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设计了一种用于子母式机器人系统的子机器人回收方法,母机器人基于视觉感知子机器人相对回收入口的位姿以用于指导子机器人.子机器人的左右两侧和后侧分别贴有上下排布的双色色标,母机器人通过连通生长的方式快速提取所感知到的各色标的颜色交界,进而获得相应色标在图像平面中的位置信息以及长度比例关系,指导子机器人进行航向调整,最终使得子机器人以合理的姿态进入回收舱.实验结果表明了该方法的有效性.
A method for recovering sub-robots for a master-slave robot system is proposed, in which the master robot perceives the pose of the slave robot relative to the entrance to be used for guiding the robot based on the visual perception. The left and right sides and the rear of the robot are respectively attached to the upper and lower sides Arranged two-color color standard, the parent robot through the growth of the rapid extraction of the perceived color of the color of the junction, and then get the corresponding color coordinates in the image plane and the length of the proportional relationship between the guidance of sub-robot heading adjustment, and ultimately So that the sub-robot enters the recovery chamber in a reasonable attitude.The experimental results show the effectiveness of the method.