绑定点识别和定位以及操纵器绑定路径规划,用于杆绑定机器人
Linjie Dong1, Renfei Zhang1, Zikang Shao1
1School of Mechanical Engineering, Southeast University, Nanjing 211189, China.
Sensors (Basel, Switzerland)
|February 27, 2026
概括
本研究介绍了一种用于自动装甲杆结合机器人的综合方法,提高了复杂建筑任务的结合点识别和路径规划效率. 这种新方法提高了机器人装甲杆绑定操作的准确性和速度.
科学领域:
- 机器人和自动化 机器人和自动化
- 计算机视觉 计算机视觉
- 土木工程 土木工程是指土木工程.
背景情况:
- 在预制组件中,杆结合是劳动密集型,低效,难以标准化的.
- 机器人铁杆绑定在复杂环境中面临挑战,包括准确的绑定点识别和高效的路径规划.
研究的目的:
- 为机器人应用程序开发一个综合方法,用于杆绑定点识别,定位和路径规划.
- 为了提高精度,实时性能和机器人钢筋结合在施工中的效率.
主要方法:
- 开发了YOLOv8n-pose-Binding,这是一个轻量级的模型,用于使用多尺度的幽灵卷积和自适应值焦点损失来识别和定位铁杆结合点.
- 构建了一个专门的目标坐标系统,用于精确地估计操纵器基架中的姿势.
- 改进了用于机器人操纵器路径规划的RRT-Connect算法,解决了不均的障碍物和高维运动特征.
主要成果:
- YOLOv8n-pose-Binding模型证明了提高关键点检测精度和实时性能,降低了计算复杂度.
- 改进的RRT-Connect算法在模拟和实验中显示出卓越的路径规划效率和质量.
- 与基线模型相比,综合方法在识别精度和推断效率方面取得了稳定的改进.
结论:
- 拟议的综合方法为自动化铁杆绑定操作提供了可部署的技术解决方案.
- 计算机视觉和路径规划算法的进步有助于更高效,更准确的机器人建设过程.
- 这项工作解决了机器人铁杆绑定方面的关键工程挑战,为预制组件制造业更广泛采用铺平了道路.
相关概念视频
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Protein-ligand interactions are quite specific; even though numerous potential ligands surround a cellular protein at any given time, only a particular ligand can bind to that protein. Moreover, a ligand binds only to a dedicated area on the surface of the protein, known as the...
02:13Cooperative Binding of Transcription Regulators
Transcriptional regulators bind to specific cis-regulatory sequences in the DNA to regulate gene transcription. These cis-regulatory sequences are very short, usually less than ten nucleotide pairs in length. The short length means that there is a high probability of the exact same sequence randomly occurring throughout the genome. Since regulators can also bind to groups of similar sequences, this further increases the chances of random binding. Transcriptional regulators form dimers that...