Delta机械手视觉控制系统研究与开发
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摘要
本文结合国家863项目“高速包装机器人及其成套装备”，对该机械手的视觉控制系统进行研究与开发，解决了若干关键技术难题。整个控制系统由视觉单元和运动控制单元两大模块组成，其中视觉单元基于“CCD相机+图像采集卡”开发，运动控制单元基于“运动控制卡+伺服驱动器+伺服电机”开发。全文主要成果概括如下：
完成了高速包装机械手视觉控制系统的功能需求分析，据此制定了控制系统总体方案。采用基于位置的视觉伺服，动态look-and-move的方式完成对机械手的控制。视觉系统采用单目摄像机fixed in the workspace的安装方式。同时，依据系统的性能指标完成了硬件选型工作，确定了各关键设备的型号，并完成了接口设计工作。
根据课题实际情况，提出了基于平面模板的摄像机标定法，通过实验完成了视觉系统的摄像机标定。
完成了图像处理流程和运动目标识别跟踪的设计工作。通过对采集的图像进行平滑去噪、锐化增强和图像分割将目标物体同背景分割开，通过目标的面积对其进行标识，通过形心对其定位。运动目标识别跟踪过程设计中结合伺服传送带的位置信息实现了对动态散乱目标的跟踪。
解决了基于位置的伺服控制系统所必须的关键技术问题，包括机械手的正逆解、运动规划、传送带的速度控制、物体抓取位置计算和软件工作流程设计。
搭建了实验平台，对所述的视觉控制系统软硬件方案进行了实验验证并确定了控制系统的关键参数。通过实验，证明了本课题所选方案的可行性，并为以后整个控制系统的改进工作提供了依据。
This thesis is about the research and development work of a vision controlsystem, which is the National863Program “a High Speed Packaging Robot System”.The whole control system is composed of vision module and motion control module.The vision module is based on “CCD Camera+Image Acquisition Card”, the motioncontrol module is based on “Motion controller+Servo Driver+Servo Motor”. Themain research contents and contributions are summarized as follows:
Analyzed the functional requirements of the vision control system about the HighSpeed Packaging Robot, and designed the whole control program. Using amonocular vision system with the camera fixed in the workplace to guide therobot picking moving objects.
A smart method based on planar template was presented to calibrate the visionsystem.
Design the image processing flow and the recognition track process of themoving objects. The accurate position of every object can be obtained from theimage through the flow, which concludes image pretreatment, imagesegmentation and image after treatment. A decision-making algorithm of avoidmulti-objects repeat recognition has been proposed in the recognition trackprocess of the moving objects.
Solved the key technologies of the position servo control system, includingpositive solution and inverse solution of the robot, motion planning, velocityplanning of conveyer belt, grasping position of targets and the task flowdesigning of the whole system.
Build the experimental platform and set the key parameters of the vision controlsystem through experiments. It is proved that the chosen scheme of this subject isfeasible. The experiment provides the basis for improving the whole controlsystem.
完成了高速包装机械手视觉控制系统的功能需求分析，据此制定了控制系统总体方案。采用基于位置的视觉伺服，动态look-and-move的方式完成对机械手的控制。视觉系统采用单目摄像机fixed in the workspace的安装方式。同时，依据系统的性能指标完成了硬件选型工作，确定了各关键设备的型号，并完成了接口设计工作。
根据课题实际情况，提出了基于平面模板的摄像机标定法，通过实验完成了视觉系统的摄像机标定。
完成了图像处理流程和运动目标识别跟踪的设计工作。通过对采集的图像进行平滑去噪、锐化增强和图像分割将目标物体同背景分割开，通过目标的面积对其进行标识，通过形心对其定位。运动目标识别跟踪过程设计中结合伺服传送带的位置信息实现了对动态散乱目标的跟踪。
解决了基于位置的伺服控制系统所必须的关键技术问题，包括机械手的正逆解、运动规划、传送带的速度控制、物体抓取位置计算和软件工作流程设计。
搭建了实验平台，对所述的视觉控制系统软硬件方案进行了实验验证并确定了控制系统的关键参数。通过实验，证明了本课题所选方案的可行性，并为以后整个控制系统的改进工作提供了依据。
This thesis is about the research and development work of a vision controlsystem, which is the National863Program “a High Speed Packaging Robot System”.The whole control system is composed of vision module and motion control module.The vision module is based on “CCD Camera+Image Acquisition Card”, the motioncontrol module is based on “Motion controller+Servo Driver+Servo Motor”. Themain research contents and contributions are summarized as follows:
Analyzed the functional requirements of the vision control system about the HighSpeed Packaging Robot, and designed the whole control program. Using amonocular vision system with the camera fixed in the workplace to guide therobot picking moving objects.
