image acquisition

发表时间:2019-09-11

2015年 第34卷 11月 机械科学取手艺 Mechanical Scjence afld Technology for Aerospace November 2015 No.11 第11期 En舀needng V01.34 DOI:10.13433/j.cnl‘i.1∞3-87勰.2015.1107 机械视觉扶引的室内从动运输车定 位系 统 林剑冰,苏成悦,郑俊波,余孝源 (广东工业大学物理取光电工程学院,广州510006) 摘要:为处理保守室内定位体例定位精度低的问题,提出采用定距双球做为定位标记物,设想并实 现了一个基于单目视觉的室内从动运输车定位系统。由OpenCV2.4.4和Vs2010的平台完成了对 定距双球的识别、定位及姿势丈量的上位机设想,再通过nRF24LDl芯片取STM8S105从节制 芯片完成从动运输车的通信及节制的硬件设想。测试成果表白:定距双球标记物的引入,使得该系 统不只硬件布局简单、成本低、能同时实现和标的目的定位,且不变性好,精度高,可完成复杂 下的定位。一般环境下定位的相对误差连结正在1.5%以内,正在距离系统3 m范畴的短距离定位 的绝对误差小于l cm,合用于工业上室内运输车对定位精度要求较高的场所。 环节词:室内定位;单目视觉;标记物;Open 中图分类号:TP24 文献标识码:A cV;sTM8S105 文章编号:1003.8728(2015)11.1675.07 Indoor Location System of Automated Vellicles Based on Maclline Vision “n Jianbing,Su Chengyue,Zheng Junbo,Yu Xiaoyuan (school of Physics aIId 0ptoelec咖njc En画neering,Guangdong university of Technology,Gu粕铲hou 5 10006,china) Abstract:A location system of indoor robot based of constant on the monocular camera is presented,in which the double baUs distance is used as labels in this system.Firstly, the sofhare design is deVeloped Via Open Source and Visual Studio CoⅡlputer Vision Library identi6cation of double 2.4.4(OpenCV2.4.4) of constant 2010(VS2010)platfonn,including location and diI℃ction. Then. the the balls distance and the measuIement of hardware design about the communication and control of indoor robot is finished by using nRF24L01 STM8S105 chip.The experimental results show that the application of double baUs of constant chip and distance has the advantages in low cost,simple stmcture,stability and high location accuracy,and the positioning of location and direction is simultalleously accomplished.(毛nerally the relative en.or en.or of positioning js about 1。5%,and the absolute of a short distance positioning in the range of 3 m is less than l cm.It is suitable for the occasion for high requirement of location accuracy about indoor robot in industIy. 1【ey words:computer software, identi6cation computer Vision, control, design of experiments, design, errors, experiments, (control systems), distribution, image acquisition, labels, 1east squares appmximations, monocular vision, measurements,noⅡnaLl 0pen CV,sTM8S105 pixels,IDbots, stability; indoor 10cation, 做为计谋性新兴财产,基于的办事曾经普遍 收稿日期:2013一ll一26 基金项目:2013年广东省消息财产成长专项现代消息办事业项目 (2150510)赞帮 做者简介:林剑冰(1990一),硕士研究生,研究标的目的为机械视觉、使用 电子手艺,517852280@qq.com,苏成悦(联系人),传授,博 士,scy.gdut@163.com 使用于国防、经济扶植和社会糊口¨j,跟着全球卫星 定位系统(GPS)成熟成长,不管是平易近用仍是军用,其 定位精度根基可以或许

提出采用定距双球做为定位标记物,再通过nRF24L01芯片取STM8S105从节制芯片完成从动运输车的通信及节制的硬件设想设想并实现了一个基于单目视觉的室内从动运输车定位系统.由OpenCV2.4.4和VS2010的平台完成了对定距双球的识别、定位及姿势丈量的上位机设想,机械视觉扶引的室内从动运输车定位系统_电子/电_工程科技_专业材料。为处理保守室内定位体例定位精度低的问题,