Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the opti...Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, the seam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.展开更多
To overcome the shortcomings of the traditional passive ranging technology based on image, such as poor ranging accuracy, low reliability and complex system, a new visual passive ranging method based on re-entrant coa...To overcome the shortcomings of the traditional passive ranging technology based on image, such as poor ranging accuracy, low reliability and complex system, a new visual passive ranging method based on re-entrant coaxial optical path is presented. The target image is obtained using double cameras with coaxial optical path. Since there is imaging optical path difference between the cameras, the images are different. In comparison of the image differences, the target range could be reversed. The principle of the ranging method and the ranging model are described. The relationship among parameters in the ranging process is analyzed quantitatively. Meanwhile,the system composition and technical realization scheme are also presented. Also, the principle of the method is verified by the equivalent experiment. The experimental results show that the design scheme is correct and feasible with good robustness. Generally, the ranging error is less than 10% with good convergence. The optical path is designed in a re-entrant mode to reduce the volume and weight of the system. Through the coaxial design,the visual passive range of the targets with any posture can be obtained in real time. The system can be widely used in electro-optical countermeasure and concealed photoelectric detection.展开更多
Abstract： There is a high demand for unmanned aerial vehicle （UAV） flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controllin...Abstract： There is a high demand for unmanned aerial vehicle （UAV） flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controlling multi-UAVs is studied to reach multi-waypoints simultaneously under the view of visual navigation technology. A model based on the stable-shortest pythagorean-hodograph （PH） curve is established, which could not only satisfy the demands of visual navigation and control law, but also be easy to compute. Based on the model, a planning algorithm to guide multi-UAVs to reach multi-waypoints at the same time without collisions is developed. The simulation results show that the paths have shorter distance and smaller curvature than traditional methods, which could help to avoid collisions.展开更多
文摘Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, the seam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.
基金Supported by the National Basic Research Program of China under Grant No 2014CB340102
文摘To overcome the shortcomings of the traditional passive ranging technology based on image, such as poor ranging accuracy, low reliability and complex system, a new visual passive ranging method based on re-entrant coaxial optical path is presented. The target image is obtained using double cameras with coaxial optical path. Since there is imaging optical path difference between the cameras, the images are different. In comparison of the image differences, the target range could be reversed. The principle of the ranging method and the ranging model are described. The relationship among parameters in the ranging process is analyzed quantitatively. Meanwhile,the system composition and technical realization scheme are also presented. Also, the principle of the method is verified by the equivalent experiment. The experimental results show that the design scheme is correct and feasible with good robustness. Generally, the ranging error is less than 10% with good convergence. The optical path is designed in a re-entrant mode to reduce the volume and weight of the system. Through the coaxial design,the visual passive range of the targets with any posture can be obtained in real time. The system can be widely used in electro-optical countermeasure and concealed photoelectric detection.
文摘Abstract： There is a high demand for unmanned aerial vehicle （UAV） flight stability when using vi- sion as a detection method for navigation control. To meet such demand, a new path planning meth- od for controlling multi-UAVs is studied to reach multi-waypoints simultaneously under the view of visual navigation technology. A model based on the stable-shortest pythagorean-hodograph （PH） curve is established, which could not only satisfy the demands of visual navigation and control law, but also be easy to compute. Based on the model, a planning algorithm to guide multi-UAVs to reach multi-waypoints at the same time without collisions is developed. The simulation results show that the paths have shorter distance and smaller curvature than traditional methods, which could help to avoid collisions.
基金Supported by National Natural Science Foundation of China（60873032, 61105095, 61203361） Doctoral Program Foundation of Ministry of Education of China （20100142110020）+3 种基金 the Specialized Research Fund for the Doctoral Program of Higher Education of China （20100073120020） Postdoctoral Science Foundation of China （2012M511095） Shanghai Municipal Natural Science Foundation （11ZR1418400） Shanghai Postdoctoral Science Foundation（12R21414200）