A smart method based on planar template was presented to calibrate the visionsystem.
Design the image processing flow and the recognition track process of themoving objects. The accurate position of every object can be obtained from theimage through the flow, which concludes image pretreatment, imagesegmentation and image after treatment. A decision-making algorithm of avoidmulti-objects repeat recognition has been proposed in the recognition trackprocess of the moving objects.
Solved the key technologies of the position servo control system, includingpositive solution and inverse solution of the robot, motion planning, velocityplanning of conveyer belt, grasping position of targets and the task flowdesigning of the whole system.
Build the experimental platform and set the key parameters of the vision controlsystem through experiments. It is proved that the chosen scheme of this subject isfeasible. The experiment provides the basis for improving the whole controlsystem.
引文
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[2] Clavel R， Device for displacing and positioning an element in space，WO8703528A1，1987
[3] Clavel R，Device for the movement and positionning of an element in space，U.S.Patent，No.4,976,582，1990
[4] L.Roberts，Machine perception of three-dimensional solids，In：Tippertt J，ed，Optical and Electron-Optical Information Processing，Cambridge，MA：MIT Press，1965，159-197
[5]贾云得，机器视觉，北京:科学出版社出版，2000
[6] Aloimonos Y，Rosenfeld A，A Response to"Ignorance,Myopia,and Naviete inComputer Vision Systems"by R.C.Jain and T.O.Binford[J].CVGIP IMAGEUNDERSTANDING，1991，53(1)：120-124
[7] Neumann J，Aloimonos Y，Talking heads:introducing the tool of3D motion fieldsin the study of action[C].In：Proceedings Workshop on Human Motion，2000：25-30
[8] Bajcsy R，Active Perception[J].Proc.of IEEE，1988，76(8)：996-1005
[9] Lin Shih-Schon，Bajcsy R，High resolution catadioptric omni-directional stereosensor for robot vision[C].In：Proceedings.ICRA'03.IEEE International Conferenceon Robotics and Automation.2003；Vol.2：1694-1699
[10]Ballade D H，Brown C M，Principles of Animate Vision[J].CVGIP IMAGEUNDERSTANDING，1992，56(1)：3-21
[11]Denzler J，BrownC.M，Information theoretic sensor data selection for activeobject recognition and state estimation[J].IEEE Transactions on Pattern AnalysisandMachine Intelligence，2002，24(2)：145-157
[12]Richard P.Pual，Robot Manipulators：Mathematics，Programming，and Control，The MIT Press，1981
[13]Hill and Park WT，Real time control of a robot with a mobile camera.Proc.9thInt.Sympo，On Indunstrial Robot，Washington，USA，1979，233-246
[14]Wiehman W，Use of oPtical feed back in the computer control of an arm，AImemo55，Stanford AI Project，August1967
[15]Y.Shirai and H.Inoue，Guiding a robot by visual feedback in assembling tasks，Pattern Recognition，1973，5：99-108
[16]A.Gilbert，M.Giles，G.Flachs，R.Rogers, and H.Yee，A real-time videotracking system，IEEE Trans. Pattern Anal.Mach.Intell，1983，January，5(l)：l-7
[17]D.B.Westmore and W.J.Wilson，Direct dynamic control of a robot using anend-point mounted camera and Kalman filter position estimation， Proc.IEEEInt.Conf Robotics and Automation，1991，2376-2384
[18]J.Wang and W.J.Wilson，Three-D relatibe position and orientation estimationusing Kalman filter for robot control，Proc.IEEE Int Conf，Robotics and Automation,1992，2638-2645
[19]W.Wilson，Visual servo control of robots using Kalman filter estimates ofrelative pose，Proc.IFAC12th World Congress，Sydney：1993，399-404，
[20]N.Papanikolopoulos，P.Khosla and T.Kanade，Vision and control techniques forrobotic visual tracking，Proc.IEEE Int Conf. Robotics and Automation，1991，857-864
[21]N.Papanikolopoulos and P.Khosla，Shared and traded telerobotic visual control，Proc.IEEE Int Conf. Robotics and Automation，1992，878-885
