中文摘要：

针对自由变域作业中轮式行走变域装置相对大地定位精度较低,而自由变域作业机相对加工作业对象定位精度要求又较高的问题,提出了一种自由变域作业的两级定位方法,即先利用超声波传感器完成轮式行走变域装置相对作业台的第一级定位,然后再利用视觉传感器完成作业机相对作业对象间的第二级定位.实验表明,基于超声波传感器的第一级定位有效提高了轮式行走变域装置的定位精度,而基于视觉传感器的第二级定位对基于超声波传感器的第一级定位精度进一步进行了补偿,两级定位能够有效满足作业机相对作业对象精确定位的作业要求.

英文摘要：

In view of the problem that the relative positioning accuracy of the w heeled mobile free variable domain device related to the ground is relatively low ,and that the positioning ac‐curacy of free field operating machine for processing operation is relatively high ,a two‐level po‐sitioning method of freedom field machine is presented ,which uses ultrasonic sensors to com‐plete the first level positioning between the wheeled walking device and the operating table , then uses the vision sensors to complete the second level positioning between the operating ma‐chine and the operated object .The experimental results show that the first step based on the ultrasonic sensor can effectively improve the positioning accuracy of the w heeled mobile varia‐ble domain device ,and the second level positioning based on the visual sensor is further com‐pensated for the first stage positioning accuracy based on the ultrasonic sensor ,so two‐level po‐sitioning can effectively meet the requirements of accurate positioning of the operating machine＆amp;nbsp;related to the operated object .