提出了利用攝像機和超聲傳感器信息融合對機器人操作對象進行位姿檢測的方法。該方法通過單幅圖像獲取目標點在圖像中的理想坐標,求得投影矢量的方向,然后通過機器人末端的運動,導引超聲傳感器坐標原點與未移動前攝像機坐標系的原點重合,而其Z 軸方向與求得的投影矢量方向相同,再由超聲傳感器測出投影矢量的長度,從而確定目標點在攝像機坐標系中的坐標,并可進一步轉換到機器人基坐標系中。通過測量操作物體上兩點的空間坐標,就能夠確定物體空間姿態。該方法簡單易行,計算量小,精度較高。
關鍵詞: 攝像機; 超聲傳感器; 位姿檢測; 信息融合
中圖分類號: TP242 ; TP212 　　　文獻標識碼:A
Abstract : A new method is proposed for measuring the position and orientation of objects using CCD and Ultrasonic sensor. Based on this method , one can calculate the orientation of theprojection vector using the undistorted desired point coordinates obtained from one image , then by moving the robot ,make the original point of the ultrasonic sen sor cordinate system coincide with the one of the CCD condinate system not having moved , and let its Z axis coin2 cide with the orientation of the projection vector , and then obtain the length of the vector , so in the camera coordi2 nate system one can get the point coordinates which can be transformed into the base coordinate system of the robot . Using the coordinates of two points on the object ,one can gain its orientation completely. This new method is sim2 ple , low computing payload and very accurate.

Key words : CCD camera ; ultrasonic sensor ; posing measure ; information fusing