摘要
根据上下料机器人对于视觉系统的要求,对双目视觉测量系统的数学模型进行分析,进而分析了双目测量系统的精度,根据该模型,通过实验进一步验证和分析两相机的角度和基线距,以控制测量的上下偏差值,来保证图像采集精度,为上下料机器人抓取提供准确的坐标数据。
According to the requirements of the loading and unloading robot for the visual system,the mathematical model of the binocular vision measurement system and the accuracy of the binocular measurement system are analyzed. Further,according to the model,the angle and the baseline distance of the two cameras were verified by experiment,so as to control the measurement of the upper and lower deviation. It ensures the accuracy of image acquisition,which provides accurate coordinate data for loading and unloading robots.
作者
李长春
胡炜
顾寄南
戴国洪
LI Changchun;HU Wei;GU Jinan;DAI Guohong(Suzhou Institute of Industrial Technology,Suzhou Jiangsu 215104,China;Mechanical Information Research Center,Jiangsu University,Zhenjiang Jiangsu 212013,China;School of Mechanical Engineering,Changzhou University,Changzhou Jiangsu 213016,China)
出处
《机床与液压》
北大核心
2018年第15期68-70,75,共4页
Machine Tool & Hydraulics
基金
江苏省高校品牌专业建设工程资助项目(PPZY2015B186)
苏工院科技项目(SGYK201606)
关键词
双目视觉
上下料机器人
测量
Binocular vision
Loading and unloading robot
Measurement
