基于机器视觉的图书机器人取书路径控制方法研究  

Research on Path Control Method for Book Robot Retrieving Books Based on Machine Vision

作　　者：贾瑞[1] 强颖[1] 赵锋 JIA Rui;QIANG Ying;ZHAO Feng(Shaanxi Provincial Library,Xi an 710061,China;AVIC Xi an Flight Automatic Control Research Institute,Xi an 710061,China)

机构地区：[1]陕西省图书馆,西安710061 [2]航空工业西安飞行自动控制研究所,西安710061

出　　处：《计算机测量与控制》2024年第8期194-200,共7页Computer Measurement &Control

摘　　要：针对图书馆图书机器人的路径规划问题,通过结合Cartographer算法和激光视觉雷达技术来构建图书馆栅格地图,并采用改进的A*算法和蚁群优化算法进行路径规划,最后提出了一种新型机器人取书路径规划控制模型;实验结果显示,所提出的模型在权重系数为0.6时,其规划出的最优路径相比于其他模型最大缩短了8 m;其路径规划成功率达95%,且规划的路径拐点数较同类模型最多减少了4个;说明研究成功提出了一种有效的图书机器人取书路径规划模型,提高了取书效率,满足了机器视觉和移动机器人在图书馆取书过程中的应用需求。In response to the path planning problem of book robots in the library,a library raster map is constructed by combining the Cartographer algorithm and laser vision radar technology,and an improved A * algorithm and ant colony optimization algorithm are used for path planning.Finally,a new robot book retrieval path planning control model is proposed.Experimental results show that with the weight coefficient of the proposed model of 0.6,the model shortens its planned optimal path by a maximum of 8 m compared to other models,achieves the success rate of its path planning by 95%,and reduces the number of planned path turning points by up to 4 compared to similar models.The study successfully proposes an effective book robot retrieval path planning model,which improves the efficiency of retrieving books and meets the application needs of machine vision and mobile robots during the process of retrieving books from the library.

关 键 词：机器视觉 A*算法 电子地图 线路规划 取书 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]