【摘要】 采用嵌入式EPXA10为核心,以污水车自动泄放机器人为应用对象,本文介绍一种双目视觉定位系统。提出一种利用模糊算法进行目标图像的边缘检测,并结合双目视觉定位的算法实现机器视觉定位的方法。针对污水泄放机器人的工作特点,采用主动寻找特殊图的方法,达到快速准确对目标跟踪定位的目的,完成对污水车泄放口的三维定位,机器人根据定位坐标可以准确地接通污水泄放管,快速把污水泄放到池中。更多还原

【Abstract】 Based on the embedded processor EPXA10, a system of Binocular Stereo Vision Localization for a robot system of sewage lorry self-discharging is presented in this paper. Especially, a new method of robot localization is presented, in which the Fuzzy theo-ry is adopted for the edge detecting of the target image and the Stereo Vision algorithm is used for localization. Aimed at the special role of the robot, a method of actively searching a special image-symbol which can achieve a fast and exact localization is adopted for the purpose of three-dimension localization of the nozzle on the sewage lorry. According to the located coordinate, the robot can connect the sewage discharging pipes, and let sewage into the puddle.更多还原