| 基于双目视觉识别技术的智能挖掘机器人研究 |
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| 引用本文： | 文怀兴,张鑫. 基于双目视觉识别技术的智能挖掘机器人研究[J]. 机械设计与制造, 2009, 0(2) |
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| 作者姓名： | 文怀兴 张鑫 |
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| 作者单位： | 陕西科技大学机电工程学院,西安,710021 |
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| 摘 要： | 为能够在无人驾驶情况下完成各项复杂作业任务,设计和研究具有双目立体视觉系统的智能挖掘机器人.该挖掘机器人可实时捕获机身周围的图像信息、求取对象物特征点的立体坐标,并根据计算结果自行规划并控制执行单元完成作业任务.通过实验验证,该挖掘机器人满足现场作业的精度要求和环境要求,可有效提高作业质量,减轻劳动强度,提高生产效率.为工程机械的自动化、智能化提供了新的解决方案,具有重要的社会经济效益.
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| 关 键 词： | 挖掘机器人 双目视觉识别 摄像机标定 特征匹配 智能控制 |
Research on intelligent excavating robot based on binocular visual recognition technique |
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| WEN Huai-xing,ZHANG Xin. Research on intelligent excavating robot based on binocular visual recognition technique[J]. Machinery Design & Manufacture, 2009, 0(2) |
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| Authors: | WEN Huai-xing ZHANG Xin |
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| Affiliation: | College of Mechanical and Electrical Engineering;Shaanxi University of Science and Technology;Xi'an 710021;China |
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| Abstract: | Inordertoperformexcavatingoperationunderunattendedcondition,anew intelligent excavating robot with a binocular vision system is developed.It can capture real-time images around the robot,get the stereo coordinate of the feature point of the excavating targets and program the operation automatically based on the calculation results.Experimental results indicate the validity in real-time performance and precision of the vision system.The intelligent excavating robot can remarkably ease the labor intensity and... |
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| Keywords: | Excavating robot Binocular visual recognition Camera calibration Feature match-ing Intelligent control |
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