Research on Intelligent Robot System with Real-time 3D Visual Feedback

实时3D视觉反馈智能机器人系统研究

• 批准号: 61420026
• 负责人: INOUE Hirochika
• 金额: $ 17.79万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (A)
• 财政年份: 1986
• 资助国家: 日本
• 起止时间: 1986 至 1988
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-61420026/
• 关键词: Intelligent Robot; Hand-eye System; Robot Vision; Stereo Vision; 視覚フィードバック; ロボットプログラミングシステム; マルチウィンドウ視覚システム; パラレルマニピュレータ; 実時間立体視; 両眼立体視; マルチ・ウィンドウ視覚システム; 画像処理; コンピュータ・ネットワーク

Our research effort of the final year was devoted mainly to integrate the vision server, the manipulation cell, and the programming environment into a single intelligent robot system. Major results are:1. The basic system software of the vision hardware developed so far has been enhanced and updated. The vision hardware is installed as an server in the network baded robot system. Automatic calibration of camera parameters, DP based techique on stereo matching of line segments in binocular images, real-time visual trackers employing multi-window robot vision system, have been implemented.2. The Cartesian type dual manipulator cell is developed for moving a parallel manipulator, end effectors, and camera unit. The cell controller is also installed as a node of the network.3. The object oriented Lisp system has been extended and updated as it involves the vision server, manipulator cell, and solid modeller. The system provides us very flexible programming environment for developing vision-action fusion tasks.4. Experiments on real time visual tracking, and visual feedback control on pushing operations are attempted. The facility of the real time 3D visual feedback in the integrated system COSMOS-II provides very flexible and friendly programming environment for the research on the tasks for vision action fusion.

我们最后一年的研究工作主要致力于将视觉服务器，操作单元和编程环境集成到一个智能机器人系统中。主要结果如下：1.迄今为止开发的视觉硬件的基本系统软件已得到增强和更新。视觉硬件作为服务器安装在网络负载机器人系统中。实现了摄像机参数的自动标定、基于DP的双目图像直线段立体匹配技术、基于多窗口机器人视觉系统的实时视觉跟踪.笛卡尔型双机械手单元是为移动并联机械手、末端执行器和摄像机单元而开发的。单元控制器也被安装为网络的节点。3.面向对象的Lisp系统已经扩展和更新，因为它涉及视觉服务器，操纵单元和实体建模。该系统为开发视觉-动作融合任务提供了非常灵活的编程环境.进行了真实的实时视觉跟踪实验和推板操作的视觉反馈控制实验。集成系统COSMOS-II中的真实的三维视觉反馈功能为视觉-动作融合任务的研究提供了非常灵活、友好的编程环境。

项目成果

H.Inoue: "Three Approaches for robotic System Integration" Proc. of 19th International Symposium on Industrial Robots. (1988)

H.Inoue：“机器人系统集成的三种方法”Proc。

白井良明,井上博允: 日本ロボット学会誌. 5-6. 462-469 (1987)

Yoshiaki Shirai，Hiroaki Inoue：日本机器人学会杂志 5-6（1987）。

H.Inoue;Y.Tsusaka;T.Fukuizumi: Robotics Research 3-The Third International Symposium of Robotics Research,MIT Press.3. 321-327 (1986)

H.Inoue;Y.Tsusaka;T.Fukuizumi: 机器人研究3-第三届国际机器人研究研讨会，麻省理工学院出版社.3．

H.Inoue: "System Architecture of an Intelligent Robot" Gakujyutsu Geppo. 41-4. 8-14 (1988)

H.Inoue：“智能机器人的系统架构”Gakujyutsu Geppo。

H.Iba; H. Matsubara; H. Inoue: "View and Visibility for Managing Incomplete Environment Models" Proc. of IEEE Workshop on Intelligent Robot Systems. 411-416 (1988)

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