基于单目视觉的星球车车轮沉陷量和滑转率实时检测

doi:10.3901/JME.2021.24.259

机械工程学报 ›› 2021, Vol. 57 ›› Issue (24): 259-267.doi: 10.3901/JME.2021.24.259

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基于单目视觉的星球车车轮沉陷量和滑转率实时检测

袁野, 丁亮, 杨超杰, 高海波, 邓宗全, 刘振

哈尔滨工业大学机器人技术国家重点实验室哈尔滨 150001

收稿日期:2021-06-25 修回日期:2021-10-09 出版日期:2021-12-20 发布日期:2022-02-28
通讯作者: 丁亮(通信作者),男,1980年出生,博士,教授,博士研究生导师。主要研究方向为星球车、野外足式机器人和地面力学。E-mail:liangding@hit.edu.cn
作者简介:袁野,女,1996年出生,博士研究生。主要研究方向为星壤在线参数识别。E-mail:yuanye_hit@hotmail.com
基金资助:
国家自然科学基金（51822502）、国家自然基金委创新研究群体（51521003）、中央高校基本科研业务专项资金（HIT.BRETⅣ.201903）和“111”创新引智计划（B07018）资助项目。

Real-time Monocular Vision Based Wheel Sinkage and Slip Detection for Planetary Rovers

YUAN Ye, DING Liang, YANG Chaojie, GAO Haibo, DENG Zongquan, LIU Zhen

State Key Laboratory for Robotics and System, Harbin Institute of Technology, Harbin 150001

Received:2021-06-25 Revised:2021-10-09 Online:2021-12-20 Published:2022-02-28

摘要/Abstract

摘要： 松软地形下，星球车车轮会发生滑转和沉陷，实时检测沉陷量和滑转率在星球车仿真、车轮协调控制以及土壤参数辨识等方面具有重要意义。提出基于单目视觉的车轮沉陷量和滑转率的实时检测方法，对车轮感兴趣区域进行边缘检测并将轮壤交界拟合为直线，得出沉陷量；对车轮图像进行霍夫圆检测和标志物角点检测，得出车轮转动像素距离，并使用光流法从地面图像中得出车轮移动像素距离，由车轮转动和移动像素距离计算滑转率。仅利用一个单目摄像头，实时检测车轮滑转率和沉陷量两个重要参数，且在数据处理过程中无需转化为实际距离，计算量小，精度高。通过单轮测试台进行典型车轮和典型工况试验，对比视觉方法和测试台的检测结果，验证提出方法的有效性。结果表明，车轮滑转率测量相对误差不超过3%，车轮沉陷量测量误差不超过3 mm。

关键词: 星球车车轮, 滑转率, 沉陷量, 单目视觉

Abstract: Planetary rovers' wheels will encounter sinkage and slip when driving on soft terrain. Real-time sinkage and slip detection plays an important role in rover simulation, wheel coordinated control and soil parameter identification. A real-time wheel sinkage and slip detection method based on monocular vision is presented here. Edge detection is performed on the region of interest of the wheel, and the boundary of wheel-terrain is fitted to a straight line to obtain sinkage. Hough circle detection and corner detection are performed on the wheel image to obtain the pixel length of wheel rotation distance. Using optical flow method to derive the pixel length of the wheel displacement distance from ground image, then calculating slip from wheel rotation distance and displacement distance. Only one monocular camera is used to detect the two important parameters, wheel slip and sinkage, in real-time. There is no need to convert the pixel length into actual distance during the data processing, the calculation is small and the accuracy is high. The validity and effectiveness of proposed method is verified by using a single-wheel testbed to carry out the typical wheel and typical working condition tests, and compare results of proposed method and single-test bed. The results show that the relative error of wheel slip is no more than 3%, the measurement error of wheel sinkage is no more than 3 mm.

Key words: rover wheel, slip, sinkage, monocular vision

中图分类号:

V476
U489

袁野, 丁亮, 杨超杰, 高海波, 邓宗全, 刘振. 基于单目视觉的星球车车轮沉陷量和滑转率实时检测[J]. 机械工程学报, 2021, 57(24): 259-267.

YUAN Ye, DING Liang, YANG Chaojie, GAO Haibo, DENG Zongquan, LIU Zhen. Real-time Monocular Vision Based Wheel Sinkage and Slip Detection for Planetary Rovers[J]. Journal of Mechanical Engineering, 2021, 57(24): 259-267.

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基于单目视觉的星球车车轮沉陷量和滑转率实时检测

Real-time Monocular Vision Based Wheel Sinkage and Slip Detection for Planetary Rovers

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