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检索条件"机构=Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology"

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Pedestrian Detection Algorithm Based on Improved YOLOv5 7

Pedestrian Detection Algorithm Based on Improved YOLOv5

引用

7th International Conference on Advanced Algorithms and Control Engineering, ICAACE 2024

作者： Li, Wenjie Zhao, Yongguo Zhang, Yanfang Gao, Jia Song, Xinran Shandong Provincial Key Laboratory Of Robot And Manufacturing Automation Technology Jinan China

ISBN: (纸本)9798350361445

In order to solve the problem that the object detector is difficult to identify pedestrians at different scales, this paper introduces the MSBlock module into the Backbone layer by improving the YOLOv5 algorithm, enhancing the ability of the real-time object detector to extract multi-scale features and the problem of missed detection and false detection caused by the large difference in the size of the character target, while maintaining the fast inference speed, adding the PConv module to the Head layer to reduce redundant computing and memory access, so as to extract spatial features more effectively. At the same time, the path aggregation structure of multi-feature fusion is realized by fusing the underlying features in the backbone network, and the CIoU loss function is used to reduce the regression error and further improve the accuracy of target detection, so as to achieve accurate identification of pedestrians. Experimental results show that compared with the YOLOv5s algorithm and the original YOLOv5n algorithm, the mAP of the improved YOLOv5 algorithm in the recognition experiment is increased by 1% and 5.3%, respectively. And the improved YOLOv5 algorithm is lighter than YOLOv5s. © 2024 IEEE.

关键词： Object detection

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Research on robotic mapping based on fusion of LiDAR and depth camera 10

Research on robotic mapping based on fusion of LiDAR and dep...

引用

10th International Conference on Mechanical Engineering, Materials, and automation technology, MMEAT 2024

作者： Li, Zhaoyang Ma, Zhengguang Xiao, Yongfei Zhao, Yongguo Xie, Jinyong Xia, Chongqiang Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan China

ISBN: (纸本)9781510682634

In order to solve the problems of indoor mobile robot mapping, such as not detecting small obstacles or unsatisfactory mapping results, this paper proposes a depth camera and LiDAR fusion method for indoor mobile robot mapping. First, the LIDAR odometer was estimated using LIDAR distance scanning. Then the LIDAR odometer, wheeled odometer, and IMU are fused using Kalman filtering to improve the odometer accuracy. Next, the depth image is converted to pseudo-laser information, and the pseudo-laser information and laser information are simply spliced, weighted average and other operations are performed to fuse them into laser information with more comprehensive information. Finally, the mapping algorithm is used to receive the fused laser information and the fused odometer to complete the 2D construction of the surrounding environment. The Gazebo simulation environment and the robot model are built through the ROS2 system for verification. The research results show that the optimized fusion algorithm makes the indoor mobile robot clearer in the mapping of hollow-out objects, more accurate in obstacle, and more accurate in robot. This provides a certain reference for mobile robot map. © 2024 SPIE.

关键词： Data fusion

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The design of a tracking control system for robot mobile platform based on ARM 6

The design of a tracking control system for robot mobile pla...

引用

6th International Conference on Information Science, Electrical, and automation Engineering, ISEAE 2024

作者： Wang, Gang Zhu, Lin Lu, Shunpeng Xiao, Yongfei Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan China

ISBN: (纸本)9781510682924

This paper proposes a control system design for a visual tracking robot mobile platform based on ARM platform. The system uses STM32F103ZET6 as the central controller and the OV7725 camera as the visual sensor to collect the image information. The 520 DC motor and encoder are used to form a closed loop to control the speed and steering of the platform. Lora wireless module is used to design the remote control terminal to realize the remote control of the platform and obtain the speed, position, and other information. The STM32F103ZET6 performs data acquisition of the image through the OV7725 camera module, which first converts the image data into gray values of pixels to achieve route identification and image binarization, then extracts the route center coordinates, identifies the effective trajectory area, and obtains the angular deviation of the camera's current position from the desired direction through image processing and linear fitting to the midpoint of the road, and then uses a kinematic formula to determine the two-wheel speed required to achieve the specific angular deviation. © 2024 SPIE.

