基于视觉导航的导览机器人控制系统研究-检测技术与自动化装置专业论文.docxVIP

山东建筑大学硕士学位论文StudyofthecontrolsystemoftourguiderobotbasedonvisionnavigationZhangWei(DetectionTechnologyandAutomaticEquipment)DirectedbyLuShouyinABSTRACTThetechnologyofrobotnavigationresearchbased011visionisquiteactiverecently．Thevisionsystemplaystheroleofenvironmentaldetectionandidentificationinthenavigationresearch．Andthevisionnavigationhasseveraladvantagessuchasprobingratherwideareas，andcarryingatremendousamountofinformation，thusmoreandmoreresearchstuffpayattentiontothenavigationmode．Itwillshowgoodprospectsfordevelopment．Thispurposeoftextistakingthetourguiderobotastheresearchobject．Tomaketherobotmovetothedestinationsafelyandfinishthespecifiedmissions，weshouldstudythecompositionandthecontrolbyvisionnavigationabouttherobot．Theconcretecontentisasfollows：1．Withthedevelopmentoftheroboticsindustry,eachcountryaUOVertheworldpayimportantattentiontotherobottechnology．Inordertoresearchthenavigationpositionandthetargetrecognitionaboutthetourguiderobot，firstweintroducethedevelopmentofthetourguiderobotsimply,andanalyzethekeytechnologyofthetourguiderobotbriefly,andthenproposethepurposeandsignificanceoftherobot．2．Asaresultthatthetourguiderobotitselfisacompleteelectricalsystem，consistingofmovingsystem，sensingsystem，communicationsystem，andcontrollingsystem，andSOon．Wehighlightthecompositionoftherobot，andanalyzethefunctionofeachcomponent，andthendividethesystemoftherobotbasedonlevelstructure．3．Byanalyzingthetransformrelationsbetweenimagecalibrationandtheworldcalibration，wehaverealizedtheparametercalibrationoftherobotvisionsystem．TherobotvisionsystempreviouslyprocessestheimageswhicharegatheredbytheLogitechcameraaccordingtotheknowledgeofdigitalimageprocessingandothers，III山东建筑大学硕士学位论文andthenextracttheedgebyusingthecannyoperator．WeusethewayofHoughtransformtorecognizethegroundleadwireinfrontoftherobotreal-timely,andgetthecoordinatesofthelogoline．Wealsorecognizetheartificiallandmarksoftherobotbythemodeoftemplatematching．WemainlyuseBoChnangUP-VoyagerIIasthemobileplatformtocarryOlltheresearcho