面向柔性导线涂覆作业的机器人视觉检测与定位方法  

Robotic Visual Inspection and Positioning Method for Flexible Wire Coating Operation

作　　者：饶成龙 宋屹峰[2,3] 赵娟平 王俊彭 RAO Chenglong;SONG Yifeng;ZHAO Juanping;WANG Junpeng(College of Information Engineering,Shenyang University of Chemical Technology,Shenyang Liaoning 110142,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang Liaoning 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang Liaoning 110169,China)

机构地区：[1]沈阳化工大学信息工程学院,辽宁沈阳110142 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169

出　　处：《机床与液压》2023年第23期16-22,共7页Machine Tool & Hydraulics

基　　金：国家自然科学基金(52075529);国家重点研发计划(2021YFC3002000)。

摘　　要：架空裸导线没有绝缘外皮的保护,容易发生安全事故,利用涂覆机器人开展裸导线绝缘化作业能够减少对人身安全的威胁。针对柔索环境下涂覆机器人运动导致柔索发生变形致使目标发生变化,提出一种面向柔性导线涂覆作业的机器人视觉检测与定位方法,利用机械臂末端相机采集涂覆机器人的标记位置图像,实现对涂覆柔性导线作业的检测与定位。针对柔索环境下目标会随柔索的变形而发生变化的现象,基于相机标定开展图像雅可比矩阵与观察臂雅可比矩阵计算涂覆机器人的空间位置坐标,对动态变化的目标实时定位与跟踪。实验结果表明:该方法可有效对目标进行定位与跟踪,具备外部环境适应能力。Overhead bare wires are not protected by an insulating sheath,which is prone to safety accidents.The use of coating robots to carry out bare wire insulation operations can reduce the threat to personal safety.In view of the deformation of the flexible ca-ble caused by the movement of the coating robot in the flexible cable environment and the change of the target,a robot vision detection and positioning method was proposed for flexible wire coating operations.The camera at the end of the robotic arm was used to collect the marking position image of the coating robot to realize the detection and positioning of the coating flexible wire.Aiming at the phe-nomenon that the target would change with the deformation of the flexible cable in the flexible cable environment,the spatial position coordinates of the coating robot based on the camera calibration was calculated to carry out the image Jacobian matrix and the observa-tion arm Jacobian matrix.The experimental results show that the method can effectively position and track the target,and has the abili-ty to adapt to the external environment.

关 键 词：定位跟踪 柔索环境 相机标定 图像雅可比 观察臂雅可比 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]