摘要
设计了一种基于机器视觉定位技术的地铁车辆轮对清洗机器人,研究了自动清洗作业时机器人的三维定位方法,分析了不同三维定位方法的优缺点以及对轮对清洗作业的适用性,提出了一种基于机械手单相机多目视觉三维定位系统及方法,介绍了该方法实现机器人作业时三维定位的流程及技术难点。研究结果表明,单相机多目视觉定位方法能有效解决特定场景中机器人的定位问题,从而使机器人技术得以成功应用于地铁车辆轮对清洗作业中。
A metro vehicle wheelset cleaning robot based on machine vision positioning technology is designed.The 3D positioning method of the robot in automatic cleaning operation is studied.The advantages and disadvantages of different 3D positioning methods and their applicability to wheelset cleaning operations are analyzed.A 3D positioning system and method based on a single-camera multi-eye vision of a manipulator is proposed,and the process and technical difficulties of the method to achieve 3D positioning during robot operation are introduced.The research results show that the single-camera multi-eye vision positioning method can effectively solve the robot positioning problem in a specific scene,so that the robot technology can be successfully applied to the metro vehicle wheelset cleaning operation.
作者
史时喜
Shi Shixi(State Key Laboratory of Rail Transit Engineering Informatization (FSDI), Shaanxi Xi'an, 710043, China)
出处
《机械设计与制造工程》
2021年第4期31-34,共4页
Machine Design and Manufacturing Engineering
基金
中铁第一勘察设计院集团有限公司2018年度科研(软件)开发项目(院科18-61)。
