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Study of Remote Visual Servoing Control by Pseudo Stereo Method

伪立体法远程视觉伺服控制研究

基本信息

批准号：
09450165
负责人：
DEGUCHI Koichiro
金额：
$ 6.46万
依托单位：
TOHOKU UNIVERSITY (1998-1999)The University of Tokyo (1997)
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1997
资助国家：
日本
起止时间：
1997 至 1999
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09450165/
关键词：
Robot Control Computer Vision Visual Servoing Image Processing Active Vision Image Compression Motion Image Analysis Behavior Control 画像確認

项目摘要

In this research, we established a visual servoing method for remote control of robot employing the concept of pseudo-stereo. This method is based on stereo image principle to replay the same motions of robot currently controlled as those in a motion image transmitted from a remote place or saved in old record.Our purposes of this research were to construct its theoretical base and to realize a remote control system based on the theory including methodology for effective image transmission and robot control.We discussed with specialists in commercial factories of robots and exchanged ideas to improve the feasibility of our system.By these discussions, we acknowledged the availability of our visual servoing system in production lines and other fields of manufacturing.To summarize our three year research project ;1. We constructed an application oriented system for visual remote control of robots based on the concept of the pseudo stereo, and verified its feasibility by many experiments simulating its application of production field.2. From the experimental tests on performances of robot control and image processing, we verified that the system could be constructed using commercially available high-performance CPU, needless any high cost specialized hardware for the required image processing. It promised the real applications in wide production fields.3. We summarized the theory of an application of the pseudo stereo as well as robot navigation, robot control, and remote image transmission techniques realized in the research, and published at international journals, proceedings of international conferences and technical reports.

在本研究中，我们利用伪立体的概念建立了一种用于机器人远程控制的视觉伺服方法。该方法基于立体图像原理，将当前被控机器人的运动与远程传输或保存在旧记录中的运动图像中的运动进行回放。本文的研究目的是构建其理论基础，并基于有效图像传输和机器人控制的理论方法实现远程控制系统。我们与商业机器人工厂的专家进行了讨论，并交换了意见，以提高我们系统的可行性。通过这些讨论，我们承认我们的视觉伺服系统在生产线和其他制造领域的可用性。总结我们三年的研究项目；基于伪立体的概念，构建了面向应用的机器人视觉远程控制系统，并通过多次实验模拟其在生产领域的应用，验证了其可行性。通过对机器人控制和图像处理性能的实验测试，我们验证了该系统可以使用市售的高性能CPU构建，无需任何高成本的专用硬件来进行所需的图像处理。它有望在广泛的生产领域得到实际应用。我们总结了在研究中实现的伪立体理论和应用以及机器人导航、机器人控制和远程图像传输技术，并在国际期刊、国际会议论文集和技术报告上发表。