共查询到19条相似文献,搜索用时 171 毫秒
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城市潮汐交通拥堵问题可通过设置可变车道来解决。针对现有可变车道控制方式单一及智能化程度低等问题,设计了一种移动机器人来运载护栏,以完成车道隔离。为解决室外道路环境下的高精度定位问题,结合实际应用场景,应用超宽带(ultra wide band,UWB)技术设计了无线定位系统以及双标签融合定位法,实现了运载机器人运行过程中的位姿计算。根据运载机器人的位姿信息以及其搭载护栏时的运动模型,设计了相应的运动控制算法,以使机器人在运行过程中完成自主纠偏。此外,运载机器人运行过程中的相关数据通过LoRa(long range radio,远距离无线电)组网与远程服务器交互,实现了远程监控。试验结果表明:所设计的UWB定位系统的重复定位精度为0.07 m左右,能满足室外环境下的高精度定位要求;所设计的运动控制算法能较好地实现运载机器人的运动控制,达到了预期效果。该运载机器人系统能够为可变车道的智能化控制提供参考,具有良好的工程应用前景。 相似文献
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地下位移实时监测系统研究 总被引:2,自引:2,他引:0
介绍了一个能实现地下位移远程实时监测的系统,并简要介绍了该系统的构成以及硬件和软件的设计.同时对该系统中采用的一种基于电磁感应互感原理的新型地下位移传感器进行了原理分析,结合实验数据对传感器的参数选择进行了理论探讨.实验结果表明,该系统能较好地实现地下位移的远程实时监测. 相似文献
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阐明了基于协同与商务的产品敏捷设计方法.叙述了采用网格服务的集成技术,该技术可以有效地屏蔽企业间设计资源和应用系统的异地、异构和动态特性,实现广域网环境下设计资源和应用系统的松散耦合集成,构建了产品信息模型及其XML模式表达,提出了利用STEP与XML的映射转换机制实现产品图形信息交换的方法,同时给出了基于XML的产品非图形信息的数据交换方法.介绍了产品敏捷设计支持系统的集成功能模型和实现集成的技术系统结构,给出了产品图形信息交换的实例. 相似文献
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一种由便携式三维激光扫描仪和六自由度工业机器人组成的机器人-三维扫描系统可以多角度多方位的获取物体表面的三维信息.针对激光扫描系统和机器人的两种不同组合方式,提出了一种新的确定机器人和激光扫描系统位姿关系的标定方法.该方法使用半径已知的球体作为参照工具,利用扫描系统投射出的线激光与球体的相交线拟合圆来恢复球心以及扫描整个球面拟合球心分别标定了扫描仪与机器人的旋转和平移关系,从而使机器人能够与扫描仪一起完成扫描任务.同时,将该机器人-三维扫描系统应用于工业加工中,可以实现在线测量、加工一体化.使用此系统成功地进行了吉他扫描,并利用得到的扫描数据对吉他进行了精确的边缘加工.实验结果证明,该机器人-三维扫描系统具有测量精度高及稳定性好的特点. 相似文献
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设计一种基于计算机视觉的智能机器人.该机器人采用无线摄像头采集道路信息,采用Visual C++设计上位机进行图像处理获得路径信息,将命令通过无线串口传给机器人.用ARM7作为下位机控制芯片,应用PID算法对机器人进行闭环控制,从运行结果来看系统的实时性满足设定的要求. 相似文献
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针对现有电力隧道巡检机器人自动化程度不足、视野和观测角度有限的问题,设计了一款子母式自动巡检机器人。其中:具有移动功能的巡检机器人母机能够完成主要的日常巡检工作,并具备越障、避障能力;具有攀爬功能的子机能够完成复杂环境、极限角度条件下的勘测任务。子、母机共同协作可完成整个电力隧道的自动化巡检。首先,基于总体功能需求,提出了巡检机器人各模块的具体形式,并完成了其自动巡检的逻辑系统分层设计。然后,基于虚拟样机技术,在ADAMS (automatic dynamic analysis of mechanical systems,机械系统动力学自动分析)软件中建立电力隧道运行环境,并结合运动学仿真分析结果优化巡检机器人母机的结构,以提升机器人在隧道内作业的平稳性并确保其所搭载的传感器均能正常工作。结果表明,母机结构优化后,巡检机器人能够平稳运行,传感器平台的抖动幅度在5 mm内,且搭载的各传感器均能正常工作,验证了该机器人方案设计的合理性。相关理论研究结果可为电力隧道自动巡检机器人物理样机的研制提供可靠的技术支撑。 相似文献
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针对管道检测过程中图像采集光照不均匀、缺陷边缘提取不准确的问题, 提出一种基于自适应图像增强的管道机器人缺陷检测方法。首先设计单尺度Retinex自适应图像增强算法, 利用引导滤波对图像进行照度分量估计, 经自适应Gamma矫正得到光照均衡图像, 实现自适应图像增强;再对传统Canny边缘检测方法进行改进, 采用双边滤波平滑图像, 通过迭代阈值法进行缺陷图像分割, 根据边缘像素相似性进行连接, 实现缺陷轮廓的有效提取。搭建基于自适应图像增强的管道机器人缺陷检测系统, 利用履带式小车搭载云台摄像机, 对管道内壁缺陷进行全方位视觉检测。实验结果表明, 本文的检测方法可自适应矫正图像亮度, 图像亮度不均匀明显改善, 相比次优算法, 图像信息熵提升2.4%, 图像平均梯度提升2.3%, 峰值信噪比提升4.4%, 可有效提取出管道缺陷边缘, 缺陷识别准确率达到97%。 相似文献
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Pipeline defect detection systems collect the videos from cameras of pipeline robots, however the systems always analyzed these videos by offline systems or humans to detect the defects of potential security threats. The existing systems tend to reach the limit in terms of data access anywhere, access security and video processing on cloud. There is in need of studying on a pipeline defect detection cloud system for automatic pipeline inspection. In this paper, we deploy the framework of a cloud based pipeline defect detection system, including the user management module, pipeline robot control module, system service module, and defect detection module. In the system, we use a role encryption scheme for video collection, data uploading, and access security, and propose a hybrid information method for defect detection. The experimental results show that our approach is a scalable and efficient defection detection cloud system. 相似文献
