主动光立体标靶检测及其在工业机器人位姿测量中的应用

Active Light Stereo Target Detection and Its Applications in Industrial Robot's Pose Measurement

基于工业机器人位姿视觉测量方法提出了用主动光立体标靶进行机器人末端位姿测量的方法。以主动红外光代替反光标志点,以主动光图案特征代替亮度特征作为表达位置信息的形式,设计了六面体主动光标靶。通过合理设置特征面图案,使立体标靶特征面提供蕴含空间几何约束的信息,并在此基础上设计了特征面识别算法。在室内环境、室外环境、混合光环境等实验条件下,该算法可实现对主动标靶健壮的识别和定位。在高精度四轴移动平台上的测量误差评价实验表明：运用该标靶的立体视觉系统在0.5~3m工作范围内平均位置误差为0.0857mm,平均姿态误差为0.1086°,满足机器人位姿测量的要求。最后在YASKAWA的Motoman-MH80六轴机械臂上进行了机器人末端位姿的测量实验,验证了该方法的可行性和高效性。

A visual method with an active light target was proposed to obtain the positions and orientations of robots herein.First,the active light stereo target adopted active infrared light instead of reflective markers and employed shape features instead of brightness features to encode the location informations.Second,the stereo structure was designed to provide the spatial geometric constraint information.The active light target owned five feature planes to expand the visibility no mater what pose.Third,a detection method of feature planes was proposed.The proposed feature detection method was testified under different situations,such as indoor illumination environments,the direct solar radiation at outdoor square and the mixed illumination environments.The experimental results confirmed the feasibility and reliability of the proposed method.Forth,the precision of the proposed visual method was verified in a high precision platform.The experimental results show the average position error is as 0.0857 mm and the average orientation error is as 0.1086°in measuring distance ranging from 0.5～3 m.Finally,the pose measurement of a YASKAWA robot arm,MotomanMH80,was conducted and the experimental results confirmed the feasibility and efficiency of the proposed method.