[1]毛成林,于瑞强,宋爱国.基于各向异性空间投影的地铁列车底部巡检机器人避障研究[J].机械与电子,2023,41(08):76-80.
　MAO Chenglin,YU Ruiqiang,et al.Research on Obstacle Avoidance of Robot Arm for Subway Train Bottom Inspection Based on Anisotropic Spatial Projection[J].Machinery & Electronics,2023,41(08):76-80.
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基于各向异性空间投影的地铁列车底部巡检机器人避障研究()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年08期
页码:
76-80
栏目:
机电一体化技术
出版日期:
2023-08-25

文章信息/Info

Title:
Research on Obstacle Avoidance of Robot Arm for Subway Train Bottom Inspection Based on Anisotropic Spatial Projection
文章编号:
1001-2257 ( 2023 ) 08-0076-05
作者:
毛成林 1 ; 2 ; 于瑞强 2 ; 宋爱国 1
1. 东南大学仪器科学与工程学院,江苏 南京 210096 ;?
2. 亿嘉和科技股份有限公司,江苏 南京 210012
Author(s):
MAO Chenglin1 ;  2 ;  YU Ruiqiang2 ;  SONG Aiguo1
( 1.School of Instrument Science and Engineering , Southeast University , Nanjing 210096 , China ;
2.Yijiahe Technology Co. , Ltd. , Nanjing 210012 , China )
关键词:
机械臂控制; 运动规划避障; 点云分割; 各向异性空间投影; 包围盒
Keywords:
robot arm control ;  obstacle avoidance in motion planning ;  point cloud segmentation ;  aniso- tropic spatial projection ;  bounding box
分类号:
TP242.6 ; TP241
文献标志码:
A
摘要:
针对地铁列车底部的非示教场景,提出一种基于各向异性的空间投影的点云分割新算法。算法针对使用立体相机获取的三维点云数据,将点云数据投影到机器人坐标系下的不同平面上,然后利用聚类算法获得目标的分割区域,再映射回点云空间计算出相应的包围盒。在整列地铁车厢底部进行的多次实验验证取得了预期的效果,证明了算法的有效性,可以实现地铁列车底部复杂环境下的高效规划避障。
Abstract:
A new point cloud segmentation algorithm based on anisotropic spatial projection for non teaching scenes at the bottom of the subway train is proposed.This algorithm aims at the 3D point cloud data obtained by stereo camera , projects the point cloud data? to different planes under the robot coordinate system , and then the segmentation area of the target is obtained by using the clustering algorithm , and then the corresponding bounding box is calculated by mapping back to the point cloud space.Many experiments have proved the effectiveness of the algorithm , which can achieve efficient obstacle avoidance under the complex environment of the bottom of the subway train.

参考文献/References:

[ 1 ] 周恒旭,何志敏,周燕面向机械臂避障的非结构场景感知研究[ J ]机械与电子, 2020 , 38 ( 9 ): 74-80.

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备注/Memo

备注/Memo:
收稿日期: 2022-11-28
作者简介:毛成林 ( 1987- ),男,安徽巢湖人,博士,博士后,研究方向为机器视觉机械臂运动规划;于瑞强 ( 1986- ),男,江苏南京人,工程师,研究方向为特种机器人;宋爱国 ( 1968- ),男,安徽黄山人,博士,教授,博士研究生导师,研究方向为机器人传感与遥操作机器人技术、信号处理及仿生智能计算等。
更新日期/Last Update: 2023-09-08