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Binocular Vision Object Positioning Method for Robots Based on Coarse-fine Stereo Matching 被引量:5
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作者 Wei-Ping Ma Wen-Xin Li Peng-Xia Cao 《International Journal of Automation and computing》 EI CSCD 2020年第4期562-571,共10页
In order to improve the low positioning accuracy and execution efficiency of the robot binocular vision,a binocular vision positioning method based on coarse-fine stereo matching is proposed to achieve object position... In order to improve the low positioning accuracy and execution efficiency of the robot binocular vision,a binocular vision positioning method based on coarse-fine stereo matching is proposed to achieve object positioning.The random fern is used in the coarse matching to identify objects in the left and right images,and the pixel coordinates of the object center points in the two images are calculated to complete the center matching.In the fine matching,the right center point is viewed as an estimated value to set the search range of the right image,in which the region matching is implemented to find the best matched point of the left center point.Then,the similar triangle principle of the binocular vision model is used to calculate the 3D coordinates of the center point,achieving fast and accurate object positioning.Finally,the proposed method is applied to the object scene images and the robotic arm grasping platform.The experimental results show that the average absolute positioning error and average relative positioning error of the proposed method are 8.22 mm and 1.96%respectively when the object's depth distance is within 600 mm,the time consumption is less than 1.029s.The method can meet the needs of the robot grasping system,and has better accuracy and robustness. 展开更多
关键词 object positioning stereo matching random fern normalized cross correlation binocular vision model
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伸臂式焊接变位机带传动的优化设计及仿真分析
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作者 王绍清 翟彦春 梁森 《机床与液压》 北大核心 2018年第4期6-8,共3页
焊接技术是装备制造业中的核心技术之一。带传动是伸臂式焊接变位机减速机构中传递运动和动力的重要装置。利用MATLAB对带传动装置进行多目标优化设计,在满足承载能力的条件下,实现了带的根数尽量少、带轮直径和中心距尽量小,使得传动... 焊接技术是装备制造业中的核心技术之一。带传动是伸臂式焊接变位机减速机构中传递运动和动力的重要装置。利用MATLAB对带传动装置进行多目标优化设计,在满足承载能力的条件下,实现了带的根数尽量少、带轮直径和中心距尽量小,使得传动结构更加紧凑。利用RecurDyn软件对优化后的传动系统进行运动仿真分析,建立传动带虚拟样机模型,得到相关运动学曲线,为带传动的设计和计算提供了理论依据。 展开更多
关键词 焊接变位机 带传动 多目标优化设计
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气动调节阀波动原因分析
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作者 雷跃强 《大氮肥》 CAS 2010年第1期34-37,共4页
从控制系统的角度对造成调节阀波动的原因进行剖析,通过例证研究调节阀作为控制对象的特性,得到调节阀作为最简单控制系统的实例及其振荡、发散的一般规律。
关键词 调节阀 波动 对象 定位器
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Use of land's cooperative object to estimate UAV's pose for autonomous landing 被引量:9
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作者 Xu Guili Qi Xiaopeng +3 位作者 Zeng Qinghua Tian Yupeng Guo Ruipeng Wang Biao 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2013年第6期1498-1505,共8页
The research of unmanned aerial vehicles'(UAVs')autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points ... The research of unmanned aerial vehicles'(UAVs')autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points cannot be obtained accurately,and the pose estimation algorithms based on the feature points have low precision.In this research,the pose estimation algorithm of UAV is proposed based on feature lines of the cooperative object for autonomous landing.This method uses the actual shape of the cooperative-target on ground and the principle of vanishing line.Roll angle is calculated from the vanishing line.Yaw angle is calculated from the location of the target in the image.Finally,the remaining extrinsic parameters are calculated by the coordinates transformation.Experimental results show that the pose estimation algorithm based on line feature has a higher precision and is more reliable than the pose estimation algorithm based on points feature.Moreover,the error of the algorithm we proposed is small enough when the UAV is near to the landing strip,and it can meet the basic requirements of UAV's autonomous landing. 展开更多
关键词 Computer vision Cooperative object Landing position measurement UAV Vanishing line
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