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《制造业自动化》2015,(11)
为实现对制造业中复杂工件(如汽车变速箱中的倒角齿轮)表面轮廓的快速、精密测量,研制了协同视觉表面轮廓测量系统。对该系统中采用的图像处理、测量路径的规划进行了研究。首先使用面阵图像传感器拍摄齿轮图像,对图像进行边缘处理,利用齿轮的边缘点拟合齿轮的中心,在结合标定算法定位齿轮倒角的待测局部区域。然后,根据测量要求规划测量路径,驱动XY电动平台携带高精密的点视觉激光位移传感器沿测量路径完成对带测量区域的测量。最后,使用计算机对激光位移传感器所测得数据进行处理,输出测量报告。该系统经工厂实际测量验证,对齿轮倒角表面轮廓的高度方向(Z方向)测量精度为1μm,对X和Y方向的测量精度达到5μm以上。结合图像传感器测速快,激光传感器精度高的优点,提出一种利用图像传感器实现高速定位,激光传感器实现精密测量的协同高精度视觉测量方法,并将其用于了齿轮倒角轮廓的测量。 相似文献
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边缘检测是视觉定位、零件缺陷识别、视觉测量等图像处理中的关键环节,其检测质量直接影响后续的图像目标识别与定位的精度。针对具体图像处理需选取合适的边缘检测算法的问题,提出了一种基于多方向滑动窗口线性插值重构法的图像边缘检测质量评价算法。首先,采用待处理边缘图像的最大连续非边缘矩形区域作为重构搜索窗口,设计了多方向滑动窗口线性插值图像重构法;然后,根据图像边缘的特征,建立了集成图像结构相似度和边缘错检率为性能指标的边缘检测算法的优选评价方法;最后,进行了实例应用,通过实验对重构算法的性能、优选方法的可行性和正确性进行了验证。研究结果表明:该边缘图像重构算法准确率最高,实验中重构图像的结构相似度可达到0.708 7,耗时320.902 1 s;采用该优选方法能快速地筛选出最佳的边缘处理算法,与人体视觉评价一致,便于实现边缘检测算法的智能优选和图像的智能处理目标。 相似文献
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室内移动机器人自主导航系统设计与方法 总被引:1,自引:0,他引:1
针对移动机器人室内自主导航中环境检测、动态目标定位跟踪和路径规划,设计了"双目+单目"多信息融合的视觉系统。提出一种自适应环境、融合色彩饱和度信息的单尺度Retinex室内阴影消除算法,以有效提取障碍物信息及可行路面区域。研究了一种特征点辅助的时空上下文目标跟踪算法,运用目标特征点进行目标粗定位;引入特征点变化率信息,自动调节时空上下文模型更新,以有效提高复杂环境下动态目标定位的准确性。改进了传统速度向量场吸引速度、排斥速度和切向速度函数,解决了路径规划中机器人轨迹抖动、目标点附近震荡和目标处于障碍物排斥场不可到达等问题。移动机器人室内环境下自主导航实验实现了障碍物、机器人和目标特征提取及其实时定位,移动机器人以最短的避碰路径完成动态目标的有效跟踪。 相似文献
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对于大幅面工件的几何尺寸很难进行全尺寸视觉测量的问题,提出一种单目视觉加运动控制联合的测量方法.该方法结合了图像检测功能与运动平台的可移动特点,对大尺度工件进行分区编号,控制直线精密定位平台按逆时针顺序对相应区域进行图像采集处理,并建立一种基于Canny边缘检测与分段序贯最小二乘法拟合求交点的角点检测算法,通过获取先后两不同区域图像角点坐标的偏差,结合定位平台位移信息,实现对大幅面工件的全尺寸视觉测量.最后运用建立的大尺寸工件视觉测量系统对特征丰富的工件进行测量实验,实验结果表明系统在200mm测量范围内可保证0.05mm的精度要求. 相似文献
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针对越野车在野外行驶时路面以下的坑洼检测,提出了一种单线激光雷达激光点与相机图像融合的负障碍物分割方法。首先使用激光点对负障碍物所在区域进行定位,之后在激光点定位区域的局部图像上进行负障碍物区域分割,最后将分割结果标示在原图像上的方法。该方法可以以每秒365帧的处理速度准确分割出路面下的负障碍物,激光雷达定位在过滤掉无关的图像信息的同时还减少了分割算法的运算时间。 相似文献
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Clarence W.DE SILVA 《Instrumentation》2019,(4):72-84
An engineering system may consist of several different types of components,belonging to such physical"domains"as mechanical,electrical,fluid,and thermal.It is t... 相似文献
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The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisci... 相似文献
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针对具有进油孔的有限长滑动轴承油膜力求解问题,采用变分原理和分离变量法,求得了有限长滑动轴承油膜压力分布的近似解析表达式。将油膜压力分布的近似解析表达式在油膜存在区域上进行积分,即得到了油膜力。将提出的计算有限长滑动轴承油膜力方法与无限长轴承模型、有限元方法的计算结果进行了比较,发现了提出的方法与有限元方法的计算结果很接近。最后,研究了进油孔位置和进油压力对油膜存在区域、油膜力等的影响,研究结果表明进油孔位置和进油压力对油膜存在区域和油膜力有较大的影响。 相似文献
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针对实际电网存在着大量的三绕组变压器,但国际上一些著名商业软件,如BPA仿真软件、Matpower这一权威潮流计算开源软件,均只提供双绕组变压器模型,限制了其在具有三绕组变压器的电力系统中的应用的问题,潮流计算是自主开发的电力系统各种应用软件的核心模块,因此依托国际权威开源程序进行二次开发,是一种较好的选择。对Matpower要求的数据格式进行了归纳,对变压器的一般的等值电路及带理想变压器的等值电路和带标幺值的等值电路进行了分析研究,提出了三绕组变压器转换为双绕组等效模型的建模方法,使得原先只适应双绕组变压器的潮流计算软件可以适用于三绕组变压器电网的潮流计算;最后以Matpower软件为例进行了案例计算,并用PSASP仿真软件进行对比验证。研究结果证明,所提出的建模方法是有效的。 相似文献
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A computer simulation model for the contact between longitudinally-oriented rough surfaces has been formulated. This model closely duplicates the actual surf ace contact deformation behavior by taking into account the elastic interactions between the asperities. There were no assumptions made about the shapes, or any deformation behavior of the asperities, except for their obeying the laws of elasticity. The plastic deformations on the high asperity peaks were taken into account by setting a ceiling on their contact pressures at the material hardness value. The simulations used real surface profiles which were digitized from unworn circumferentially ground steel surfaces. Each pair of these profiles was mathematically combined to form an equivalent rough profile pressing against an infinitely rigid flat and having the appropriately adjusted elastic modulus. A total of 28 different pairs of profiles were used in the simulations. Each contacting pair was subjected to 30 different load levels and the local contact pressures and deformations were calculated. The contact simulations yielded some important mathematical relationships between parameters, such as the real area of contact, average gap, and average asperity load through statistical curve fitting. Two analytical functions were generated to relate the average load to average gap and the real area of contact to load. 相似文献
