基于机器视觉的语音交互机械臂助手的设计与实现

George Nantzios, Nikolaos Baras, M. Dasygenis
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引用次数: 3

摘要

很明显,过去几十年的技术增长标志着几个应用领域的发展。机器人技术是近年来发展迅速的一个应用领域。机器人系统在商业和非商业环境中的使用和推广提高了生产力、效率和生活质量。许多研究人员开发了基于机器人技术的系统,改善了人们生活的许多方面。大多数工程师使用高成本的机械臂,这通常超出了普通消费者的承受能力。我们通过展示一个低成本、高精度的项目来填补这一空白,这个项目可以作为每个消费者的机器人助手。我们的项目旨在进一步改善人们的生活质量,特别是那些身体和行动不便的人。机器人系统基于Niryo-One机械臂,在末端执行器上配备USB(通用串行总线)HD(高清)摄像机。为了达到更高的精度,我们修改了YOLO算法,在运动学模型中加入了新的特征和额外的计算。我们利用本实验室的博士生对所提出的系统进行了实验评估,并证明了其有效性。实验结果表明,该机械臂能够以96.66%的准确率及时检测并递送要求的目标。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and Implementation of a Robotic Arm Assistant with Voice Interaction Using Machine Vision
It is evident that the technological growth of the last few decades has signaled the development of several application domains. One application domain that has expanded massively in recent years is robotics. The usage and spread of robotic systems in commercial and non-commercial environments resulted in increased productivity, efficiency, and higher quality of life. Many researchers have developed systems that improve many aspects of people’s lives, based on robotics. Most of the engineers use high-cost robotic arms, which are usually out of the reach of typical consumers. We fill this gap by presenting a low-cost and high-accuracy project to be used as a robotic assistant for every consumer. Our project aims to further improve people’s quality of life, and more specifically people with physical and mobility impairments. The robotic system is based on the Niryo-One robotic arm, equipped with a USB (Universal Serial Bus) HD (High Definition) camera on the end-effector. To achieve high accuracy, we modified the YOLO algorithm by adding novel features and additional computations to be used in the kinematic model. We evaluated the proposed system by conducting experiments using PhD students of our laboratory and demonstrated its effectiveness. The experimental results indicate that the robotic arm can detect and deliver the requested object in a timely manner with a 96.66% accuracy.
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