基于双目视觉的机器人钻杆抓取系统研究  

Research on Robot Drill Pipe Grasping System Based on Binocular Vision

作　　者：关志阳 Guan Zhiyang(CCTEG Xi’an Research Institute(Group)Co.,Ltd.,Xi’an 710077,China)

机构地区：[1]中煤科工西安研究院(集团)有限公司,西安710077

出　　处：《煤矿机械》2025年第2期222-224,共3页Coal Mine Machinery

基　　金：陕西省重点研发计划项目(2024GX-YBXM-313)。

摘　　要：针对现有煤矿井下钻杆抓取系统无法满足自动化与智能化需求的问题,采用六自由度机器人与双目相机相结合构建抓取系统。针对视觉抓取系统中相机标定的难点,采用圆形角点进行标定,并开发出一套快速标定与设置相机的控制软件。采用优化后的标定方法进行抓取试验验证和误差分析,结果表明,该系统可以满足井下钻杆视觉抓取精度要求,在不同环境条件下识别准确,应用效果良好。Aiming at the problem that the existing grasping system of drill pipe in underground coal mine can not meet the requirements of automation and intelligence,the grasping system was constructed by combining the six degrees of freedom robot and binocular camera.Aiming at the difficulties of camera calibration in visual grasping system,a round corner point was adopted for calibration,and a set of control software for quick calibration and setting of camera was developed.The optimized calibration method was adopted for grasping test verification and error analysis.The results show that this system can meet the precision requirements for underground drilling pipe visual grasping,with accurate recognition and good application effect under different environmental conditions.

关 键 词：机器人 双目相机 视觉标定 误差分析 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]