一种视觉引导助老服务机器人的总体设计

Overall design of a vision-guided robot for elderly people

为辅助老年人的日常生活,采用视觉导航方式,完成了基于ARM7和数字信号处理器(DSP)双处理器的嵌入式控制系统的硬件设计,开发了一种在室内一定的结构化环境中可实现"到达并抓取"功能的助老机器人-"服务1号"。该机器人结构新颖,采用轮式移动方式,具有两种构型相异的多自由度机械手臂,实现了在一定结构化环境中避障行走、双臂协调作业,完成了"到达并抓取"的任务。实验结果表明,该研究为进一步研究视觉伺服算法奠定了基础。

Aiming at presenting assistant to elderly people in daily life, using vision navigation system, the hardware based on ARM and digital signal processor （DSP） dual embedded microprocessor was designed. A service robot called ＂Service No. 1＂ which can realize reaching and grasping known everyday objects in home structured environment was developed. Moving on wheels, using new structure with two different arms of multi-degree-of-freedom, the robot which travels autonomously and quickly can complete arriving and operating daily objects in coordination, while avoiding obstacles in structure environment. The experiment result shows that the research lays the foundation of the study of the vision servo robot.