机器人3D视觉传感器设计与实现

A Design and Implementation of 3D Robot Vision Sensor

由于3D视觉传感器价格高昂,限制了其在机器人上的广泛应用。开发了一种低成本的基于激光三角法的3D线激光视觉传感设备,并且精度和扫描速度可调。系统由光学测量设备、机械及传动设备、计算控制单元及通信模块、Mesh Lab上位机组成。采用改进的加权质心法确定成像位置,通过最小误差平方和对参数进行标定。采用蓝牙、串口等协议发送控制命令和传输点云阵列数据,在Mesh Lab上绘制实时地图。实验表明,系统在低成本的前提下,可实现高精度和高扫描速度,是广泛应用于中低端机器人的3D视觉传感器的有效解决方案。

The wide application of 3D vision sensor was limited in the robot due to its high price. A low-cost 3D line laser vision sensing device was developed based on laser triangulation,whose accuracy and scanning speed were adjustable. The optical system consisted of measuring equipment,machinery and transmission equipment,the calculation control unit and the communication module,Mesh Lab host machine. An improved weighted centroid was used to determine the image location,and minimum square error was used to calibrate parameters. Bluetooth and serial port protocols were used to send control commands and transfer point cloud data array,and a real-time map was plotted on Mesh Lab. Experiments showed that the system,under the premise of low cost,could achieve high accuracy and scanning speed,which was an effective solution could be widely used in low-end 3D robot vision sensor.