Journal of Jilin University(Engineering and Technology Edition) ›› 2020, Vol. 50 ›› Issue (5): 1850-1855.doi: 10.13229/j.cnki.jdxbgxb20190806

Previous Articles    

Component awareness adaptive model based on attitude estimation algorithms

Nai-yan GUAN1,2(),Juan-li GUO1,2   

  1. 1.School of Architecture, Tianjin University, Tianjin 300072, China
    2.Key Laboratory of Building Physical Environment and Ecological Technology, Tianjin University, Tianjin 300072, China
  • Received:2019-07-19 Online:2020-09-01 Published:2020-09-16

RICH HTML

 2   

PDF (PC)

4691

Abstract:

The traditional adaptive models are constructed by geometric optics method, geometric similarity method and feature target measurement method. There exist some problems in such model, such as long perception delay and low accuracy of adaptive tracking. To overcome these problems, a component perception adaptive model based on attitude estimation algorithm is proposed. The model consists of three parts. Firstly, the sensor component is calibrated by using Zhang Zhengyou's camera calibration method based on planar template. Then, the three-dimensional model of the target object is established to track the moving object. Finally, the real-time attitude state of the target object is calculated by using the model-based attitude estimation method to realize the construction of the component perception adaptive model. Experimental results show that compared with the three traditional models mentioned above, the adaptive control of the proposed model can shorten the sensing delay of components, improve the adaptive tracking accuracy and improve the operation performance of the manipulator.

Key words: computer application, attitude estimation algorithm, components, perception, adaptive model

CLC Number: 

  • TP391

Fig.1

Schematic diagram of Zhang Zheng-you camera calibration method based on plane template"

Fig.2

Image coordinate system"

Fig.3

3D model diagram of manipulator structure"

Fig.4

Attitude estimation process of target object"

Fig.5

Experimental test platform"

Table 1

Model perceptual delay results"

组件感知 自适应模型姿态估计算法

几何

光学法

几何

相似法

特征靶标测量法
抬起状态0.120.270.340.17
抓取状态0.250.300.330.15
放置状态0.180.250.230.29
返回状态0.250.280.210.33
总体延时0.801.101.110.94

Fig.6

Attitude adaptive accuracy test"