关键词： Image acquisition

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Fluid Dynamics Analysis for Underwater robot Based on CFD Method 24

Fluid Dynamics Analysis for Underwater Robot Based on CFD Me...

引用

3rd International Symposium on Control Engineering and robotics, ISCER 2024

作者： Wijesundara, Benthota Vidanalage Manjula Srinath Liu, Shiqi Gao, Han Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan250014 China Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Shandong Automation System Engineering Co. Ltd Jinan250014 China

ISBN: (纸本)9798400709951

This study used computational fluid dynamics (CFD) to analyze an underwater robot design simulated in SolidWorks Flow Simulation from 5m to 15m depth and 5m/s speed through the z-axis. The CFD analysis examines static pressure, dynamic pressure, total pressure, temperature, and velocity distributions. Through simulation, key insights are gained into structural stresses, stability, drag, and flow behavior to enhance deep sea robotic systems. This demonstrates the use of CFD to evaluate multifaceted phenomena and enhance robotic systems for deep sea operation. Findings establish simulation practices to improve vehicle robustness against extreme pressures and temperatures in undersea environments. CFD was an effective tool for virtually optimizing underwater vehicle designs before physical deployment. The virtual simulations can guide design optimizations and operational parameters before physical deployment. This paper presents a CFD simulation analysis for six thrusters underwater robot design using SolidWorks Flow Simulation. © 2024 ACM.

关键词： Computational fluid dynamics

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Machine Vision Based Transformer Insulation Pad Identification Detection 8

Machine Vision Based Transformer Insulation Pad Identificati...

引用

8th International Conference on Intelligent Computing and Signal Processing, ICSP 2023

作者： Huang, Shuo Wang, Yali Xiao, Yongfei Sun, Jie Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan China

ISBN: (纸本)9798350302455

Addressing the issues of low efficiency, low accuracy, and high cost in traditional transformer insulation pad recognition and detection, A machine vision based contour size detection system for transformer insulation pads was studied and designed. The image of the pad is captured by an industrial camera, the image is analyzed and processed by the vision software OpenCV, the shape is recognized by an improved edge detection algorithm, the minimum outer contour is fitted by the Douglas-Peucker algorithm, and the conversion of the spatial coordinate system is completed by fast camera calibration and pixel conversion, and finally the outer contour recognition and the length and width of different models of transformer insulation pads are realized. The results are displayed through the MFC user interface. The experimental results show that the pad identification and detection system is stable and can guarantee a high accuracy rate and solve various problems in traditional measurement. © 2023 IEEE.

关键词： Computer vision

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Kinematic modeling and motion base library design for autonomous guided trolley for warehouse handling 8

Kinematic modeling and motion base library design for autono...

引用

8th International Conference on Intelligent Computing and Signal Processing, ICSP 2023

作者： Xin, Hengyuan Wang, Peng Zhao, Yongguo Xiao, Yongfei Song, Bowen Zang, Entong Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Institute of Automation Jinan China

ISBN: (纸本)9798350302455

Based on the rapid development of modern ecommerce industry, this paper designs a kinematic base library for autonomous guided vehicles to replace manual handling in the current e-commerce market, which can be used for a variety of autonomous guided vehicles in e-commerce warehouses and can significantly reduce the development time of the chassis for AGV applications. In this paper, we firstly analyze the chassis configurations of AGVs commonly used in e-commerce warehouses, model the kinematics of two types of AGV chassis, verify the accuracy of the models through simulation, and finally encapsulate the kinematic models of these two types of AGVs into a common base library, which can be directly called by the AGV application providers when developing the chassis. This will be of great significance to the AGV application providers to save time and cost and improve economic efficiency. © 2023 IEEE.

关键词： Kinematics

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Concrete surface crack detection method based on improved deformable convolution with YOLOv5 6

Concrete surface crack detection method based on improved de...

