基于Dtag的智能垃圾车相对位姿定位方法研究  

Research on the Relative Pose Positioning Method of Intelligent Garbage Truck Based on Dtag

作　　者：王双双 顾涓涓[1] 张文武 Wang Shuangshuang;Gu Juanjuan;Zhang Wenwu(School of Biological Food and Environment,Hefei University,Hefei,Anhui 230000,China)

机构地区：[1]合肥学院生物食品与环境学院,安徽合肥230000

出　　处：《绿色科技》2021年第12期132-134,共3页Journal of Green Science and Technology

摘　　要：为优化城市垃圾收运配置作业模式,提高智慧环卫水平,对基于Apriltag的智能垃圾车相对位姿的定位方法进行了研究,并对编码系统进行了改进。实验证明:提出的一种解决问题的新编码系统即二维条码系统Dtag,能够对城市道路两旁垃圾桶的定位提供更好的定位精度,更能适应城市环境的复杂性。In order to optimize the operation mode of urban garbage collection and transportation configuration and improve the level of intelligent sanitation,this paper analyzes the positioning method of intelligent garbage truck based on Apriltag,and improves the coding systems.Experiments show that the two-dimensional barcode system Dtag,a new coding system described in this paper,is more effective than the previous systems in locating garbage cans on both sides of urban road,which can provide better positioning accuracy and adapt to the complexity of urban environment.

关 键 词：垃圾收运 智慧环卫 Apriltag Dtag 垃圾桶定位 

分 类 号：U469.691[机械工程—车辆工程]