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本文首先介绍了工业机器人工作环境中三维障物的描述方法及空间定位方法。提出用两台摄象机组成视觉系统,来获取障碍物的三维信息,以完成障碍物的检出、描述及空间定位。系统中采用长方体“盒子”来描述障碍物,以满足安全性的要求。
In this paper, firstly, the description method of 3D obstacle in the working environment of industrial robots and the method of spatial location are introduced. A visual system composed of two cameras is proposed to obtain the three-dimensional information of the obstacle so as to complete the detection, description and spatial positioning of the obstacle. The system uses a rectangular box “box” to describe obstacles to meet the safety requirements.