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。
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 theory 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.
出处
《微计算机信息》
北大核心
2006年第09Z期204-206,80,共4页
Control & Automation
基金
国家863项目编号:(#2005AA420070-1.)资助
