针对采摘机器人自主行走导航过程中,难以准确定位其与果树之间的相对位置,难以准确估计果树树干姿态的问题,提出基于双目eye in hand系统的多角度树干位姿估计方法。利用YOLOv5深度学习方法与半全局块匹配算法识别树干并生成局部点云;...针对采摘机器人自主行走导航过程中,难以准确定位其与果树之间的相对位置,难以准确估计果树树干姿态的问题,提出基于双目eye in hand系统的多角度树干位姿估计方法。利用YOLOv5深度学习方法与半全局块匹配算法识别树干并生成局部点云;利用半径滤波和体素滤波减少树干点云数据;利用闭环式手眼标定方法对双目eye in hand系统进行标定,并对同一树干多角度相机位置的点云数据进行拼接;利用随机抽样一致(RANSAC)算法与无约束最小二乘法估计并优化树干的位置和姿态,获取树干的圆柱体参数。通过对30幅标定板图像进行实验,闭环式手眼标定方法的平均欧式误差为3.7177 mm;采用半径滤波和体素滤波可减少98.470%的点云数据;采用RANSAC算法、圆柱体估计算法拟合树干点云数据,得到圆柱体的半径r=41.2771 mm,R_(MAE)=2.57156 mm,R_(RMSE)=2.98936 mm;无约束最小二乘法优化后r=39.4028 mm,R_(MAE)=1.98955 mm,R_(RMSE)=2.46588 mm。该文通过对双目eye in hand系统进行标定,建立坐标系转换关系,多角度采集环境信息,准确定位机器人与果树之间的相对位置,估计果树树干的姿态。展开更多
针对小型异构件激光检测精度不稳定、标定复杂、鲁棒性差等问题,建立基于标准球的eye to hand手眼标定模型,研究球心拟合、模型求解两个影响手眼标定精度的重要因素,提出一种基于加权的改进方案。首先,对扫描截面进行半径拟合及分析,获...针对小型异构件激光检测精度不稳定、标定复杂、鲁棒性差等问题,建立基于标准球的eye to hand手眼标定模型,研究球心拟合、模型求解两个影响手眼标定精度的重要因素,提出一种基于加权的改进方案。首先,对扫描截面进行半径拟合及分析,获取标准球最优检测区域,降低标定数据采集误差;其次,用最小二乘法初步计算球心坐标,提取各个采集点误差;再次,根据误差设定阈值,通过TuKey权重函数对各采集点重新加权迭代求解,精确求解球心坐标;最后通过重加权最小二乘对标定模型求解,去除误差较大点对标定结果的影响。结果表明:优化方案相较于原有方案最大误差减少了57.2%,平均误差减少了49.7%,提高了标定的精度和抗干扰能力。展开更多
This paper discusses the coordination process for a robot gripper to approach a movingobject with feedback from an uncalibrated visual system. The dynamic of the whole system, includingtarget's random motion and t...This paper discusses the coordination process for a robot gripper to approach a movingobject with feedback from an uncalibrated visual system. The dynamic of the whole system, includingtarget's random motion and the gripper's tracking motion, is bounded to a 2-D working plane. Acamera, whose relations with the robot system and the 2-D working plane are unknown to the robotcontroller, is fixed aside to observe the object and gripper positions continually. Thus the movementsof the robot gripper can be decided on the positions of the object observed in each visual samplingmoment. The coordination of the vision and robot system is to be shown independently from therelations between the robot and the vision system, which should always be calibrated a prior forthe control of traditional robot/vision coordination system. Simulations are provided to show theproperty of the proposed method.展开更多
This paper offers concrete spin matrix forms of 0h spin zero particle, and shows the existent of the spin interactions among 0h spin zero particles. It is obviously hoping to approach, on the most comprehensive level,...This paper offers concrete spin matrix forms of 0h spin zero particle, and shows the existent of the spin interactions among 0h spin zero particles. It is obviously hoping to approach, on the most comprehensive level, to understand what really Higgs Boson is and what role-play Higgs Boson is acting in particle physics. As a "particle" of gravitational force, the spin interaction between 0h spin zero particle (Higgs Boson) and 2h spin particle (Graviton) is given, which maybea way that people would find Graviton in future.展开更多
文摘针对采摘机器人自主行走导航过程中,难以准确定位其与果树之间的相对位置,难以准确估计果树树干姿态的问题,提出基于双目eye in hand系统的多角度树干位姿估计方法。利用YOLOv5深度学习方法与半全局块匹配算法识别树干并生成局部点云;利用半径滤波和体素滤波减少树干点云数据;利用闭环式手眼标定方法对双目eye in hand系统进行标定,并对同一树干多角度相机位置的点云数据进行拼接;利用随机抽样一致(RANSAC)算法与无约束最小二乘法估计并优化树干的位置和姿态,获取树干的圆柱体参数。通过对30幅标定板图像进行实验,闭环式手眼标定方法的平均欧式误差为3.7177 mm;采用半径滤波和体素滤波可减少98.470%的点云数据;采用RANSAC算法、圆柱体估计算法拟合树干点云数据,得到圆柱体的半径r=41.2771 mm,R_(MAE)=2.57156 mm,R_(RMSE)=2.98936 mm;无约束最小二乘法优化后r=39.4028 mm,R_(MAE)=1.98955 mm,R_(RMSE)=2.46588 mm。该文通过对双目eye in hand系统进行标定,建立坐标系转换关系,多角度采集环境信息,准确定位机器人与果树之间的相对位置,估计果树树干的姿态。
文摘针对小型异构件激光检测精度不稳定、标定复杂、鲁棒性差等问题,建立基于标准球的eye to hand手眼标定模型,研究球心拟合、模型求解两个影响手眼标定精度的重要因素,提出一种基于加权的改进方案。首先,对扫描截面进行半径拟合及分析,获取标准球最优检测区域,降低标定数据采集误差;其次,用最小二乘法初步计算球心坐标,提取各个采集点误差;再次,根据误差设定阈值,通过TuKey权重函数对各采集点重新加权迭代求解,精确求解球心坐标;最后通过重加权最小二乘对标定模型求解,去除误差较大点对标定结果的影响。结果表明:优化方案相较于原有方案最大误差减少了57.2%,平均误差减少了49.7%,提高了标定的精度和抗干扰能力。
文摘This paper discusses the coordination process for a robot gripper to approach a movingobject with feedback from an uncalibrated visual system. The dynamic of the whole system, includingtarget's random motion and the gripper's tracking motion, is bounded to a 2-D working plane. Acamera, whose relations with the robot system and the 2-D working plane are unknown to the robotcontroller, is fixed aside to observe the object and gripper positions continually. Thus the movementsof the robot gripper can be decided on the positions of the object observed in each visual samplingmoment. The coordination of the vision and robot system is to be shown independently from therelations between the robot and the vision system, which should always be calibrated a prior forthe control of traditional robot/vision coordination system. Simulations are provided to show theproperty of the proposed method.
文摘This paper offers concrete spin matrix forms of 0h spin zero particle, and shows the existent of the spin interactions among 0h spin zero particles. It is obviously hoping to approach, on the most comprehensive level, to understand what really Higgs Boson is and what role-play Higgs Boson is acting in particle physics. As a "particle" of gravitational force, the spin interaction between 0h spin zero particle (Higgs Boson) and 2h spin particle (Graviton) is given, which maybea way that people would find Graviton in future.
