Earticle

초록

영어

Vision navigation technology of the autonomous walking robot has been conducted in the research. Based on the characteristics of picking robot working environment, the visual system for the independent walking car is designed, which applies monocular camera to obtain images of marking lines on the surface of road for pre processing. Using the image gray contrast constraints determines the information of the effective area on the surface of road. Then the Hough linear detection combined with constraint will be used for the recognition and detection of the indication line on the surface, and the information of visual examination path will be fed back to the car control system as following. Through the ultrasonic sensors on the head of the walking car, the walking car can detect the obstacle at the same time. According to the real-time feedback data of ultrasonic sensor, fuzzy propulsion and calculation determine the information of the obstacles on the road surface ahead of time in order to achieve the function of real-time obstacle avoidance. The result of visual navigation test shows that maximum deviation of the car walking straight line based on visual navigation system is 1.5cm and the maximum deviation of curve walking is 6cm. The success rate of obstacle avoidance is 96.67%, which can meet the requirement of the vision navigation of picking robot and provide technical support for the autonomous navigation and intelligent operation of picking robot.

목차

Abstract
 1. Introduction
 2. Vision System
 3. The Method of Visual Navigation
  3.1. The Road Visual Detection Technology
  3.2. The Road Visual Positioning Technology
  3.3. Road Visual Obstacle Avoidance
 4. Experimental Design and Analysis of the Results
 5. Conclusion
 Acknowledgments
 References

키워드

저자

• Xiong Juntao [ College of Mathematics and Information, South China agricultural university, guangzhou, 510642, China ]
• Zhong Pengfei [ College of Mathematics and Information, South China agricultural university, guangzhou, 510642, China ]
• Zou Xiangjun [ South China agricultural college engineering college farm machinery and equipment key technologies Ministry of Education key laboratory, Guangzhou, 510642, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Signal Processing, Image Processing and Pattern Recognition

• 간기

  격월간

• pISSN

  2005-4254

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605