Research On Vision Edge Tracking Technology Of Robot Based On Structure Light

Visual servo controlling for the intelligent robot is a hot study project which has significance for theoretical research and foreground for wide industrial applications. Visual servo robot's tracking behaviors related to the following key technologies: rapid and intelligent extract technology about the visual information, three-dimensional reconstruction technology about objects, high intelligent programming technology and movement controlling technology about the robot. This paper has investigated the following aspects aiming at intelligent robot's welding line automatic tracking technology, edge tracking technology about work piece waiting for cutting and edge tracking technology used in large work piece's measurement.1.Build location-based visual servo controlling system .There are two subsystems in the controlling system: the visual inspection subsystem based on the triangulation principle and movement controlling subsystem composed by rectangular coordinates robot and movement controlling card. Moreover, calibrate for CCD sensor of the measurement system and rectangular coordinates robots are completed.2.Design sequence image processing algorithms in visual tracking ,and take the physical deviation of tracking edge got from the triangulation structured optical measuring principle as tracking error for servo movement system. Considering that there are great interferences in locale environment, multi-feature tracking algorithm based on dynamic template matching is advanced making the visual robot images tracking system more accurate.3. Kalman filter principle is applied to visual servo tracking robot strategy. According to the positional prediction value got from Kalman filter amends the image tracking system and calculates the tracking location, making the movement tracking system more precise.4. The Object Oriented Programming techniques is applied and use the C++ language under VC6.0 environment to develop the functions for image processing, feature tracking, Three-dimensional reconstruction and kalman movement controlling. That constitutes a software system that could realize real-time tracking for visual servo robot .Furthermore, the bottom movement program for lower compute is designed. Then, through the program controlling servo system, the tracking system rectify a deviations controlling based on the error, thereby achieve the aim for armor plate's edge tracking.Through tracking experiments research, the tracking system can fully meet the target and well solute the interference problem which come from locale environment. Finally, kinds of date about experiments are given.