基于双目视觉的助老助残机器人定位系统研究  

Research on positioning system of senior and disable people aid robot based on stereo vision

作　　者：樊炳辉[1] 刘圭圭 王传江[1] 贾朝川[1] 李安花 张凯丽[1] 

机构地区：[1]山东科技大学机器人研究中心,山东青岛266590

出　　处：《现代电子技术》2017年第2期48-52,共5页Modern Electronics Technique

基　　金：山东省科技发展计划项目(2013GSF11858);国家教委博士点基金(20133718110013);青岛经济技术开发区重点科技发展计划项目(2013-1-33)

摘　　要：提出一种基于双目立体视觉的人机交互方式。该系统不仅可以主动检测人脸嘴部三维空间坐标,还可以通过激光引导随意确定某一位置的空间三维坐标。通过坐标变换和逆向运动学求解,反解出机械臂的各个关节运动角度,发送控制指令使机械臂在保持手部平衡的情况下运动到指定位置。实验结果表明,该方法操作简单,应用领域广,不仅能应用于助老助残机器人,还可以用于其他非结构化环境中的机器人。A novel human-computer interaction mode based on stereo vision is presented in this article. The system not only can take the initiative to detect the 3D coordinate of human＇s mouth,but also can determine the 3D coordinate of any position by the guide of the laser. With coordinate transformation and inverse kinematics solution,the moving angle of each joint of mechanical arm can be gotten by inverse solution. And then the control commands are sent to make the robot＇s arm move to the specified position while maintaining the balance of the hand. The experiment result shows that the method is very easy to operate,its application field is wide,and it also can be used in the senior and disable people aid robots and the robots in unstructured environments.

关 键 词：助老助残 双目视觉 机器人 人机交互 

分 类 号：TN911-34[电子电信—通信与信息系统] TP391.4[电子电信—信息与通信工程]