遥操作工程机器人双目视觉定位  

Binocular Vision Location of Tele-Operated Construction Robot

作　　者：龚朋朋 李笑[1] 

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《机械设计与制造》2016年第9期120-123,共4页Machinery Design & Manufacture

基　　金：广东省"211工程"重点学科建设项目(412110901)

摘　　要：针对遥操作工程机器人的视觉定位问题,提出一种基于神经网络的双目立体视觉定位方法。利用工程机器人特征点的二维图像坐标和三维世界坐标建立成像系统的神经网络模型,据此在线获取机器人的位置信息。该方法不需要求出摄像机的内外参数,同时无需考虑镜头的畸变和两相机的相对位置关系,而是隐含在神经网络中,这将简化定位计算的复杂性。实验表明,该方法简单有效,定位精度满足工程要求,可为网络环境下遥操作工程机器人的位置反馈控制提供技术参考。It presents a kind of binocular stereo vision location method based on neural network to solve the vision location problem of tele -operated construction robot. A neural network model of imaging system is built by using the 2d image coordinate and 3d world coordinate of the robot＇s characteristics point, and then the robot＇s position information is obtained online. This method doesn＇t need to calculate the interior and exterior parameter of the cameras and doesn＇t consider the distortion of lens and the relative position of two cameras, and they are implicit in the neural network. This will simplify the complexity of the positioning calculation~ The experimental results show that the method is simple but effective, and the positioning accuracy can meet the engineering requirements. This can provide technical reference to the position feedback control of tele-operated construction robot in the network environment.

关 键 词：遥操作工程机器人 视觉定位 神经网络 双目 

分 类 号：TH16[机械工程—机械制造及自动化] TP391.4[自动化与计算机技术—计算机应用技术]