智能机器人视觉体系结构研究

MACHINE VISION ARCHITECTURE RESEARCH ON AN INTELLIGENT ROBOT

本文以几个典型的智能机器人体系结构为范例 ,受其分层结构和模块化体系思想启发 ,针对机器视觉研究中的不同观点和遇到的困难 ,提出机器视觉研究也应当分层、模块化的思想 ,认为只有这样才能满足整个机器人大系统的要求 ,较好地解决机器视觉的一般性和特定任务之间的矛盾 .在讨论了该视觉体系结构中各层次的组织和各个模块的功能后 ,提出了一个将三维面形传感获取近距离精确数据、激光雷达距离成像和 CCD摄像机相结合的视觉传感集成体系 ,通过它们在时间和空间上的一致及信息上的互补 ,以保证基本数据模块的可靠性和整个视觉体系结构的可行性 .

Inspired by the architecture in some typical examples of advanced intelligent robots, a new point of view that machine vision should also be structured in levels and modules has been put forward in this paper, in view of the endless debates between defferent theories for a long time. It can be well satisfied with the requirements for the intelligent robot control to have a compromise between the general and special tasks in a vision sub-system. After discussing the detailed level architecture and functional module, an integrated vision sensor is presented, in which a synchronized spot scanning triangulation method acts as 3D imaging sensing within the near range for precision data, a laser radar plays a role at the far field to get the coarse images, and a CCD camera plays a role to get the intensity images. They are united in space and time, and all the information can be matched and complemented each other to ensure the reliability of the database and the feasibility of the architecture.