引用

6th International Conference on Computer Information Science and Application technology, CISAT 2023

作者： Zhang, Shihao Li, Yang Song, Mingzhao Ma, Xiao Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Ji Nan China

ISBN: (纸本)9781510668546

This study ensures the safe operation of bridges by real-time recognition of concrete surface cracks on bridges. Traditional crack recognition methods are slow and have low accuracy. To address this issue, we propose an improved YOLOv5 (You Only Look Once version 5) detection model based on Deformable Convolution (DCN), called YOLOv5-D. The baseline YOLOv5 model has been optimized in three aspects: First, deformable convolution replaces part of the standard convolution in the backbone network, improving the model's recognition accuracy. Second, the SE attention mechanism is added to adaptively recalibrate channel-wise feature responses, stimulating information features and thereby enhancing the shared underlying feature map representations. Third, the CIOU_Loss is proposed as the loss function, achieving a collaborative optimization of crack detection speed and accuracy, and meeting the deployment requirements of embedded terminals. The improved YOLOv5-D model achieves an average recognition rate (mAP) of 76.1% and a recognition speed of 54 FPS with a model size of 14.5 MB. Compared to the original YOLOv5 model, the average recognition rate is increased by approximately 5.9%, the parameter quantity is reduced by about 10%, and the detection speed remains essentially unchanged. In summary, the YOLOv5-D model achieves a better balance in terms of accuracy and speed, effectively locates cracks, and provides a new technology for early warning of bridge collapse disasters. © 2023 SPIE.

关键词： Convolution

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An inverse kinematic solution for redundant robotic arms based on a combination of analytical and geometric methods 9

An inverse kinematic solution for redundant robotic arms bas...

引用

9th International Conference on Mechanical Engineering, Materials, and automation technology, MMEAT 2023

作者： Pan, Chengshan Zhao, Yongguo Wang, Peng Xiao, Yongfei Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan China

ISBN: (纸本)9781510668584

Seven-degree-of-freedom redundant robotic arms with linkage offsets are suitable for complex tasks and have obvious geometric significance. However, the redundancy of degrees of freedom also increases the complexity of the spatial configuration, which makes the kinematic solution slow, computationally intensive and subject to iterative cumulative errors. This paper proposes an inverse kinematic solution method based on a combination of analytical and geometric methods to avoid self-collision by limiting the joints. This allows the redundant robot arm to reach the target position quickly and stably with an optimal attitude. Finally, kinematic simulations using Rviz and Gazebo in ROS demonstrate the high accuracy of the method. This provides an accurate, real-time, complete and stable solution for the kinematic solution of the redundant robotic arm and can be effectively applied to related research and development work in the field of robotics. © 2023 SPIE.

关键词： robotic arms

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Design and Research of robot Wire Shearing System Based on Vision Positioning 6

Design and Research of Robot Wire Shearing System Based on V...

引用

6th International Conference on Computer Information Science and Application technology, CISAT 2023

作者： Song, Bowen Xiao, Yongfei Zang, Entong Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan China

ISBN: (纸本)9781510668546

The main objective of this paper is to design and research a vision-based positioning system for robotic wire cutting to address the problems of small iron wire pixels and not easy recognition. This system improves the accuracy of wire detection by improving the YOLOv5 algorithm for small target detection, setting up a new gradient path on the SPP, and enhancing the feature extraction capability. This paper uses a FANUC robot as the robot platform, and a clip-shear device is designed to fix the wire to achieve automatic shearing. Experimental results show that this system can accurately detect and locate the wire and effectively perform automated shearing. © 2023 SPIE.

关键词： Wire

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Simulation of autonomous inspection robot application based on ROS 6

Simulation of autonomous inspection robot application based ...

引用

6th International Conference on Computer Information Science and Application technology, CISAT 2023

作者： Zang, Entong Xiao, Yongfei Song, Bowen Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan China

ISBN: (纸本)9781510668546

Simultaneous localization and map construction (SLAM) is a hot research topic in mobile robotics and is a crucial technology for developing inspection robots. This paper focuses on mapping the environment by analyzing the Gmapping and Karto Slam algorithms' mapping effects and constructing a simulation environment map using the Karto Slam algorithm. To address the obstacle avoidance problem that cannot be handled by only using the Dijkstra algorithm for global path planning, an improved DWA algorithm is introduced for local path planning to optimize the real-time obstacle avoidance function of the robot. Based on the construction of a robot simulation platform, this paper studies the previous simulation of an autonomous inspection robot before actual experiments. Through simulation experiments of mapping and path planning, this study provides support for the feasibility of robot field experiments, reducing the cycle and difficulty of on-site debugging. © 2023 SPIE.

关键词： Motion planning

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