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一种弧焊机器人熔池图像的快速标定方法 被引量:1
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作者 张鹏 岳建锋 李亮玉 《上海交通大学学报》 EI CAS CSCD 北大核心 2008年第S1期100-102,共3页
为了获得弧焊机器人焊接过程中熔池的几何尺寸,须在焊接过程中采用摄像机采集熔池图像,并完成系统的标定.将摄像机模型考虑为理想针孔透视模型,采用固定角度和高度对熔池图像进行采集,使标定模型参数缩减至8个,和传统标定方法相比,大大... 为了获得弧焊机器人焊接过程中熔池的几何尺寸,须在焊接过程中采用摄像机采集熔池图像,并完成系统的标定.将摄像机模型考虑为理想针孔透视模型,采用固定角度和高度对熔池图像进行采集,使标定模型参数缩减至8个,和传统标定方法相比,大大降低了计算量.采用同一平面4个目标点进行了系统标定和实验,理论和实际熔宽平均误差为0.031 mm,因此应用该方法对弧焊机器人熔池图像进行标定是可行的. 展开更多
关键词 熔池图像 弧焊机器人 快速标定
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Selection and Design of WSN Node Based on Solar Power in Facility Greenhouse
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作者 Jianchun WANG Chunyang QIAN +1 位作者 Yan WANG Xuefei ZHANG 《Agricultural Science & Technology》 CAS 2017年第10期1955-1959,共5页
In this study, the green energy saving of greenhouse sensor node is de- signed to reduce the system power consumption and high efficiency. The green renewable solar energy resources are used as the energy source of no... In this study, the green energy saving of greenhouse sensor node is de- signed to reduce the system power consumption and high efficiency. The green renewable solar energy resources are used as the energy source of nodes; the lowenergy consumed and cost effective MSP430 chip is used as the main control chip of the processor unit; the transmission frequency of the wireless transmission unit is 433 MHz, which has the characteristics of low power consumption, high signal strength, long transmission distance and small signal attenuation during the transmission; the power supply system unit is composed of monocrystalline silicon solar panel and high performance rechargeable lithium ion battery. The selection basis of each unit is clarified in detail, and optimization is performed by hardware circuit and software program to further reduce power consumption. The power consumption of the node is calculated by the experiment, and the charging conditions of the solar panel used in the node is tested. The results show that the system can achieve the setting target through the selection and design. 展开更多
关键词 Facility greenhouse Low power consumption WSN node Solar energy
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