| With the development of image processing technology and the enhanced ability of computer for processing digital signal, as a new field based on various interdisciplinary, the theory research and practical application of the computer vision has made great progress. First, the composition of the control system of the manipulator is introduced, especially the problems and the corresponding solution methods during the debugging of manipulator installation. Then the aim of this research is educed: to realize automatic positioning of the manipulator's foot plate by using the binocular stereo vision technology applied to the control system of manipulator, which can increase the automation degree of the control system of manipulator.According to real-time and precision of the manipulator, this paper focuses on three components of binocular stereo vision: camera calibration, stereo matching and 3D information calculation, then the position and orientation is provided using the result of binocular stereo vision measurement .The camera calibration method based on absolute conic is adopted. The lens' radial and tangential distortion is fully considered, which make the camera calibration results have higher precision and wider application scope.Because of requirement for highly efficient real time, in stereo matching, an improved Hough transform is adopted for feature extraction on marked pile holes. First, make sure the uniqueness of characteristics is satisfied through processing. Then get the pile holes'3D coordinates in the reference coordinate system through Stereo matching. Finally, besed on the principle of the coordinate transform, the position and orientation of Foot plate is computed.The paper used the MATLAB and VC++6.0 to compile the corresponding arithmetic. The results of experiment show that the methods used in this article are correct and feasible. This work provides a foundation for developing vision measurement on the manipulator. |
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