基于机器视觉的全自动换电机器人定位系统  

Location System of Full-automatic Replacing Batteries Robot Based on Machine Vision

作　　者：燕小强 罗华 林洪怡 李汉舟[1,2] 

机构地区：[1]航天科技集团第九研究院第十六研究所,西安710100 [2]西北工业大学自动化学院,西安710072

出　　处：《计算机系统应用》2015年第9期234-239,共6页Computer Systems & Applications

摘　　要：全自动换电机器人代替人工,实现了电动汽车内电池的自动更换.其定位系统解决了电动汽车停放随机性导致的电池定位难题,是换电机器人成功换电池的关键.该定位系统以机器视觉技术为基础,通过单目相机拍照,获取电池的姿态信息,实现了对电池的精确定位.介绍了全自动换电机器人视觉定位系统的设计方案、组成及工作步骤,并通过实验证明该系统具有较高的精度和准确性,安全可靠.The full-automatic replacing batteries robot instead of human, can automatically replace the batteries in the Electric Vehicles（EV）. The positioning system, which solves the problem of the battery localization due to the EV＇s random position, is the key of replacing the batteries successfully for a full-automatic robot. The positioning system utilizes monocular camera to get the pose information of batteries, and achieves the goal of accurate positioning for the batteries. In this paper, we introduce the design proposal, constitution and working procedures of vision location system of the full-automatic replacing batteries robot. Experimental results validate that our proposed system works with high accuracy, robustness and safety.

关 键 词：机器视觉 换电 定位 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP242[自动化与计算机技术—计算机科学与技术]