摘要
一种基于圆型轨道的双目主动视觉监测平台的建立,解决了并联机器人的"盲"工作状态问题。然而在摄像机和并联机器人的加工位置之间常常有障碍物出现,为了避免摄像机的观测视线被遮挡,提出了一种在摄像机运动空间上求解障碍区域的方法。该方法中引入了最小面积凸包围盒算法,简化了求解过程,从而能实现视觉监测平台的快速避障。算例实验表明该方法是正确、有效的。
A binocular active visual monitoring platform based on circular guide rail is established to solve the ＂blind＂ working status of parallel robot. However, between the eamera and the machining position of the parallel robot, there are some obstacles frequently. In order to avoid the camera＇s observing line to be covered, a method which can solve the obstacle area on motion space of the cameras is proposed. Min area convex encasing box is introduced in this method, and then fast obstacle avoidance for visual monitoring platform can be realized. At last, the effectiveness and validity of this method is verified by the computation example.
出处
《燕山大学学报》
CAS
2009年第3期189-193,共5页
Journal of Yanshan University
基金
国家高技术研究发展计划(2006AA04Z212)
关键词
并联机器人
主动视觉
障碍检测
障碍区域
parallel robot
active vision
obstacle detection
obstacle area
