关键词: 视觉伺服, 双相机, 切换控制, 传送带, 视觉跟踪

Abstract: In the application scenes of online inspection of home appliances using machine vision,aiming at the problem that monocular vision cannot give satisfactory visual feedback,a dual-camera visual servoing method which performed a switching control scheme is proposed.The target was estimated by the global camera,and the robot was guided to move near the desired pose,assuring asymptotic stability of the visual servo.According to the image deviation and depth information provided by the eye-in-hand camera and the target velocity and orientation provided by the global camera,the dual-camera visual servo control was realized.The experimental results confirmed that the proposed method could complete positioning and tracking tasks and achieve greater tracking accuracy and stability when the velocity of target was below 0.17m/s,which had been applied toonline visual inspection of the air conditioning production line.

Key words: visual servoing, dual-camera, switching control, conveyor, visual tracking