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基于深度八叉树的粘接机器人移动轨线自动识别系统设计 被引量:2
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作者 韩宝虎 赵亮 韩希君 《粘接》 CAS 2022年第3期172-176,共5页
针对以往使用的GPS、电涡流法、超声波法移动轨线自动识别系统受到噪声干扰,而导致识别精度低的问题,提出了基于深度八叉树的露天矿粘接机器人移动轨线自动识别系统设计。采用充电桩对电池进行充电,保证系统持续供电8 h以上。利用IMX17... 针对以往使用的GPS、电涡流法、超声波法移动轨线自动识别系统受到噪声干扰,而导致识别精度低的问题,提出了基于深度八叉树的露天矿粘接机器人移动轨线自动识别系统设计。采用充电桩对电池进行充电,保证系统持续供电8 h以上。利用IMX179型照相机,从后方和侧面角度拍摄了露天矿粘接机器人的移动画面。利用摇把开关控制avt31 HD视频跟踪器,跟踪机器人的移动轨迹。采用深度八叉树将识别数据绘制到三维实体中,避免了繁琐的数据查找过程,方便了三维子体的定位。采用白平衡技术消除外界光线干扰,获得清晰的视频图像。构造深度八叉树存储结构,对其进行迭代处理,得到单通道亮度图像,即:轨道线。利用三阶贝兹曲线对其进行拟合,确定机器人的工作轨线。实验结果表明:系统轨线长度200 m,识别精准。 展开更多
关键词 深度八叉树 露天矿 粘接机器人 移动轨线 自动识别
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Analytical study on the dynamic displacement response of a curved track subjected to moving loads 被引量:4
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作者 Ke-fei LI Wei-ning LIU +1 位作者 Valeri MARKINE Zhi-wei HAN 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2013年第12期867-879,共13页
A closed-form out-of-plane dynamic displacement response of a curved track subjected to moving loads was proposed.The track structure was modeled as a planar curved Timoshenko beam periodically supported by the double... A closed-form out-of-plane dynamic displacement response of a curved track subjected to moving loads was proposed.The track structure was modeled as a planar curved Timoshenko beam periodically supported by the double-layer spring-damping elements.The general dynamic displacement response induced by the moving loads along the curve on the elastic semi-infinite space was firstly obtained in the frequency domain,according to the Duhamel integral and the dynamic reciprocity theorem.In the case of the periodic curved track structure subjected to moving loads,the dynamic displacement equation was simplified into a form of summation within the basic track cell instead of the integral.The transfer function for the curved track was expressed in the form of a transfer matrix.Single and series moving loads were involved in the calculation program.For the verification of the analytical model,the mid-span vertical deflection of a simply support curved beam subjected to moving load was recalculated and compared with the same case in the reference.The research results indicate that:under the same moving loads,the displacement response of the curved track decreases slightly with the increasing track radius,and the displacement response of the curved track with the radius greater than or equal to 600 m is almost equivalent to the displacement response of the straight track;the frequency spectrum of the curved track is more abundant than that of the straight track,which may result in more wheel-rail resonance and rail corrugation in the curved lines. 展开更多
关键词 Curved track Moving loads Dynamic displacement Analytical solution Transfer function
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