| 基于嵌入式系统的机器人视觉定位系统的研究 |
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| 引用本文： | 田景文,李锦,项玉娟. 基于嵌入式系统的机器人视觉定位系统的研究[J]. 微计算机信息, 2006, 22(26): 204-206 |
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| 作者姓名： | 田景文 李锦 项玉娟 |
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| 作者单位： | 1. 100029,北京化工大学;100101,北京联合大学
2. 100029,北京化工大学 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 采用嵌入式EPXA10为核心,以污水车自动泄放机器人为应用对象,本文介绍一种双目视觉定位系统。提出一种利用模糊算法进行目标图像的边缘检测,并结合双目视觉定位的算法实现机器视觉定位的方法。针对污水泄放机器人的工作特点,采用主动寻找特殊图的方法,达到快速准确对目标跟踪定位的目的,完成对污水车泄放口的三维定位,机器人根据定位坐标可以准确地接通污水泄放管,快速把污水泄放到池中。
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| 文章编号： | 1008-0570(2006)09-2-0204-03 |
| 修稿时间： | 2005-11-27 |
Research on Vision on Localizition System of Robot Based on Embedded System |
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| Tian,Jingwen,Li,Jin,Xiang,Yujuan. Research on Vision on Localizition System of Robot Based on Embedded System[J]. Control & Automation, 2006, 22(26): 204-206 |
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| Authors: | Tian Jingwen Li Jin Xiang Yujuan |
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| Abstract: | Based on the embedded processor EPXA10, a system of Binocular Stereo Vision Localization for a robot system of sewage lorry self-discharging is presented in this paper. Especially, a new method of robot localization is presented, in which the Fuzzy theo-ry is adopted for the edge detecting of the target image and the Stereo Vision algorithm is used for localization. Aimed at the special role of the robot, a method of actively searching a special image-symbol which can achieve a fast and exact localization is adopted for the purpose of three-dimension localization of the nozzle on the sewage lorry. According to the located coordinate, the robot can connect the sewage discharging pipes, and let sewage into the puddle. |
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| Keywords: | Embedded system Binocular Stereo localization Robot vision Sewage Discharge Robot |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
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