基于视觉伺服技术的工业机器人高动态物体跟踪系统

doi:10.11959/j.issn.2096-6652.201903

智能科学与技术学报 ›› 2019, Vol. 1 ›› Issue (1): 62-69.doi: 10.11959/j.issn.2096-6652.201903

基于视觉伺服技术的工业机器人高动态物体跟踪系统

毛翊超,陆麒()

ABB中国研究院机电系统与机器人自动化部，上海 201319

修回日期:2019-03-01 出版日期:2019-03-20 发布日期:2019-05-28
作者简介:毛翊超（1989- ），男，浙江杭州人，ABB中国研究院机电系统与机器人自动化部研究员，主要研究方向为机器人控制、视觉伺服控制、智能制造等。|陆麒（1981- ），男，上海人，博士，现任ABB中国研究院机电系统与机器人自动化部主任研究员，主要研究方向工业机器人建模与仿真、机器人应用、智能制造等。

A dynamic object tracking system of industrial robots based on visual servoing technology

Yichao MAO,Qi LU()

ABB Corporate Research China,Mechatronics,Shanghai 201319,China

Revised:2019-03-01 Online:2019-03-20 Published:2019-05-28

摘要/Abstract

摘要：

视觉伺服技术在诸多工业场景中都有相当大的应用前景。传统的视觉伺服方法，通常要求使用高帧率的相机来实现高精度的视觉伺服。高帧率相机的成本之高，使得一般工业用户望而却步。提出了一种新的视觉伺服控制方法，该方法将机器人的运动反馈与视觉传感信号进行了融合，用来产生机器人的运动控制信号。与传统的仅基于视觉反馈伺服的控制方法相比，新方法的运动控制频率与视觉反馈频率（即相机帧率）无关，因此能在低相机帧率条件下，实现高精度的动态视觉伺服。概述了新视觉伺服方法的控制架构，通过动态物体跟踪实验证明了新方法的可行性，并通过性能测试实验说明了新方法在低帧率条件下仍能实现较高精度的视觉伺服。

关键词: 视觉伺服, 工业机器人, 动态物体跟踪

Abstract:

Visual servoing technology has high potential in many industrial applications.Conventionally,precise servoing is often achieved by using high-resolution cameras which are usually costly and unaffordable in many of industrial scenarios.A novel visual servoing control scheme which generates robot control signal based on the fusion of visual feedback and robot motion feedback was presented in the paper.By doing so,the robot control loop runs at a frequency independent to the visual feedback frequency (i.e.the frame rate of a camera).Therefore,it becomes feasible to achieve precise and dynamic servoing even with a low frame rate and low-cost camera.The new visual servoing scheme was introduced briefly.The feasibility of the scheme as well as its performances in low frame rate conditions was also illustrated experimentally.

Key words: visual servoing, industry robot,, dynamic object tracking

中图分类号:

TP242.2

毛翊超,陆麒. 基于视觉伺服技术的工业机器人高动态物体跟踪系统[J]. 智能科学与技术学报, 2019, 1(1): 62-69.

Yichao MAO,Qi LU. A dynamic object tracking system of industrial robots based on visual servoing technology[J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(1): 62-69.

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相机帧率(Hz)	运动物体的速度（mm/s）
相机帧率(Hz)	20	50	100	150
16	0.44	0.73	1.47	1.70
21	0.45	0.92	1.20	1.73
33	0.64	0.53	1.05	1.73
62	0.32	0.58	0.81	1.55
85	0.22	0.41	0.88	1.24
100	0.31	0.43	0.72	1.21
210	0.28	0.35	0.69	1.16

基于视觉伺服技术的工业机器人高动态物体跟踪系统

A dynamic object tracking system of industrial robots based on visual servoing technology

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