摘要
通过机械的方法消除地面移动机器人视觉系统的抖动,提出并设计视觉系统防抖装置。该装置包括防抖机构、传感器系统、防抖控制系统三部分,具有6个自由度,可使防抖机构发挥双目视觉定位的作用,能根据传感器所测抖动信息计算出抖动补偿量,进而控制防抖机构动作,稳定摄像头的位姿。给出防抖装置抖动补偿过程和防抖机构的运动学分析,并利用ADAMS软件进行了抖动补偿运动仿真,结果表明,该装置能大幅度消除抖动,进而验证该装置设计的合理性。
In order to eliminate shaking in visual system of robot moving on the ground by mechanical means,an anti-shake device for visual system is presented and designed,which includes anti-shake mechanism,sensor system,anti-shake control system with six degrees of freedom which can locate binocular vision and calculate the amount of shaking compensation according to the shaking signals measured by sensors.Thus the anti-shake mechanism is controlled and the position and pose of camera is stabilized.Then shaking compensation process and kinematics analysis are provided for motion simulating of shaking compensation with ADAMS software,which results show that the device can substantially eliminate shaking and the design of device is proven furthermore to be reasonable.
出处
《机械设计与制造》
北大核心
2011年第7期57-59,共3页
Machinery Design & Manufacture
基金
国家"八六三"高技术研究发展计划(2006AA04Z201)
关键词
视觉系统
防抖装置
机构设计
抖动补偿
Visual system
Anti-shake device
Mechanical design
Shaking compensation
