뗚25뻭뗚1웚볆ꆡ쯣ꆡ벼ꆡ쫵ꆡ폫ꆡퟔꆡ뚯ꆡ뮯Vol125,No112006쓪3퓂ComputingTechnologyandAutomationꆡ컄헂뇠뫅:1003-6199(2006)01-0114-03볆쯣믺쫓뻵퓚릤튵믺웷죋짏뗄펦폃잮탂뛷,쿄뎯쏍(뫾놱웻뎵릤튵톧풺뗧웸릤돌쾵,뫾놱쪮퇟ꆡ442002)ꆡꆡ햪ꆡ튪:뷩짜릤튵믺웷죋볆쯣믺쫓뻵쾵춳뗄릤ퟷ풭샭뫍쾵춳ퟩ돉ꆣ룃쾵춳뻟폐뛔짣쿱믺쫓뎡훐쳘헷뗣ퟔ뚯뚨캻뫍룺ퟙ릦쓜ꆣ뷡뫏릤튵믺웷죋뿘훆죭볾,룃쾵춳쪹릤튵믺웷죋쓜쪵쪱뗘뗷헻퓋뚯맬벣,쳡룟웤쫊펦탔뫍쇩믮탔ꆣ맘볼듊:쫓뻵;릤튵믺웷죋;ퟔ뚯뚨캻훐춼럖샠뫅:ꆡꆡꆡꆡꆡ컄쿗뇪쪶싫:AApplicationofComputerVisiononIndustrialRobotQIANXi2nen,XIAChao2meng(DepartmentofElectricalEngineering,HubeiAutomotiveIndustriesInstitute,Shiyanꆡ442002,China)ꆡꆡAbstract:-orientationꆢfollowingtrackandcontrolware,:computervision;industrialrobot;auto-orientation릤뎧쪵볊펦폃훐,평폚릤ퟷ뮷뺳뇈뷏뛱쇓,헢킩쟩1ꆡ틽퇔뿶쓑틔뇜쏢ꆣ틲듋,캪쇋쳡룟릤튵믺웷죋쇩믮탔뫍쫊펦탔,쪹웤쓜뛔췢늿뮷뺳뗄뇤뮯쪵쪱ퟶ돶쇋뗷헻ꆰ볆쯣믺쫓뻵퓚릤튵믺웷죋짏뗄펦폃ꆱ훷튪쫇웤퓋뚯맬벣,쪹웤쓜릻룼뫃뗄랢믓웰ퟷ폃,컒쏇퓚캪릤튵믺웷죋퇐뺿뾪랢튻쳗뻟폐뛔짣쿱믺쫓뎡훐풭폐뗄릤튵믺웷죋쾵춳훐틽뷸쇋볆쯣믺쫓뻵쾵춳ꆣ쳘헷뗣ퟔ뚯뚨캻뫍룺ퟙ릦쓜뗄볆쯣믺쫓뻵쾵춳ꆣ춨맽볆쯣믺쫓뻵춼쿱닉벯ힰ훃믱좡췢늿뮷뺳뗄춼쯤좻쒿잰믺웷죋틑뺭맣랺뗄펦폃폚릤튵뗄룷쿱탅쾢,펦폃춼쿱뒦샭벼쫵뛔헢킩춼쿱탅뫅뷸탐럖룶쇬폲,떫쫇헢킩릤튵믺웷죋듳늿럖뚼쫇틔ꆰ쪾뷌컶뒦샭,춨맽죽캬훘붨,쪵쪱볆쯣돶춼쿱훐ퟷ튵뛔ꆪ퓙쿖ꆱ랽쪽릤ퟷ뗄ꆣ벴믺웷죋퓚릤ퟷ쪱,쿈평닙쿱뗄쳘헷뗣뗄죽캬캻훃탅쾢ꆣ좻뫳룹뻝볆쯣돶뗄ퟷ풱틽떼믺웷죋퓋탐쪾뷌쓚죝,믲춨맽볆쯣믺뇠돌뷡맻,샻폃Motocom32죭볾폫믺웷죋뿘훆맱춨톶,뗄랽쪽살뷸탐쪾뷌,좻뫳퓙평믺웷죋퓙쿖쿈잰뗄쪾춨맽볆쯣믺뛔릤튵믺웷죋뷸탐뻶닟뿘훆,쪵쿖릤튵뷌쓚죝ꆣ쪾뷌쓚죝냼삨믺웷죋닙ퟷ믺릹뗄뿕볤맬믺웷죋뛔뿕볤쳘헷뗣뗄ퟔ뚯뚨캻뫍룺ퟙꆣ벣ꆢퟷ튵쳵볾ꆢퟷ튵쮳탲뗈ꆣ평폚믺웷죋뷸탐퓙쿖퓋뚯쪱,뒦폚뾪뮷뗄릤ퟷ랽쪽,좱랦뛔췢늿뇤뮯탅2ꆡ쾵춳뗄릹돉벰웤풭샭쾢뗄쇋뷢,용죧ퟷ튵뛔쿱랢짺쇋욫틆믲뇤탎떼훂캻훃랢짺뇤뮯,믲헟퓚웤퓙쿖맬벣짏폐헏낭컯돶쿖놾뿎쳢쫇믹폚MotomanUP6릤튵믺웷죋쾵춳쪱,믺웷죋뻍늻쓜룹뻝헢킩뇤뮯쪵쪱뗘뗷헻웤퓋뚯짏뗄뛾듎뾪랢ꆣ퓚풭폐릤튵믺웷죋믹뒡짏,쳭볓쇋맬벣,듓뛸펰쿬볓릤뗄뺫뛈짵훁믡퓬돉쫂맊ꆣ뛸퓚튻쳗쫓뻵쾵춳,쪹웤돉캪튻룶뻟폐쫓뻵뗄릤튵믺웷쫕룥죕웚:2005-08-04ퟷ헟볲뷩:잮탂뛷(1948ꆪ),쓐,낲믕뮳쓾죋,쮶쪿,뷌쫚,퇐뺿랽쿲:볆쯣믺뿘훆(E-mail:qianxinn@)ꆣ
뗚25뻭뗚1웚잮탂뛷뗈:볆쯣믺쫓뻵퓚릤튵믺웷죋짏뗄펦폃115죋쾵춳ꆣ헻룶쾵춳냼삨:MotomanUP6릤튵믺웷횱)ꆣ웤릤ퟷ뗧톹캪붻쇷220-240V,췢탎돟듧캪죋쾵춳ꆢPanasonicCCD짣쿱믺ꆢOKC-50춼쿱닉67(뿭)ꇁ55(룟)ꇁ123(뎤)mm,훘솿캪ꆣ벯뾨ꆢ릤뿘믺틔벰쿠펦뗄췢늿짨놸ꆣ뻟폐쫓뻵뗄릤뺵춷캪죕놾뺫릤뗄SSL06036M,뺵춷뗄붹뻠뿉뇤ꆣ튵믺웷죋쾵춳뗄릹돉죧쿂춼1ꆣ쯤좻퓚쫓튰뇟풵믡폐킧뗄믻뇤,떫퓚튻뚨뗄닢뻠랶캧쓚,뛔뺫뛈뗄펰쿬늻듳ꆣ2)춼쿱닉벯뾨춼쿱닉벯뾨톡폃뗄쫇놱뺩볎뫣훐ퟔ춼쿱벼쫵폐쿞릫쮾뗄OK-C50탍PCI춼쿱닉벯뾨ꆣ뾨짏폐2M-32M뗄뮺돥쓚듦평폚춼쿱탲쇐뗄듦뒢,춨맽룟쯙PCIퟜ쿟뿉쪵쿖횱뷓닉벯춼쿱떽VGA쿔듦믲훷믺쾵춳뗄쓚듦,쪹춼쿱뫍닋떥춬웁쿔쪾,떥웁릤ퟷ,뮹뿉틔샻폃PC믺쓚듦뗄뿉삩햹탔,쪵쿖쯹탨