摘要
为了对寻物机器人移动轨迹进行检测与有效跟踪,助力图书馆机器人精准寻物,设计了图书馆自动寻物机器人移动轨迹智能检测与跟踪方法。首先采集机器人移动图像,对其进行去噪处理,通过色调直方图折叠法分割机器人移动图像,使用Canny算子检测图像边缘;然后利用圆检测方法检测机器人姿态信息,通过变形梯形波信号控制机器人驱动器,使机器人移动的姿态信息在阈值范围内,完成机器人移动轨迹跟踪。实验结果表明:该方法具有较好的图像预处理及分割效果,可有效检测与跟踪控制图书馆自动寻物机器人移动轨迹,使其按期望轨迹行进。
In order to detect and effectively track the moving track of the robot,and help the library robot to accurately search for objects,an intelligent detection and tracking method for the moving track of the robot is designed.By collecting the robot's moving image denoising it and segmenting the robot's moving image through the hue histogram folding method,it uses the Canny operator to detect the image edge,uses the circle detection method to detect the robot's attitude information,realizes the robot driver control through the deformed trapezoidal wave signal and move in different directions according to the relationship between the robot's attitude information and the threshold.The experimental results show that this method has good image preprocessing and image segmentation effect,and can effectively detect and track the moving track of the library automatic object finding robot,so that it can move according to the desired track.
作者
强丽丽
Qiang Lili(Library of Xi'an Mingde Institute of Technology,Shaanxi Xi'an,710124,China)
出处
《机械设计与制造工程》
2023年第5期43-48,共6页
Machine Design and Manufacturing Engineering
关键词
图书馆
寻物机器人
图像采集
轨迹检测跟踪
中值滤波
library
finding robot
graphic acquisition
track detection and tracking
median filtering
