移动拣取机器人的研究与设计

Research and Design of Mobile Picking Robot

研究旨在开发出能同时实现智能移动和自由抓取的五自由度机械手,系统由智能车、多功能舵机组装载斗和摄像头等多种传感器构成的一款带有智能识别、定位、返航的可移动式机械拾取装置。在自动模式下,通过OPENMV摄像头经过一系列的图像处理算法,定位杂物位置坐标返回值至单片机进行数据处理,智能控制四驱车及机械舵机组进行自由移动、抓取,搬运等功能。在手动模式下,通过远程遥控,可以操作装置进行相关物体的拾取操作,同时兼具视频传输的功能,尤其对于水面操作更具有实用性。

This research aims to develop a five movement and free grasp. The system is a portable -degree-of-freedom manipulator with intelligent mechanical device with functions of intelligent identification, positioning, and course reversal; consisting of multiple sensors, such as intelligent vehicles, muhi-funetion steering gear assembly carriers and cameras. In automobile mode, the functions are achieved by a series of mechanical operations： processing the images through the OPENMV cameras at the first; followed by positioning the sundry coordinates and returning the value to the single-chip microcomputer for data processing; finally actualizing free-move, grasp, and carry through the intelligent control four-wheel drive and mechanical steering group. In manual mode, the functions are achieved by remote control. Meanwhile, the videos could be transmitted, particularly more practical for the situation of water operation.