一种双模控制的自主跟随机器人系统设计

Design of the Autonomous Following Robot System with Dual-Mode Control

为解决非视觉跟随方式的不稳定性,设计了一种基于机器视觉传感器的自主跟随机器人系统。系统具备自主跟随和手动遥控两种模式。采用Processing软件编写手机端应用程序(APP),通过Wi Fi模块向系统发送模式选择命令。在自主跟随模式下,通过开源机器视觉模块Open Mv采集图像信息,采用Micro Python编程实现对跟随标记的识别定位,获取定位坐标,建立向量空间,并调用差速跟随算法使机器人自主跟随标记,以完成自适应移动。在遥控模式下,通过2.4 GHz无线射频模块n RF24L01发送指令,实现了对无法识别目标等特殊环境下的机器人的控制。通过系统硬件设计和软件编程,搭建了一台系统模型机。采用April Tags码作为跟随标记,对系统功能进行了验证。该系统实现了对特定目标的自主跟随以及手动遥控跟随;无线通信稳定,实现了双模控制,满足了预期要求。该系统对跟随机器人的发展起到了有力的推动作用。

To solve the instability of non-visual following modes,an autonomous following robot system based on machine vision sensor is designed. The system includes autonomous following mode and manual remote control mode. The mobile phone application （ APP） is written by using Processing software and the mode selection command is sent to the system via WiFi module. In autonomous following mode,the image information is acquired through the OpenMv machine vision sensor module. MicroPython programming is adopted to realize recognition and positioning of the following marks, obtain the positioning coordinates, establish the vector space, and the differential follower algorithm is called to make the robot autonomously follow the mark to complete the adaptive movement. In remote control mode, instructions are sent through the 2.4 GHz radio frequency module nRF24L01, to achieve the control of the robot under the special circumstances, for example, the mark cannot be recognized. By designing and programming the system hardware and software,a system model machine is setup. The AprilTags code is used as the follower tag for verifying the functions of system. The system enables robotic autonomous tracking of specific targets and manual remote control. Wireless communication is stable and dual-mode control is achieved for meeting expected requirements. The system has played a strong impetus to the development of the following robots.