A visual tracing model based on Risley prisms is proposed in this paper. Combined with the boresight adjusting technology and the visual detection technology, a new visual system is established. Placing Risley prisms in front of the camera, the field of view of the camera can be dynamically adjusted so that the imageable area of this camera is expanded greatly. Two real-time visual tracing strategies for dynamic targets are proposed, which effectively avoid the problems of target loss and tracking instability. The deviations between the reference trajectory generated by the manipulator and the actual trajectory detected by our visual system are measured. Experimental results show that the deviations are less than 1.5% in the 250 mm motion space of the manipulator. It is verified that the visual system can be used to guide robots with high precision, which provides a potential method for robot navigation.

中文翻译：

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基于Risley-Prism的机器人引导视觉跟踪方法。

提出了一种基于Risley棱镜的视觉跟踪模型。结合视轴调节技术和视觉检测技术，建立了新的视觉系统。将Risley棱镜放置在相机的前面，可以动态调整相机的视场，从而大大扩展了该相机的可成像区域。提出了两种动态目标的实时视觉跟踪策略，有效避免了目标丢失和跟踪不稳定的问题。测量了由机械手生成的参考轨迹与我们的视觉系统检测到的实际轨迹之间的偏差。实验结果表明，在机械手的250 mm运动空间中，偏差小于1.5％。