【摘要】 针对载有修磨设备的自动导引车要能精确地监测出其相对于随意放置的转轮位置 ,以便对水轮机转轮叶形进行修磨和对其修复后进行自动测量的研究 ,阐述了用运动视觉—基于特征点的方法来识别水轮机叶片和确定自动导引车车体相对于水轮机叶片的位姿 .据此可规划出最佳路径 ,最终由车载控制系统完成导航并确定定位修磨设备与转轮的相对位置 .更多还原

【Abstract】 A method of mobile vision based on some dots of characteristic is explored. It is based on an auto-guiding robot loading an repairing and grinding equipment which can monitor the position of unsolicited placed turbine, aiming at repairing and grinding for the turbine blade and making the study of automatic measurement for the repaired turbine blade.This method is used to discern the turbine blade and define the pose of the auto-guiding robot relative to the turbine blade .According to the information, the best walking track of the robot can be defined and finally the navigation can be completed by the control system of the auto-guiding robot and the relative position between the repairing and grinding equipment and the turbine blade can be difined too.更多还原