基于虚拟定标线的巡检机器人视觉导航  

A patrol robot visual navigation method based on virtual calibration line

作　　者：李金屏[1] 修择[1] 吕玉彬[1] 韩延彬[1] 

机构地区：[1]济南大学信息科学与工程学院,济南250022

出　　处：《中国体视学与图像分析》2011年第1期50-56,共7页Chinese Journal of Stereology and Image Analysis

基　　金：国家自然科学基金(60873089);山东省研究生教育创新计划(SDYY08032);山东省教育科学规划课题重点项目(2008ZK0007)

摘　　要：控制巡检机器人沿着导航线移动,关键技术之一就是准确判断机器人相对于导航线的方位和距离。本文提出了一种新的定位导航线技术,即引入虚拟定标线,将图像处理后检测到的导航线与相应位置的虚拟定标线进行比较,从而获得机器人相对于导航线的实际偏离角度和距离,进而利用模糊控制策略,对机器人沿着导航线的行走进行控制。实验表明,该算法能准确实现机器人的定位,控制机器人沿着导航线行进。There are various ways of controlling the robot walking along the navigation line.One of the key issues focuses on estimating the robot＇s specific location and orientation relative to the navigation line.In this paper,a new method to locate the robot is presented based on virtual calibration lines.By proposing a virtual calibration line and comparing the navigation line obtained by means of image processing with the virtual calibration line at the corresponding position,we can obtain the deviation angle and distance relative to the navigation line.Then,a fuzzy control strategy is used to control the two wheels of the robot to walk along a navigation line.Experimental results show that this technique can effectively identify the location of robot and make the robot to go steadily along the navigation line.

关 键 词：巡检机器人 视觉导航 虚拟定标线 模糊控制 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]