仿人机器人多传感器定位系统  

Multi-sensor positioning system for humanoid robot

作　　者：柯显信[1] 张文朕 杨阳[1] 温雷 KE Xian-xin, ZHANG Wen-zhen, YANG Yang, WEN Lei(School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China)

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《浙江大学学报（工学版）》2018年第7期1247-1252,共6页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金面上项目(612733)

摘　　要：为了提高仿人机器人SHFR-III人机交互系统的定位精度和定位可靠性,设计多传感器定位系统,包括基于热释电红外传感器垂直阵列的红外定位系统、基于听觉传感器三角形阵列的听觉定位系统和基于立体双目视觉的视觉定位系统.提出权重随目标位置和外部环境可变的加权平均融合算法,将3种定位数据的融合结果作为最终定位结果.实验结果证明:多传感器定位系统的限制条件比单传感器定位系统更少,环境适应性更强,有效提高了交互系统的整体定位精度和可靠性.A multi-sensor localization system was designed in order to improve the positioning accuracy and reliability of human-computer interaction system for humanoid robot SHFR-III.The system included an infrared positioning system based on vertical array of thermal pyroelectric infrared sensors,an aural positioning system based on triangular array of auditory sensors and a binocular vision positioning system.A weight fusion algorithm in which weights varied to adapt to target location and external environment was presented,and three sensors＇ data were fused as the final positioning result.The experimental results show that the multi-sensor positioning system has fewer restrictions and more environmental adaptability compared with a single-sensor positioning system.The system effectively improves the overall positioning accuracy and reliability of the interaction system.

关 键 词：仿人机器人 传感器阵列 双目视觉 多传感器定位 数据融合 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]