自动导引车多摄像机主动导引系统的协同标定  

Collaborative calibration of initiative multi-camera guiding system for transport automatic guided vehicle

作　　者：石陈陈[1] 楼佩煌[1] 武星[1] 钱晓明[1] 

机构地区：[1]南京航空航天大学,南京210016

出　　处：《仪器仪表学报》2014年第11期2589-2599,共11页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61105114);江苏省科技支撑(BE2014137);江苏省"六大人才高峰行动计划"资助项目

摘　　要：通过多个导引驱动模块可构成用于重载搬运的自动导引车(AGV),固定在每个模块上的摄像机组成了多目视觉主动导引系统。本文针对多驱动模块的协同导引,提出了一种多摄像机主动导引系统的协同标定方法。首先,通过平面模板法完成单个驱动模块上摄像机内部参数、外部参数的标定;然后通过控制各个驱动模块协同运动,利用特征轨迹约束法估计摄像机相对于驱动模块的位姿误差、不同驱动模块之间的装配误差。建立单个模块的视觉测量坐标系与AGV整车运动控制坐标系之间的变换模型。不依赖精密辅助测量工具,具有较高的精度及可实施性。A heavy-duty transport automatic guided vehicle（AGV） can be constituted by multiple guiding driving modules. Cameras fixed on each module compose the initiative multi-camera guiding system. A collaborative calibration method of the multi-camera initiative guiding system is used for the collaborative guiding of multiple driving modules. Firstly, the internal parameters, external parameters and distortion parameters of each camera are calibrated with planar patterns. Then, characteristic trajectory constraint is proposed to estimate the position and orientation error, and the error of the drive module to the vehicle body by controlling the coordinated motion of driving modules. Transformation model from the vision measurement coordinate to vehicle motion control coordinate is constructed, which is the technical foundation for the collaborative guidance of multi-camera initiative guided AGV. The method can realize the calibration without need of the precise auxiliary measuring instruments, and with a higher precision and implement ability.

关 键 词：重载 多驱动模块 多目视觉 平面模板 特征轨迹约束 

分 类 号：TH165.1[机械工程—机械制造及自动化]