多源信息融合的物聯(lián)網(wǎng)圖書(shū)館機(jī)器人機(jī)械手定位研究(已修改)
2025-07-04 14:44 本頁(yè)面
【正文】 基于視覺(jué)的物聯(lián)網(wǎng)圖書(shū)館機(jī)器人機(jī)械手精確定位研究杜明芳1，2 ，方建軍1 ，王軍政2（1. 北京聯(lián)合大學(xué)自動(dòng)化學(xué)院，北京100101 2. 北京理工大學(xué)自動(dòng)化學(xué)院，北京 100081）摘要：從分析以機(jī)器人為核心的無(wú)人值守物聯(lián)網(wǎng)圖書(shū)館的協(xié)同工作過(guò)程和自動(dòng)化流程入手，設(shè)計(jì)了一種新型圖書(shū)RFID電子標(biāo)簽數(shù)據(jù)格式，并將RFID電子標(biāo)簽數(shù)據(jù)信息與CCD傳感器獲取的機(jī)器人視覺(jué)信息相融合，提高機(jī)械手定位的魯棒性。提出了一種圖書(shū)館機(jī)器人機(jī)械手模糊定位、分區(qū)定位、精確定位逐步組合的 “三步定位法”，將復(fù)雜的圖書(shū)抓取定位問(wèn)題轉(zhuǎn)化為目標(biāo)圖書(shū)上某點(diǎn)世界坐標(biāo)的求解問(wèn)題。實(shí)驗(yàn)結(jié)果表明，該方法可使機(jī)械手實(shí)現(xiàn)精確定位及圖書(shū)準(zhǔn)確抓取。關(guān)鍵詞：圖書(shū)館機(jī)器人，機(jī)械手，物聯(lián)網(wǎng)，機(jī)器視覺(jué)，RFID文獻(xiàn)標(biāo)識(shí)碼：A 中圖分類號(hào)：TP273A Research on the Accurate Position Method for the Library Robot Manipulator based on Machine VisionMingfang Du1,2, Jianjun Fang1, Junzheng Wang2 ( of Automation, Beijing Union University, Beijing 100101 of Automation, Beijing Institute of Technology, Beijing 100081)【Abstract】Firstly the cooperative work process and the automation work flow of the no man keeping watch library taking the robot as its central and using the internet of things technology are introduced in this paper. A new data format of the RFID electronic label for books is designed, and the robustness of positioning of the manipulator is improved by the information fusion of the RFID label source and the CCD sensor source installed on the manipulator. A position method named ‘THREE STEPS’ by the bination of fuzzy position, area position and accurate position is advanced, and the plex books positioning and grasping question is transformed into the world coordinate solving question of some point on the objective books. The experiment result has proved this method can help the manipulator realize the accurate position and rapid grasp. 【Key Words】Library robot, Manipulator, Internet o
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