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1.前言在机器人眼的研究中,一般把重点放在识别非特定物体或复杂形状物体的功能研究方面。由于预先判断它所处理的物体种类、形状以及处理顺序的情况较多,因此作为工业机器人的眼,只要具有判断物体是否处于自己的视野内,测定物体的空间位置和对物体的移动进行视线跟踪等功能也就足够了。其次,即使在需要知道物体的形状和运动状态时,也由于物体种类极为有限,有很多情况已经预先进行了粗略的定向处理,所以识别方法也并不十分复
1. Introduction In the research of robot eyes, the general emphasis is placed on the functional study of identifying objects that are not specific or complex shapes. Since it is judged in advance that the type, shape, and processing order of the object it handles are often large, the eye of the industrial robot may have a function of determining whether the object is in its own field of view, measuring the spatial position of the object, and tracking the movement of the object And other functions will be enough. Second, even when it is necessary to know the shape and movement of an object, due to the extremely limited number of objects and the fact that many cases have been roughly directed in advance, the method of identification is not very comprehensive