Research On Robot Visual Servo Based On Binocular Vision

With the development of the industry automation, and the improvement of the automation level of production, the robot vision becomes more and more important in the automatic production. Binocular stereo vision technology is an important subject in the field of robot visions, and it is also the important symbol of the intelligent robots.By referring to a great deal of the information available, binocular stereo vision'basic theory, method and related techniques have been discussed in this paper, and based on which, a robot visual serving control system is constructed, in this system the visual servo control theory and technology research can be carried out. The main work in this paper is summarized as follows:(1) According to the aim and the device possessed, using the Bumblebee2 binocular camera, X-Y platform, IPC and the MSDA043A1A Panasonic AC servo motor drive to construct the binocular stereo vision system.(2) Using median filter and threshold to extract the target feature, and provide the pixel coordinates for stereo matching.(3) The final purpose of binocular stereo vision is 3D reconstruction. The target point can be reconstructed by using the matching points of left and right image and projection matrix.(4) Adopting object-oriented design and realized technology; selecting C++ language and Visual C++ development environment, this paper develops related software including image capture, target extract, 3D reconstruction and robot control system, the mission that track, capture or access the moving targets is implemented on the platform.Visual C++ environment and OpenCV tools are used. The design of algorithms and hardware has been achieved in this paper. The experiments show that the system can capture real-time three-dimensional motion information of single moving object. It is the foundation of other function of the robot.