基于SFPM的遥操作工程机器人双目视觉定位  

Binocular Vision Positioning of Teleoperation Engineering Robot Based on SFPM

作　　者：李超伟 李笑[1] 郭彦泽 LI Chao-wei;LI Xiao;GUO Yan-ze(Guangdong University of Technology Mechanical and Electrical Engineering College,Guangdong Guangzhou510006,China)

机构地区：[1]广东工业大学机电工程学院

出　　处：《机械设计与制造》2020年第1期267-269,273,共4页Machinery Design & Manufacture

基　　金：广东省计算机集成制造重点实验室资助项目（2014B030301072）;广东省计算机集成制造重点实验开放基金项目（CIMSOF2016012）

摘　　要：为解决遥操作工程机器人作业过程中视频图像传输的时延问题,建立了基于双目视觉的遥操作工程机器人定位系统,提出一种基于单特征点匹配(SFPM)的双目立体视觉定位方法。通过对机器人抓手和抓取物上的单特征点的特征检测和立体匹配,实现特征点的三维信息恢复,并将获取的二者空间坐标和相对距离实时反馈给操作者,为远程遥控机器人逼近并抓取目标物提供判断依据。实验表明:该方法能够对目标物实现快速准确定位,定位精度满足工程作业要求,可为遥操作工程机器人的视觉提示系统设计提供技术参考。To solve the problem of delay for video image transmission on teleoperation engineering robot in the process of operation,the positioning system of teleoperation engineering robot based on the binocular vision is established,a binocular stereo vision positioning method based on single-feature-points-matching(SFPM)is proposed.By the feature detection and stereo matching of single feature points on robot gripper and grabed object,the 3 D information of feature point is recovered,The obtained spatial coordinates and relative distances are fed back to the operator in real time to provide a judgment basis for controlling robot to approach and grasp the targetremotely. Experimental results show that the method can achieve fast and accurate positioning of the target,and the positioning accuracy meets theengineering requirement.It can provide technical reference for the design of the visual prompt system of the teleoperation engineering robot.

关 键 词：工程机器人 立体视觉 定位系统 测距 

分 类 号：TH16[机械工程—机械制造及自动化]