摘要
为了辅助救援人员更好地完成灾后救援工作,设计了一种基于机器视觉、多传感器耦合的灾后救援机器人越障系统。通过机器视觉系统获取障碍物图像信息,多传感器耦合获取灾后现场环境信息,采用VC++编程,借助OpenCV库对障碍物图像进行一系列数学形态学的处理,利用图像处理得到障碍物数字图像信息,并实时地传输到控制端,控制机器人进行越障救援。该系统成功地控制机器人快速的越障试验,表明了它具有较强的地面适应性和越障能力,满足灾后救援机器人系统的要求,具有一定的应用价值。
In order to assist rescue workers complete post-disaster relief work better,put forward a kind of disaster rescue robot obstacle surmounting system based on machine vision,and multisensor coupling obstacle image information is obtained by machine vision system,multi-sensor coupling is used for post-disaster site environment information,using VC ＋ ＋ programming,with the help of OpenCV library,processing of a series of mathematical morphology is carried out on obstacles image,digital image information of obstacles are obtained by image processing,and real-time transmit to control terminals,control robot for obstacle surmounting rescue. The system successfully control robot for rapid obstacle surmounting test,shows that it has strong ground adaptability and obstacle surmounting performance which meet the requirements of disaster relief robot system,has a certain application value.
出处
《传感器与微系统》
CSCD
2016年第4期79-81,85,共4页
Transducer and Microsystem Technologies
基金
昆明理工大学学术科技创新基金资助项目(2015YB016)
关键词
机器视觉
多传感器
越障
图像处理
machine vision
multi-sensor
obstacle surmounting
image processing