쫽솿뗄탲쇐춼쿱훰횡솬탸닉벯,뷸탐탲쇐춼쿱뒦샭럖컶ꆣ룃닉벯뾨뮹쳡릩뇪ힼ뗄OKCard뷓뿚쟽뚯돌탲벰뚯첬솴뷓뗄뿢몯쫽ꆣ퓚쫓욵닉벯훐,닉폃Plug&Play랽쪽,뿉뷓S-Video쫤죫,횧돖쒣쓢춼1ꆡ뻟폐쫓뻵뗄릤튵믺웷죋쾵춳릹돉춼쪽뷢싫웷뫍RGB럖솿쫤죫,횧돖PALꆢNTSC훆헻룶쾵춳평솽룶ퟓ쾵춳ퟩ돉,튻룶캪풭폐뗄릤쪽,뿉닉벯뇪ힼ닊즫뢴뫏쫓욵뫍RGB럖솿,믲죽룶튵믺웷죋쾵춳,쇭튻룶쾵춳캪볆쯣믺쫓뻵쾵춳ꆣ풭춬늽뗄뛀솢쫓욵ꆣ3)폐뗄릤튵믺웷죋쾵춳냼삨폐릤뿘믺벰쿠펦뗄췢짨MotomanUP6릤튵믺웷죋놾쳥릤뿘믺캪놼4쾵쇐ꆣ,YASNAC-XRC-UP6믺웷죋뿘훆맱,쪾뷌뇠돌웷뫍쿠맘뗄췢늿짨놸(믺웷죋릩뗧쾵춳ꆢ죭볾ퟩ돉:춬늽쮫훡뇤캻믺ꆢ쒩뛋횴탐웷뗈)틔벰폫볆쯣믺뷸1)춼쿱믱좡벰뒦샭죭볾2)춼쿱욥엤죭볾탐쫽뻝춨탅뗄죭볾Motocom32ꆣ볆쯣믺쫓뻵쾵춳3)쫓뻵쾵춳훐짣쿱믺뚨뇪폫뚨캻쯣램죭볾ꆣ훷튪짨놸폐AVENIRTV뺵춷,PanasonicCCTV쾵춳죭볾릦쓜쒣뿩뗄뮮럖죧춼2쯹쪾ꆣ짣쿱믺,OK쾵쇐C-50춼쿱닉벯뾨틔벰릤뿘믺ꆣ웤훐,AVENIRTV뺵춷ꆢPanasonicCCD짣쿱믺뫍OK쾵쇐C-50춼쿱닉벯뾨릹돉쫓욵닉벯쾵춳,훷튪췪돉쒿뇪컯쳥뗄춼쿱늶믱ꆣ춼쿱탅쾢뗄죽룶닣듎뗄뒦샭ꆢ뿘훆쯣램ꆢퟸ뇪뇤뮻ꆢ폫믺웷죋뗄춨탅퓲뚼평릤뿘믺쪵쿖ꆣ릤뿘믺폫믺웷죋뿘훆맱춨맽RS-232C뒮뿚쿠솬,샻폃믺웷죋풶돌뿘훆돌탲Mo2tocom32죭볾쪵쿖솽헟횮볤뗄춨탅ꆣ3ꆡ볆쯣믺쫓뻵쾵춳뗄죭펲볾춼2ꆡ볆쯣믺쫓뻵쾵춳죭볾릦쓜쒣뿩춼볆쯣믺쫓뻵쾵춳욽첨죧짏쯹쫶ꆣ쿖붫죭펲볾4ꆡ볆쯣믺쫓뻵쾵춳뗄죭볾쪵쿖풭샭벰쇷ퟩ돉뷸튻늽뷩짜죧쿂ꆣ돌춼펲볾ퟩ돉:ꆡꆡ놾볆쯣믺쫓뻵쾵춳죭볾훷튪폐죽늿럖ퟩ돉:춼1)PanasonicCCD짣쿱믺벰뺵춷쿱믱좡폫춼쿱뒦샭,춼쿱욥엤뫍춼쿱춼쿱볤뗄짣쿱톡폃뗄CCD짣쿱믺쫇Panasonic릫쮾뗄WV믺뗄뚨뇪폫뿕볤뚨캻ꆣ헻룶죭볾뚼쫇춨맽VisualC-BP330/GCCTV짣쿱믺ꆣ짣쿱믺뗄쮮욽럖뇦싊++폯퇔쪵쿖뗄ꆣ죭볾쪵쿖믹놾쇷돌죧쿂캪570쿟,웤CCD헳쇐뗄돟듧캪(쮮욽)ꇁ춼3:(뒹횱)mm,짣쿱뗄쿱쯘캪752(쮮욽)ꇁ582(뒹
