基于TMS320DM642EVM的手眼视觉系统研制-检测技术与自动化装置专业论文.docxVIP

基于TMs320DM642EVM的手眼视觉系统研制 摘 要 手眼视觉用于提供目标物体的图像信息和测量物体的位置和姿态，对于空 间机器人捕获物体非常重要。本文在比较各种手眼视觉系统特点的基础上，采 用DSP评估板一一TMS320DM642，研制了一套手眼视觉系统。利用这一系统， 我们成功地实现了图像的采集、摄像机的标定和目标物体位姿的溯量。 本文首先介绍了系统的硬件组成，包括图像采集模块、DsP处理模块和图 像显示模块。然后给出了系统的软件组成，包括监控模块、初始化模块、图像 采集和显示模块、摄像机标定模块和物体位姿测量模块。最后搭建了由 TMS320DM642、摄像机、PC和直线导轨所组成的实验系统，并进行了手眼视 觉实验，包括图像采集、处理和显示，摄像机标定以及物体的位姿测量。实验 结果表明，该系统能够满足位姿测量的要求。 关键词：手眼视觉，图像处理，摄像机标定，位姿测量，数字信号处理器 DeVeIopment of Hand-Eye Vision System Based oⅡTMS320DM642 ABSTRACT The hand—eye Vision is used to provide the image infbrmation of obj ect and measure the position and orientation of obj ect，which is Very important for the space robot to capture the oboects．After the f色atures of all kinds of hand—eye Vision system are compared，a hand-eye vision system is developed with a DSP eValuation module—TMS3 20DM642 in this paper． Utilizing this system，we succeed in capturing images，calibrating the camera and measuring the position and orientation of objects． Firstly，the hardware of the system is introduced in this paper．It includes an image capture module，a DSP processing module and an image display module． Secondly’the software of the system is present．1t includes a monitor module，an initialization module， an image acquisition and display module， a camera calibration module，and a position and orientation measurement module．FinaIl y，an experimental system consisting of a TMS320DM642，a CCD camera，a PC and a beeline guide is set up to make the hand—eye Vision experiments including the image acquisition，image processing and display，camera calibration，aⅡd position and o“entation measurement．The experimental rcsults show that the system can meet the requirement of the pOsmon and orientation measurement． Key Words：hand—eye Vision，image processing，camera calibration，position and o“entation measurement．DSP 2 插图清单 图l—l基于PC的手眼视觉系统 ． 图1—2基于DSPs的手眼视觉系统 ，． 图1．3实时智能视觉传感器RIVs 图2．1摄像机成像线性模型 图2．2物体坐标系相对于摄像机坐标系的相对交换过程 图3—1系统硬件框图 图3．2 MTv-23xll l／3”黑自高解析CcD摄像机 图3．3 EVM板系统框图 图3．4视频口结构框图 图3—5视频采集口