视觉图像在擦窗机器人位置检测中的应用

The application of the robot vision in the automatic window cleaning robot

介绍了一种新型吊篮式高层建筑擦窗机器人系统,该系统已成功用于高层建筑玻璃幕墙清洗作业中。在简单介绍了机器人结构、工作过程和控制系统组成后,着重对视觉图像在擦窗机器人位置检测中的应用进行了详细讨论,利用Sobel算法对玻璃窗框进行边缘检测和提取,并在实际使用中收到了满意效果。

In this thesis, the window cleaning robot system for high-rise buildings is described andits control system is introduced at first. Based on these, the application of the robot visionin the system is discussed in details. The sobel prewitt is made good used in the edgedetection of the glass frame.