基于深度学习和逆运动学的挖掘机机械手姿态估计系统

2022 World Automation Congress (WAC) Pub Date : 2022-10-11 DOI:10.23919/WAC55640.2022.9934504

Yuki Kurisu, Tomio Shigaki, Nozomu Araki, Y. Konishi

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引用次数: 0

摘要

本研究的目的是建立一个简单的系统来估计和测量前机械手的姿态，通过在挖掘机上安装一个摄像头。我们提出了一种通过深度学习提取手臂和桶尖特征点的方法，并从获得的特征点中使用相机几何和逆运动学来计算前部的姿态。通过比例模型实验验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Posture Estimation System for Excavator Manipulator Using Deep Learning and Inverse Kinematics

This study aims to construct a simple system for estimating and measuring the front manipulator posture by attaching a camera to an excavator. We propose a method to extract the feature points of the arms and buckets tip by deep learning and to calculate the posture of the front part using camera geometry and inverse kinematics from the obtained feature points. The effectiveness of the proposed method was verified experimentally using a scale model.

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2022 World Automation Congress (WAC)

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