一种基于母机器人视觉指引的子机器人回收方法

A docking approach for child robot based on vision guiding by mother robot

设计了一种用于子母式机器人系统的子机器人回收方法,母机器人基于视觉感知子机器人相对回收入口的位姿以用于指导子机器人.子机器人的左右两侧和后侧分别贴有上下排布的双色色标,母机器人通过连通生长的方式快速提取所感知到的各色标的颜色交界,进而获得相应色标在图像平面中的位置信息以及长度比例关系,指导子机器人进行航向调整,最终使得子机器人以合理的姿态进入回收舱.实验结果表明了该方法的有效性.

A docking approach for child robot suitable for marsupial robot was designed in this paper. The mother robot obtained the posture of child robot relative to the docking entrance by visual perception to instruct the child robot.In each of left,right and back sides of child robot,there was a color symbol with two colors arranged vertically.The mother robot extracted the color borderline of each symbol it observed in a way of connection growing,and then the position information of corresponding color symbol in image as well as the length ratio could be acquired to guide the motion of child robot. Finally,the child robot entered the docking station in an appropriate posture.This approach was verified by experimental results.