【摘要】 为解决Eye-in-Hand的自主研磨作业机器人在完全未知的非结构化环境中,能够感知作业空间的三维信息、识别作业空间中的目标及该目标与研磨工具末端的位姿等问题,提出一种基于正交双目视觉实时反馈研磨工具末端的位姿并引导其实时运动的方法。将视觉传感器的测量坐标系(待加工曲面坐标系)建立在对应的激光平面上,并将两个正交相机的光轴交点作为引导研磨工具末端位姿的参考点,从该参考点开始迭代逐步逼近实际加工点。对两个正交相机采集的图像进行处理,可以得到研磨工具末端在两个相机图像坐标系的位置和姿态,再对两组正交立体位置信息进行融合得到其三维位姿。实验结果表明:利用两个正交CCD相机构成的Eye-in-Hand结构能够实时反馈和引导研磨工具末端三维位姿,提供了通过机器视觉引导机器人进行待加工曲面轮廓研磨的解决方案。更多还原

【Abstract】 In order to solve problems and to achieve the Autonomous Grinding Robot obtain model of three-dimensional(3 D) environment, identify the grinding object and ascertain positions and orientations of the end of grind tool by the object in unknown and unstructured environments, a method for real-time measuring positions and orientations of the end of grind tool and leading it based on orthogonal binocular stereovision is presented. The measuring coordinate system was set on laser plane, and the point of intersection from two cameras, whose optical axes were perpendicular to each other, was the reference point that could lead the positions and orientations of the end of grind tool. The final grinding position was ascertained by iteration. And then the positions and postures of the end of grind tool in the image coordinate systems of two cameras could be obtained, by processing the pictures of the end of grind tool could be acquired from the information fusion of positions and postures of the end of grind tool in two image coordinate systems according to the model of orthogonal binocular stereovision.Experimental result shows that the positions and orientations of the end of grind tool can be fed back and leaded by orthogonal binocular stereovision consisting of two CMOS cameras with Eye-in-Hand, and it can offer the solution that grind the surface with robots guided by machine vision.更多还原