器人运动轨迹,需要获得轮式机器人在空间中的位姿,提出一种基于机器视觉软件Halcon9.0测量轮式机器人位姿的方法,利用机器视觉软件实现机器人图像实时采集、摄像机标定、特征点提取、坐标系变换、位姿转换实现机器人位姿的非接触式检测。试验结果表明采用机器视觉方法和采用陀螺仪检测得到的数据变化趋势吻合,验证了该方法可行性和可靠性。每次测量机器人位姿的时间仅需要678.089 ms,对实时测量运动目标位姿的非接触检测有参考价值。Acquisition of wheeled robots＇pose information is essential to its trajectory planning,for which a binocular-stereovision non-contact measurement approach is developed using Halcon9.0,taking advantages of such package services as real-time image acquisition,camera calibration,feature points extraction,coordinate system transformation and pose conversion.This approach is verified by experiment that the pose acquired by machine vision fits with data variation trend measured by gyroscope.Sampling interval is 678.089ms,which provides a sound reference for real-time non-contact motion measurement.

关 键 词：双目立体视觉 非接触式测量 机器人 位姿 

分 类 号：TH16[机械工程—机械制造及自动化] TP274[自动化与计算机技术—检测技术与自动化装置]