[1]卞越洋,高晓科,张伟军.机器人带电作业中的视觉定位与优化策略[J].机械与电子,2021,(05):57-61.
　BIAN Yueyang,GAO Xiaoke,ZHANG Weijun.Vision Positioning and Optimization Strategyin Robot Live Work[J].Machinery & Electronics,2021,(05):57-61.
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机器人带电作业中的视觉定位与优化策略()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年05期
页码:
57-61
栏目:
智能工程
出版日期:
2021-05-24

文章信息/Info

Title:
Vision Positioning and Optimization Strategyin Robot Live Work
文章编号:
１００１-２２５７ ( ２０２１ ) ０５-００５７-０５
作者:
卞越洋; 高晓科; 张伟军
上海交通大学机械与动力工程学院,上海 ２００２４０
Author(s):
BIAN Yueyang ;  GAO Xiaoke ;  ZHANG Weijun
(School of Mechanical Engineering ,Shanghai Jiao Tong University , Shanghai ２００２４０ , China )
关键词:
机器视觉; 目标检测; 自动化作业; 优化策略
Keywords:
machine vision ;  target detection ;  automation ;  optimization strategy
分类号:
TP２４２
文献标志码:
A
摘要:
针对机器人带电作业自动化的课题,通过机器视觉方法进行目标物体的定位.分析了像素坐标与世界坐标之间的转换关系,完成相机标定.基于形状匹配算法,提出分块与拼接策略,优化识别效果.基于最优化理论,分析定位误差,提出优化策略.通过实验验证了视觉算法的正确性和可靠性,为机器人自动化作业提供了保障.
Abstract:
In order to solve the automation of the live work robot , machine vision method is used to locate the target object．The conversion relationship between pixel coordinates and global coordinates is analyzed , and the camera calibration is completed．Based on the shape matching algorithm , a block and splicing strategy is proposed to optimize the recognition effect．Based on the optimization theory , the positioning error is analyzed and an optimization strategy is proposed．Experiments have verified the correctness and reliability of the vision algorithm , which provides a guarantee for robot automation．

参考文献/References:

[１] 李天友,黄超艺,蔡俊宇 ．配电带电作业机器人的发展与展望[J ] ． 供用电,２０１６ , ３３ ( １１ ): ４３-４８．

[２] 杨凡,阮佳琪 ．简述特种机器人发展趋势及国外发展的领域[J ] ．智能机器人, ２０１７ ( ３ ): ３９-４４．
[３] 韩佳林 ．带电作业机器人双臂协调控制问题研究[ D ] ．济南:山东建筑大学,２０１４．
[４] 程玉立 ．面向工业应用的机器人手眼标定与物体定位[ D ] ．杭州:浙江大学,２０１６．
[５] VAN ALBADA G D , LAGERBERG J M , VISSER A ．Eye in hand calibration [ J ] ．Industrial robot , １９９４ , ２１(６ ): １４-１７．
[６] TSAI R Y , LENZ R K．A new technique for fully autonomous and efficient ３D robotics hand / eye calibration [ J ] ．IEEE Transactions on robotics and automation , １９８９ , ５ ( ３ ): ３４５-３５８．
[７] 周瑜,刘俊涛,白翔 ．形状匹配方法研究与展望[ J ] ．自动化学报,２０１２ ,３８ ( ６ ): ８８９-９１０．
[８] HINTERSTOISSER S , LEPETIT V , ILIC S , et al．Model based training , detection and pose estimation of texture-less３D objects in heavily cluttered scenes[ C ]// Proceedings of the １１th Asian Conference on Computer Vision．Heidelberg : Springer-Verlag , ２０１２ :５４８-５６２．

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备注/Memo

备注/Memo:
收稿日期: ２０２０-１０-０４
基金项目:国家重点研发计划资助项目( ２０１７YFC０２０９９０２ )作者简介:卞越洋 (１９９６－),男,江苏南通人,硕士研究生,研究方向为机器人控制与机器视觉;高晓科 (１９９６－),男,河北邢台人,硕士研究生,研究方向为智能机器人控制;张伟军 (１９７１－),男,上海人,博士,副教授,研究方向为特种机器人设计、智能机器人等,通信作者.
更新日期/Last Update: 2021-06-04