摘要
随着机器人越来越多的应用到现实生活中,为实现移动机器人长期自主作业,对移动机器人的自主充电技术进行了研究,针对目前自主充电技术成本高,对场地改造大,引导范围小等问题,提出了一种基于视觉靶标的低成本且易于部署的自主对接方案,利用安装了摄像头的移动机器人“小珈”进行自主充电实验,在靶标的引导下,本文设计的自主充电方法的成功率达到了90%,证明了该方法的鲁棒性和有效性。
Robots are increasingly being applied to our real life and in order to realize the long-term autonomous operation of mobile robots,the autonomous charging technology of mobile robots is studied.Aiming at the problems of high cost of autonomous charging technology,large site modification and small guidance range,a low-cost and easy deployment autonomous docking scheme based on visual target is proposed.The self-charging experiment of the mobile robot"Xiaojia"with a USB camera is carried out.Under the guidance of the visual target,the success rate of the self charging method designed in this paper reaches 90%,which proves the robustness and effectiveness of the method.
作者
邹建成
ZOU Jian-cheng(The State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing WuhanUniversity,Wuhan 430079,China)
出处
《电子设计工程》
2019年第11期15-18,共4页
Electronic Design Engineering
关键词
自主充电
移动机器人
视觉靶标
错位对接
autonomous charging
mobile robot
visual target
dislocation docking
