基于三维视觉六足机器人多模式测量系统设计  

Design of a Hexapod Robot Multi-mode Measurement System Based on 3D Vision

作　　者：张腾飞 温秀兰[1] 崔俊宇 芮平 白冰峰[1] 

机构地区：[1]南京工程学院自动化学院,南京211167

出　　处：《组合机床与自动化加工技术》2018年第2期73-75,80,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51675259);江苏省"333人才工程"项目资助(3-45);江苏省普通高校专业学位研究生创新计划项目(SJLX16_0662)

摘　　要：针对传统六足机器人测量系统存在模式单一的问题,设计出一种基于三维视觉的六足机器人多模式运动测量系统。利用Kinect相机采集图像信息,在VS2010软件开发平台上使用C++编程语言,结合opencv计算机开源视觉库,实现对图像的处理。通过设计六足机器人在多模式下的步态,实现对六足机器人多模式下的运动状态测量功能。对六足机器人各步态下的测量系统进行实验验证,结果表明该系统能够对不同步态下六足机器人进行实时三维位置信息反馈,而且得出六足机器人在双足步态下具有良好的稳定性。Aimed at the problem which the mode is single in traditional hexapod robot measurement system,a multi-mode motion measurement system of hexapod robot based on 3 D vision is designed in this paper.The system uses kinect camera to acquire image data and combines with opencv to achieve image processing by using C ＋＋ language based on VS2010 software development platform. The gait of multi-mode robot is designed and the system can get hexapod robot multi-mode motion measurement information. The experiment results showthat the measurement system can provide real-time three dimensional position information feedback for the hexapod robot under different stage. Besides,the conclusion that the hexapod robot has good stability in biped gait is concluded.

关 键 词：六足机器人 三维视觉 摄像机标定 图像处理 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]