1 赵亮, 张义德, 胡旭晓. 基于网格包络的工业机器人仿真碰撞检测算法[J]. 中国机械工程, 2017, 28(3): 316-321.
Zhao Liang, Zhang Yi-de, Hu Xu-xiao. A novel collision detection algorithm based on grids enveloping for industrial robot simulations[J]. China Mechanical Engineering, 2017, 28(3): 316-321.
2 米根锁, 梁骅旗. 基于干扰观测器的机械臂非线性滑模控制[J]. 系统仿真学报, 2019, 31(9): 1935-1941.
Mi Gen-suo, Liang Hua-qi. Nonlinear sliding mode control for robotic manipulator based on disturbance observer[J]. Journal of System Simulation, 2019, 31(9): 1935-1941.
3 陈耀东, 刘琴, 彭蝶飞. 面向姿态估计的组件感知自适应算法[J]. 计算机工程, 2018, 44(11): 257-264.
Chen Yao-dong, Liu Qin, Peng Die-fei. Component-aware adaptive algorithm for pose estimation[J]. Computer Engineering, 2018, 44(11): 257-264.
4 邓君, 李川, 白云. 串联工业机器人机械臂的模块化组合式设计方法[J]. 科学技术与工程, 2018, 18(22): 66-71.
Deng Jun, Li Chuan, Bai Yun. Modular combined design method of mechanical arm of serial industrial robot[J]. Science Technology and Engineering, 2018, 18(22): 66-71.
5 王磊, 胡学东, 关英, 等. 低成本微惯性组件的复合标定与智能滤波方法[J]. 弹箭与制导学报, 2018, 38(2): 79-83, 87.
Wang Lei, Hu Xue-dong, Guan Ying, et al. Compounded calibration and intelligent filter method for low cost micro IMU[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2018, 38(2): 79-83, 87.
6 张飞, 单忠德, 任永新, 等. 缸盖缺陷检测系统线阵相机现场标定方法[J]. 吉林大学学报: 工学版, 2017, 47(2): 540-545.
Zhang Fei, Shan Zhong-de, Ren Yong-xin, et al. Calibration of line array camera for head defect detection system on cylinder cover[J]. Journal of Jilin University(Engineering and Technology Edition), 2017, 47(2): 540-545.
7 王凤艳, 黄润秋, 陈剑平, 等. 基于计算机视觉和测量平差理论的相机标定[J]. 吉林大学学报: 工学版, 2017, 47(3): 944-951.
Wang Feng-yan, Huang Run-qiu, Chen Jian-ping, et al. Camera calibration based on computer vision and surveying adjustment fundamentals[J]. Journal of Jilin University(Engineering and Technology Edition), 2017, 47(3): 944-951.
8 赵立恒. 三维景观规划图像特征增强方法仿真研究[J]. 计算机仿真, 2017, 34(12): 407-410.
Zhao Li-heng. Simulation research on image feature enhancement method of 3D landscape planning[J]. Computer Simulation, 2017, 34(12): 407-410.
9 周保余, 赵宏伟, 肖杨, 等. 基于局部熵的图像特征描述方法[J]. 吉林大学学报: 工学版, 2017, 47(2): 601-608.
Zhou Bao-yu, Zhao Hong-wei, Xiao Yang, et al. Image feature description method based on local entropy[J]. Journal of Jilin University(Engineering and Technology Edition), 2017, 47(2): 601-608.
10 岳丽清, 王东杰, 张京运, 等. 基于自标定技术的空间机械臂相机坐标系引出方法[J]. 光学与光电技术, 2017, 15(1): 34-38.
Yue Li-qing, Wang Dong-jie, Zhang Jing-yun, et al. Eduction method of space manipulator camera coordinate system based on self-calibration[J]. Optics & Optoelectronic Technology, 2017, 15(1): 34-38.
11 鲁鑫, 高敬东, 李开龙. 不同姿态表示方法下的姿态估计分析[J]. 舰船科学技术, 2018, 40(3): 137-141.
Lu Xin, Gao Jing-dong, Li Kai-long. Attitude estimation analysis under different attitude representation methods[J]. Ship Science and Technology, 2018, 40(3): 137-141.
[1] Bing-hai ZHOU,Zhao-xu HE. Dynamic material handling scheduling for mixed⁃model assembly lines based on line⁃integrated supermarkets [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1809-1817.
[2] Hong-wei ZHAO,Xiao-han LIU,Yuan ZHANG,Li-li FAN,Man-li LONG,Xue-bai ZANG. Clothing classification algorithm based on landmark attention and channel attention [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1765-1770.
[3] Xiang-jiu CHE,You-zheng DONG. Improved image recognition algorithm based on multi⁃scale information fusion [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1747-1754.
[4] Zhou-zhou LIU,Wen-xiao YIN,Qian-yun ZHANG,Han PENG. Sensor cloud intrusion detection based on discrete optimization algorithm and machine learning [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 692-702.
[5] Xiao-hui WANG,Lu-shen WU,Hua-wei CHEN. Denoising of scattered point cloud data based on normal vector distance classification [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 278-288.
[6] Xiao-dong ZHANG,Xiao-jun XIA,Hai-feng LYU,Xu-chao GONG,Meng-jia LIAN. Dynamic load balancing of physiological data flow in big data network parallel computing environment [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 247-254.
[7] Man CHEN,Yong ZHONG,Zhen-dong LI. Multi-focus image fusion based on latent low⁃rank representation combining low⁃rank representation [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 297-305.
[8] Shun-fu JIN,Xiu-chen QIE,Hai-xing WU,Zhan-qiang HUO. Clustered virtual machine allocation strategy in cloud computing based on new type of sleep-mode and performance optimization [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 237-246.
[9] Jun-yi DENG,Yan-heng LIU,Shi FENG,Rong-cun ZHAO,Jian WANG. GSPN⁃based model to evaluate the performance and securi tytradeoff in Ad-hoc network [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 255-261.
[10] Tie-jun WANG,Wei-lan WANG. Thangka image annotation based on ontology [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 289-296.
[11] Xiong-fei LI,Jing WANG,Xiao-li ZHANG,Tie-hu FAN. Multi-focus image fusion based on support vector machines and window gradient [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 227-236.
[12] Hong-yan WANG,He-lei QIU,Jia ZHENG,Bing-nan PEI. Visual tracking method based on low⁃rank sparse representation under illumination change [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 268-277.
[13] You ZHOU,Sen YANG,Da-lin LI,Chun-guo WU,Yan WANG,Kang-ping WANG. Acceleration platform for face detection and recognition based on field⁃programmable gate array [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 2051-2057.
[14] Hong-wei ZHAO,Peng WANG,Li-li FAN,Huang-shui HU,Ping-ping LIU. Similarity retention instance retrieval method [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 2045-2050.
[15] Jun SHEN,Xiao ZHOU,Zu-qin JI. Implementation of service dynamic extended network and its node system model [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 2058-2068.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd