一种球形移动机器人传感系统设计

Design of sensor system for a spherical mobile robot

文章为了解决球形机器人自主控制的问题,根据球形机器人结构和运动的特殊性,设计了一种球形机器人的传感系统。建立了无滑动条件下球形机器人运动模型,根据运动模型由惯性测量系统和光电码盘数据组合得到机器人位姿。利用激光测距传感器获取周围障碍物信息。通过全局CCD视觉传感器跟踪识别目标物体,使用手眼CCD视觉传感器和超声传感器定位目标物体并协调机械臂实现对操作目标准确快速的抓取、放置。

in order to slove the problem of intelligent control of the spherical mobile robot, based on the speciality of the robot＇s structure and motion, we have designed one kind of sensor system for spherical robot. Build the motion model in the condition of non-slipping, according to the motion model we can get the pose of the robot by the inertial measurement system and the photoelectric encoder. Use laser measurement sensor to detect the obstacle around. Use overview camera to track and recognise the target. Use the arm part camera and ultrasonic senor to locate the target, and then cooperate the arm to grip and put dowm the target.