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Y. Zhang M. Gulliksson V. M. Hernandez Bennetts E. Schaffernicht 《Inverse Problems in Science & Engineering》2016,24(7):1186-1204
In this paper, we present an algorithm to be used by an inspection robot to produce a gas distribution map and localize gas sources in a large complex environment. The robot, equipped with a remote gas sensor, measures the total absorption of a tuned laser beam and returns integral gas concentrations. A mathematical formulation of such measurement facility is a sequence of Radon transforms, which is a typical ill-posed problem. To tackle the ill-posedness, we develop a new regularization method based on the sparse representation property of gas sources and the adaptive finite-element method. In practice, only a discrete model can be applied, and the quality of the gas distribution map depends on a detailed 3-D world model that allows us to accurately localize the robot and estimate the paths of the laser beam. In this work, using the positivity of measurements and the process of concentration, we estimate the lower and upper bounds of measurements and the exact continuous model (mapping from gas distribution to measurements), and then create a more accurate discrete model of the continuous tomography problem. Based on adaptive sparse regularization, we introduce a new algorithm that gives us not only a solution map but also a mesh map. The solution map more accurately locates gas sources, and the mesh map provides the real gas distribution map. Moreover, the error estimation of the proposed model is discussed. Numerical tests for both the synthetic problem and practical problem are given to show the efficiency and feasibility of the proposed algorithm. 相似文献
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Two important issues in the development of a computer-integrated dimensional inspection environment for manufactured parts are described, namely tolerance specification and comparative analysis. These two issues are related directly and therefore, should be addressed together. For supporting the computer-integrated dimensional inspection, a geometric dimensioning and tolerancing (GD&T) specification module and a comparative analysis module are developed and integrated with CATTA of the IBM CAD/CAM system. The proposed specification module supports ISO and ANSI geometric tolerances and allows multiple tolerance assignments on each single feature as well as on a group of same pattern features. Using this specification module, various tolerance information can be directly specified to the 3D CAD model of a part and can be used to support the subsequent planning and operation for manfacturing and inspection. The comparative analysis module is created to work with the GD&T module for constructing datum reference frames and comparing the actual measurement data with nominal design. After specifying all necessary tolerance information, using discrete measurement data from coordinate measuring machines (CMM), one can evaluate the dimensional quality of an actual feature through the comparative analysis module. 相似文献
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K. I. Bushmeleva I. I. Plyusnin P. E. Bushmelev S. U. Uvaisov 《Measurement Techniques》2011,54(3):294-299
We propose a computer model for a device for remote sensing of the underlying surface close to a gas pipeline, allowing us
to calculate the ladar parameters so we can select their optimal design values and work up recommendations for remote sensing
from on board an aircraft. 相似文献