| 王昕煜， 平雪良， 邱 彬， 袁 野， 宋炳锺， 任武涛.基于视觉传感的路障自收放控制方法实现[J].轻工机械,2017,35(6):47-49 |
| 基于视觉传感的路障自收放控制方法实现 |
| Vision Based Roadblocks Self Picking and Self Putting Method Reality |
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| DOI：10.3969/j.issn.1005 2895.2017.06.010 |
| 中文关键词: 路障收放装置 移动机器人 视觉传感器 图像采集 |
| 英文关键词:road cones retracting device mobile robot visual sensor image acquisition |
| 基金项目: |
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| 中文摘要: |
| 高速公路路障摆放与回收是高危作业，为减少公路上交通事故的发生，课题组设计并开发了基于Arduino和Pixy CMUcam5视觉传感器的路障自收放机器人系统，由移动机器人平台搭载手爪自由移动来实现路障的合理摆放与收回。通过移动平台上路障收放装置的合理设计，并通过网络控制接口与机器人平台上的图像采集与识别模块实现通信，将视觉传感器捕捉到的路障的三维空间位置信息传送给微处理器，控制移动机器人移动定位，手爪配合实现路障收放。该路障自收放系统具有很强的实用性，可实现路障摆放和回收无人操作。该设计可提高公路作业的安全性，有一定的推广意义。 |
| 英文摘要: |
| The placement and collection of high way road cones are high dangerous operations. To reduce traffic accidents on the high way, a road cone self retracting robot system based on Arduino and Pixy CMUcam5 visual sensors was designed and developed, and was implemented by a mobile robot platform equipped with free movement of the paw to achieve reasonable placement and collection of road cones. Through the rational design of the rood cones retractable devices on the mobile platform, and the image acquisition and identification module between the network control interface and robot platform, it could achieve communication which transmitted road cones of three dimensional space information captured by the visual sensors to the microprocessor and controlled the mobile position of the robot, and pawed with the realization of the road cones retractable. The development of the road cones self retracting robot system has a strong practicality which can realize placing roadblocks and recycling unmanned operation. The design can improve the safety of road operations, and has a certain promoting significance. |
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