一体化关节是高压带电作业专用机器人的关键部件,对研制高压带电作业专用机器人具有十分重要的作用。介绍了高压带电作业机器人系统的主要组成,对关节进行了匹配计算,详细阐述了以DSP(digital signal processor)为控制核心的硬件电路设...一体化关节是高压带电作业专用机器人的关键部件,对研制高压带电作业专用机器人具有十分重要的作用。介绍了高压带电作业机器人系统的主要组成,对关节进行了匹配计算,详细阐述了以DSP(digital signal processor)为控制核心的硬件电路设计和软件控制算法,对设计的关节进行了一系列试验,结果表明设计和控制算法正确有效。研制的三种类型关节成功应用于高压带电作业专用机器人上,机器人的各项性能指标优良,能满足高压带电操作的要求。展开更多
In order to satisfy the requirements of UAV’s aerial safety monitoring and surveillance of sensitive areas,a robust vision system for the rotor UAV is designed and implemented,which includes visual airborne subsystem...In order to satisfy the requirements of UAV’s aerial safety monitoring and surveillance of sensitive areas,a robust vision system for the rotor UAV is designed and implemented,which includes visual airborne subsystem,ground station subsystem and wireless communication subsystem.Complete sky-ground and human-computer interaction loops are constructed.Based on the developed UAV vision platform,a real-time target tracking algorithm under the mean shift tracking framework is developed.The joint color-texture histogram is used to represent the target robustly.With the help of moment information,the scale and the orientation of the tracked target is estimated adaptively during the tracking process.A model updating scheme for the target and the background is introduced to reduce the interferences from background and the locating biases.Numerical simulation and real flight tracking experiments demonstrate that the overall visual tracking system is effective and has superior performance against several state-of-the-art algorithms.展开更多
文摘一体化关节是高压带电作业专用机器人的关键部件,对研制高压带电作业专用机器人具有十分重要的作用。介绍了高压带电作业机器人系统的主要组成,对关节进行了匹配计算,详细阐述了以DSP(digital signal processor)为控制核心的硬件电路设计和软件控制算法,对设计的关节进行了一系列试验,结果表明设计和控制算法正确有效。研制的三种类型关节成功应用于高压带电作业专用机器人上,机器人的各项性能指标优良,能满足高压带电操作的要求。
基金National Natural Science Foundation of China(6120327)
文摘In order to satisfy the requirements of UAV’s aerial safety monitoring and surveillance of sensitive areas,a robust vision system for the rotor UAV is designed and implemented,which includes visual airborne subsystem,ground station subsystem and wireless communication subsystem.Complete sky-ground and human-computer interaction loops are constructed.Based on the developed UAV vision platform,a real-time target tracking algorithm under the mean shift tracking framework is developed.The joint color-texture histogram is used to represent the target robustly.With the help of moment information,the scale and the orientation of the tracked target is estimated adaptively during the tracking process.A model updating scheme for the target and the background is introduced to reduce the interferences from background and the locating biases.Numerical simulation and real flight tracking experiments demonstrate that the overall visual tracking system is effective and has superior performance against several state-of-the-art algorithms.
