基于感知哈希的移动机器人自主定位及故障判定系统  

Self-location and fault judgment of mobile robot based on Perceptual hash

作　　者：徐梦琴 周海波[1,2] 殷金铭 朱沛尧 任凤雷 XU Mengqin;ZHOU Haibo;YIN Jinming;ZHU Peiyao;REN Fenglei(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384

出　　处：《天津理工大学学报》2024年第6期29-33,共5页Journal of Tianjin University of Technology

基　　金：广东省基金重点项目(2019B090922002);天津自然科学基金重点项目(17JCZDJC30400)。

摘　　要：近年来移动机器人逐渐智能化,机器人与计算机技术的结合是当前研究的热点。传统的移动机器人导航定位常出现累计误差,影响实际定位效果。为实现移动机器人定点运动的自主精确定位,控制机器人在定点采集图像,并以时间命名文件夹,将图像存入对应文件夹创建图像库。在后续定点运动过程中,通过感知哈希算法判断当前图像与图像库图像相似度,从而确认是否到达定点位置,完成更为精确的基于图像检索的自主定位,同时获取当前图像时间,计算与图像库中相似图像的时间差,通过阈值判定移动机器人运动故障。经实验验证了感知哈希算法判断图像相似度的准确性与鲁棒性,为移动机器人定位系统开发奠定了良好的技术基础。In recent years,mobile robots are becoming more and more intelligent.The combination of robot and computer technology is a hot topic in current research.Traditional robot navigation and positioning often have accumulated errors,which will affect the actual positioning effect.In order to realize the mobile robot fixed point motion autonomous accurate positioning,the robot was controlled to collect images at the fixed point,and the folder was named by the time value,and the image was saved into the corresponding folder to create an image library.During the subsequent fixed point motion,the perceptual hash algorithm was used to judge the similarity between the current image and the image library image,so as to confirm whether the fixed-point position was reached,and a more accurate autonomous localization based on image retrieval was completed.At the same time,the time difference with similar images in the image library is calculated,and the motion fault of the mobile robot is judged by the threshold.The experiments verify the accuracy and robustness of the perceptual hash algorithm to judge the image similarity,which lays a good technical foundation for the development of mobile robot positioning system.

关 键 词：感知哈希 精定位 移动机器人 故障判定 

分 类 号：TH122[机械工程—机械设计及理论]