116볆쯣벼쫵폫ퟔ뚯뮯2006쓪3퓂춼쿱훐ퟷ튵뛔쿱뗄쳘헷뗣뗄죽캬캻훃탅쾢ꆣ룹뻝볆쯣돶뗄뷡맻,샻폃Motocom32죭볾폫믺웷죋뿘훆맱춨톶,춨맽볆쯣믺뛔릤튵믺웷죋뷸탐뻶닟뿘훆,쪵쿖릤튵믺웷죋뛔뿕볤쳘헷뗣뗄ퟔ뚯뚨캻ꆣ쪹릤튵믺웷죋뻟놸쫓뻵릦쓜,쳡룟쇋웤쫊펦탔뫍쇩믮탔ꆣ춼3ꆡ볆쯣믺쫓뻵쾵춳죭볾쪵쿖쇷돌춼퓚놾쫓뻵쾵춳뷸탐쫓뻵랴삡잰,뇘탫뛔짣쿱믺뷸탐뚨뇪,틔붨솢짣쿱믺폫쪵볊뿕볤뗣뗄뛔펦맘쾵ꆣ뷸탐뚨뇪쪱,컒쏇탨튪퓚뿕볤훐뇪볇튻킩믹ힼ뗣,죃짣쿱믺짣좡춼쿱쪱뚼붫헢킩믹ힼ뗣춶펰떽뛔펦뗄춼쿱ퟸ뇪짏ꆣ춨맽닉벯뾨믱좡뗄춼쿱좻뫳,뛔춼쿱뷸탐튻쾵쇐뒦샭,볆쯣돶헢킩믹ힼ뗣퓚춼쿱ퟸ뇪쾵훐뗄춼쿱ퟸ뇪,좻샻폃뚨뇪쯣램,쟳돶짣쿱믺뗄쓚췢닎쫽ꆣ퓚볆쯣믺쫓뻵쾵춳뷸탐쫓뻵랴삡쪱,볆쯣믺폃C폯퇔뗷폃춼쿱닉벯뾨뗄뚯첬솴뷓뿢몯쫽훐쿠펦뗄뿘훆몯쫽,살뿘훆춼쿱닉벯뾨뛔짣쿱믺짣좡뗄좫쫓욵탅뫅뷸탐쫽뻝닉벯,탎돉쫽ퟖ뮯춼쿱쫽뻝,틔BMP룱쪽듦뒢퓚볆쯣쓚,춬쪱틔믮뚯쫓욵쿔쪾퓚볆쯣믺짏ꆣ좻뫳볆쯣믺뛔믱좡뗄솽럹춼쿱뷸탐뷸탐튻쾵쇐뗄뒦샭,냼삨춼쿱뗄욽뮬뫍좥돽퓫짹뗈춼쿱풤뒦샭,톡뚨믒뛈랧횵뛔춼쿱뷸탐뛾횵뮯뒦샭,퓋폃쳘헷볬닢쯣ퟓ쳡좡춼쿱훐뗄쳘헷솿,볆쯣춼쿱훐뗄쳘헷솿뗈ꆣ퓚췪돉뛔솽럹춼쿱뒦샭뫳,탨튪좷뚨솽럹춼쿱훐뗄릲욥엤쳘헷솿,뛔솽럹춼쿱뷸탐욥엤ꆣ좻뫳,뷸탐죽캬훘붨춼4ꆡ믺웷죋쫓뻵뚨캻쪵쿖쇷돌춼,쪵쿖뿕볤뚨캻ꆣ믺웷죋쫓뻵뚨캻쪵쿖쇷돌춼죧춼4쯹쪾ꆣ닎뾼컄쿗\[1\]ꆡ십쯌뗂,헅헽폑.볆쯣믺쫓뻵-볆쯣샭싛폫쯣램믹뒡\[M\]놱.5ꆡ뷡쫸폯뺩:뿆톧돶냦짧,1998.\[2\]ꆡ헂?뷺.춼쿱릤돌-춼쿱뒦샭폫럖컶\[M\]놱.뺩:쟥뮪듳톧돶춨맽춼쿱닉벯ힰ훃믱좡췢늿뮷뺳뗄춼쿱탅쾢,냦짧,2000.뛔헢킩탅뫅뷸탐럖컶뒦샭뫍죽캬훘붨,쪵쪱볆쯣돶
