Robot Image Dynamic Detection System Based On The Stereo Vision

High-precision intelligent control of the Large load target requires not just cooperation control strategy of multi-stage, but also be able to get multi-targets's real-time distance,speed,so as to complete multi-targets's connecting and control finally.The graduation project is based of this background ,to design a visual servo system based of 2-DOF robot. The system is a calibration of the binocular vision system using genetic algorithms (GA), it uses of genetic algorithms own characteristics, be able to find the best overall points more faster and better, so can get higher accuracy of the match points and finally through the three-dimensional and speed of reconstruction to achive dynamic testing of the objectives' moving distance, instantaneous speed, in order to be able to real-time monitor and control of the operation of targets . This detection system's main hardware device: Toshiba's black-and-white CCD camera, whose external parameters is same , Matrox's image acquisition card of Canada, PC machines as well as a robot with two degrees of freedom.In terms of software, it uses software which can run in Windows 2000 or Windows XP environment ,it's MIL/ActiveMIL or MIL-Lite/ActiveMIL-Lite.The first step: get images' feature points through CCD camera and capture card.The second step: targeting and tracking: this system aims at the 2-DOF robot' background color, and choose the round black screw as the detection symbol,which is significant different from the background color, at the same time, it choose parallelogram composed by four screws on the movement platform as the feature to realize feature extraction,in order to complete the feature points and moving target' s tracking.Step three: after a series of images' analysis, through kinematics and geometry model of models, track the feaure target, at the same time, calculate the target's the movement distance in consecutive frames.Step four: Get the target' s rotation angular velocity through these formula. Finally, a comprehensive summary of papers and discuss some prospect of stereo vision detection technology and experience of this graduate design.