Manipulator Control System Based On Computer Vision

Two-camera stereo visual system is an important branch of robotic visual technologies. It means that two cameras on different locations or one camera from dissimilar view angles via translating or rotating shoot the same scene to get the parallax according to which the space position information to the object center point is calculated. The study of two-camera visual platforms includes cameras calibration, image processing, stereo matching, three-dimensional reconstruction and movement analysis. Through the further research of two-camera visual technologies, it establishes technical foundations of robotic vision problems such as smart mobile robot navigation and industrial robots visual detection and manipulator grabbing.We use the image collection card DH-CG300 which is made by Daheng company circulation collect two frames of images arriving at memory, this part of content includes initialization of the image card,opening the image collection, starting collection, stopping collection, ending collection and camera calibration. Toward the camera calibrating, it introduces one kind of camera model, in which has eleven parameters. We take six control points whose space coordinate and image coordinate have been known into the camera model, so we get a set of equations composing eleven unknowns, then we can find its solution. Now we realized the camera calibrating and the image collection so far.Handle to the image that saved in at memory. First, the target object need to makes up a template that should be as small as possible, the template is ok if it can contain principal character of the target thing. Then, through template matching method to ascertain location of the target object in Real-time image, and make note of the image coordinate of target object central point, and the origin of image coordinate system sets up the lower left corner. Finally, display the target thing location area to controlling interface. So far we ascertain the image coordinate of target thing central point.Implement controlling of the manipulator. Space coordinate of target object is ascertained, so the location that it relative to current location of manipulator is also ascertained, so we get the controlled quantity of the manipulator moving forward of target object location. We control the manipulator to arrive at target object location, grab and place the target object. The location of placing can be set up by the consumer. The design realized control manipulator to grab target object with the method of template matching, control accuracy is higher, the hardware realization is simple, and the cost is lower.