一种基于视觉的机械臂避障方法
文献类型:专利
作者 | 曹江涛; 张晓雪; 刘金国; 高庆 |
发表日期 | 2017-08-11 |
专利国别 | 中国 |
专利号 | CN107030690A |
专利类型 | 发明 |
产权排序 | 1 |
权利人 | 中国科学院沈阳自动化研究所 |
其他题名 | Based on vision of mechanical arm and method for fault |
是否PCT专利 | 否 |
中文摘要 | 本发明涉及一种基于视觉的机械臂避障方法。包括:在机械臂末端安装双目摄像机和视频采集卡,建立世界坐标系;获取双目摄像机的内部和外部参数;通过双目摄像机对机械臂工作环境进行图像采集,获得工作环境平面灰度图像;根据桶形畸变校正原理对平面灰度图像进行畸变校正;对矫正后的图像进行基于SIFT算法的特征点提取;对校正后的图像进行基于小波变换的边缘点提取;将获取的特征点和边缘点对比,剔除不稳定点,完成剩余特征点匹配;获取均方根误差数据;获取环境中障碍物的三维信息,确保机械臂躲避障碍的工作。本发明在图像处理的特征点提取方面精度高,抗噪能力强,稳定性好。 |
英文摘要 | This invention claims a method and device based on vision of the mechanical arm and method for fault. Comprises: On the mechanical arm is assembled at the end binocular vidicon and video gather card establishing world coordinates; Obtaining binocular vidicon inside and outside of the parameter; By binocular vidicon the mechanical arm work environment to carry out image collection to obtain the working environment on the surface of the grey scale image; According to the distortion correction principle of the flat grey scale image to process aberration correction; To correcting the image after carrying out with sift arithmetic based on characteristic point extraction; To the corrected image processing based on wavelet transform the edge of the point extraction; The obtained feature points and edge point the eliminating ratio of it is not stable point to finish the rest characteristic points matching; Obtaining the mean square root error data; Obtaining environment of barrier the three-dimensional information it ensures the mechanical arm avoids the obstruction of the working. The invention claims a image processing characteristic point extraction method of precision is high noise immunity it has good stability. |
申请日期 | 2016-12-22 |
语种 | 中文 |
专利申请号 | CN201611197327.8 |
专利代理 | 沈阳科苑专利商标代理有限公司 21002 |
源URL | [http://ir.sia.cn/handle/173321/20930] |
专题 | 沈阳自动化研究所_空间自动化技术研究室 |
推荐引用方式 GB/T 7714 | 曹江涛,张晓雪,刘金国,等. 一种基于视觉的机械臂避障方法. CN107030690A. 2017-08-11. |
入库方式: OAI收割
来源:沈阳自动化研究所
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