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《机械设计与研究》2014,(3)
正3-11 September,2014University of Bologna,Bologna,Italy www.summerscrews.org summerscrews2014.ing.unibo.it SUMMER 20SCREWS 14In 2014,our screw-theory school comes to the world's oldest university.In early September,Summer Screws'14 will gather six experts in the application of screw theory in robotics and up to 40 participants at the University of Bologna,Bologna,Italy.The school will teach attendees how to apply existing methods and empower them to develop new ones in their own research.The basic theoretical notions will be introduced in a rigorous manner,emphasizing examples,applications,and exercises.Scholarships are available. 相似文献
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针对电站锅炉风险等级评价问题,将模糊综合评价技术应用到电站锅炉风险等级评价中。开展了电站锅炉失效影响因素及模糊评价因素的重要程度分析,建立了一套科学合理适于在线评价的电站锅炉风险评价体系,提出了模糊综合评价技术与改进的模糊层次分析法相结合的模糊风险评价方法,利用改进的模糊层次分析法计算了指标体系中各层指标权重。对某一台电站锅炉的实际运行工况影响子因素进行了模糊风险评价,采用模糊合成算子进行模糊综合运算得到电了站锅炉运行工况影响子因素的评价向量。研究结果表明:电站锅炉的运行工况影响子因素的风险评价等级为第6级,失效可能性等级为小,该电站锅炉运行工况良好。 相似文献
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YAN Xiutian 《机械工程学报(英文版)》2007,20(6):99-103
Taking the actual project of teaching and researching process for example, the relationship between the industrial engineering and product development is discussed. And use the novel visualization technology to support the industrial engineering and product development. How to use the new computer modeling and simulating technologies to support the product development and industrial engineering, is introduced especially. The support includes both domestic products and industrial systems. The visualization and computer technologies take a very important role in some system or multi-direction modeling, those technologies mentioned above can help the industrial engineers study the effect of design on the whole life circle, including the producing steps. So the engineers can avoid making the wrong decision which may cause bad effects on the whole industrial engineering. 相似文献
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30 keV Ga+ focused ion beam induced secondary electron (iSE) imaging was used to determine the relative contrast between several materials. The iSE signal compared from C, Si, Al, Ti, Cr, Ni, Cu, Mo, Ag, and W metal layers does not decrease with an increase in target atomic number Z2, and shows a non-monotonic relationship between contrast and Z2. The non-monotonic relationship is attributed to periodic fluctuations of the stopping power and sputter yield inherent to the ion–solid interactions. In addition, material contrast from electron-induced secondary electron (eSE) and backscattered electron (BSE) images using scanning electron microscopy (SEM) also shows non-monotonic contrast as a function of Z2, following the periodic behavior of the stopping power for electron–solid interactions. A comparison of the iSE and eSE results shows similar relative contrast between the metal layers, and not complementary contrast as conventionally understood. These similarities in the contrast behavior can be attributed to similarities in the periodic and non-monotonic function defined by incident particle–solid interaction theory. 相似文献
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This paper proposes a novel grading method of apples,in an automated grading device that uses convolutional neural networks to extract the size,color,texture,an... 相似文献