基于视觉引导和超声测距的运动目标跟踪和抓取  

Moving Object Tracking and Grasping Based on Visual Guiding and Ultrasonic Measurement

作　　者：彭刚[1] 黄心汉[1] 王敏[1] 熊春山[1] 

机构地区：[1]华中科技大学控制科学与工程系,武汉430074

出　　处：《高技术通讯》2002年第6期74-78,82,共6页Chinese High Technology Letters

基　　金：86 3计划 ( 86 3 512 2 0 0 1/ 980 1)资助项目

摘　　要：提出了装配机器人系统中一种基于视觉引导和超声测距的运动目标跟踪和抓取方法。介绍了运动目标的跟踪原理 ,采用图像雅可比矩阵进行机器人运动控制 ,跟踪运动的目标。利用视觉引导技术 ,获取目标在图像平面中的位置与方位 ,进行平面跟踪 ,然后引导超声波测距装置测取目标深度信息。The tracking and grasping method of moving object based on visual guiding and ultrasonic measurement in assembly robot system is presented. Above all, the tracking principle of moving object is introduced. According to image Jacobian matrix, robot is controlled to track the moving object. After that, the method of tracking moving object is discussed in detail. The position and orientation is can be obtained based on visual guiding, therefore the planar motion tracking of object is implemented, and the depth of the object is easily acquired through ultrasonic measurement. The experimental platform of eye on hand robot vision tracking system is proposed lastly. The feasibility and validity of the method is validated in experiment result.

关 键 词：运动目标 视觉引导 超声测距 跟踪 抓取 运动控制 机器人视觉 图像处理 

分 类 号：TP274.53[自动化与计算机技术—检测技术与自动化装置]