[22]C.Rosen et al，Machine intelligence research applied to industrial automation，English report，Technical report，SRI International1978
[23]D.B.Zhang，L.V.Gool and A.oosterlinck，Stochastic predictive control of robottracking systems with dynamic visual feedback，Proc.IEEE Int Conf.Robotics andAutomation，1990，610-615
[24]P.K.Allen，B.Yoshimi and A.Tmcenko，Real-time visual servoing，Proc.IEEEInt Conf. Robotics and Automation，1991，851-856
[25]P.K.Allen，A.Timcenko，B.Yoshimi eds，Trajectory Filtering and Predictionfor Automatic Tracking and Grasping of a Moving Object，Proc.IEEE InternationalConference on Robotics and Automation，1992，1850-1857
[26]胡东明，汪劲松，张伯鹏，机器人化大直径钢管螺旋焊缝检测视觉跟踪系统的研究与开发.机器人，1995，17(6)：352-357
[27]席文明，郑梅生，颜景平，视觉引导下的机器人跟踪复杂焊缝的研究.东南大学学报，2000，30(2)：79-83
[28]郭振民，陈善本，吴林等，数字图像处理技术在弧焊机器人视觉伺服系统中的应用，机器人，2001，23(7)：698-701
[29]彭刚，黄心汉，王敏等，基于视觉引导和超声测距的运动目标跟踪和抓取，高技术通讯，2002，12(6)：74-78，82
[30]孟偲，王田苗，丑武胜，基于手眼视觉的测量与定位方法的研究与实现，中国空间科学技术，2002，12(6)：18-25
[31]NationalInsrtuments，MeasurementnadAutomationcatalog，2002
[32]关旭，张春梅，虚拟仪器软件LabVEIW和数据采集，微机发展，2004，14(3)：77-79
[33]马颂德，张正友，计算机视觉科学出版社，1998，52-71
[34]K.B.Atkison Ed，Developments in Close Range Photogrammetry，London，1980
[35]J.Weng，P.Cohen and M.Herniou，Calibration of Stereo Cameras Using aNon-Linear Distortion Model，Proc.International Conference on Pattern Recognition，1990，246-253
[36]Luh J Y，Klaasen J A，A three dimensional vision by off-shelf system withmulti-cameras[J]，IEEE Trans PAM，1985，7(1)：39
[37]A bdel-A ziz YI，Karara HM，Direct linear transformation into object spacecoordinates in Close-Range Photogrammetry[A]， Proc Symp[C].Close-RangePhotogrammetry，1971，1-18
[38]Faig W，Calibration of close-range photogrammetric systems：mathematicalformulation，Photogrammetric eng [J]，Remote sensing，1975，41(12)：1479-1486
[39]Tsai R Y， An efficient and accurate camera calibration technique for3D machinvision，Proc. IEEE Conf.on Computer Vision and Patern Recognition，Miami Beach，FL，1986，364~374.
[40]Martins H A，Birk JR，Kelley R B，Camera models based no data from twocalibration planes，computer Graphics and Imaging Processing，1981，17(2)：173-180
[41]Wei G，Ma S，Two-plane calibration：a unified model，Proc.CVPR’91，Piscataway：IEEE，1991，133-138
[42]高满屯，曲仕如，李西琴，计算机视觉研究中的投影理论和方法，西安：西北工业大学出版社，1998
[43]Fadi Dornaika， Christophe Garcia， Pose estimation using point and linecorrespondences.Real-Time Imaging，1999，5(5)：215-230.
[44]J.wen and G.Schweitzer，Hybrid calibration of CCD camera using artificialneural nets，Int.Joint Conf.Neural Networks，Piscataway：IEEE，1991，227-342.
[45]O.D.Faugers，G.Toscani，The Calibration Problem for3D computer vision，Proc.of IEEE Conf.of Computer Vision and Pattern Recognition.
[46]Moons T，Van Gool L，Proesmans M eds，Affine reconstruction from perspectiveimage pairs with a relative object-cameratranslation in between[J]， IEEE TransactiononPattern Analysis and Machine Intelligence，1996，18(1)：77-83
[47]Triggs B，Auto-calibration and absolute quadric[A]，Proceedings of ComputerVision and Pattern Recogintiong[C]，1997，604-614
[48]S.D.Ma， A Self-calibration technique for active vision system， IEEEtrans.Robotics and Automation，1996，12(1)：114-120
[49]R.I Hartley，Estimation of relative camera position for uncalibrated camera，Proc.Of the ECCV’92.Italy：Santa Margherita Ligure，1992，379-387
[50]Pollefeys M，Van Gool L，Self-calibration from thw absolute conic on the plane atinfinity[A]，Proceeding of Computer Analysis of image and Patterns，Lecture Notes inComputer Science，Spring-Verlag[C]，1997，1296：175-182
[51]Sturm P，Self-calibration of a moving camera by pre-calibration[A]，Proceedingsof British Machine Vision Conferences[C]，Scotland：Edinburgh，1996，675-684
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