可适应复杂地形的球形自平衡寻物机器人

Spherical Self-balanced Object-finding Robot Adaptable to Complex Terrain

设计了一台可适应复杂地形、半径约为5cm的不倒翁式球形自平衡寻物机器人,可以实现周围信息的采集、无线传输数据、无线充电等功能。为了精确控制其运动,采用位置式PD和卡尔曼滤波等算法,在保持重心稳定的同时,抑制高斯白噪声,使机器人始终以水平视角输出图像信息,提高了采集数据的可靠性。经过测试,机器人可以在受到干扰后的3s内恢复平衡,还可实现多台协同控制、超大面积寻物的功能,具有稳定的鲁棒性和比一般轮式机器人更强的抗干扰能力。

In the paper,a tumbler self-balancing spherical robot is designed,which has the ability to achieve the acquisition of information around,wireless transmission of data,wireless charging and other functions.The spherical robot can adapt the complex terrain and the radius is about 5 cm.In order to control its motion accurately,positional PD,integration limiting and Kalman filtering algorithms are used.While keeping the center of gravity stable,the white Gaussian noise can be suppressed,and it can always output the image information from horizontal view.The reliability of collecting data is also improved.According to the text,the robot is able to recover its balance within three seconds of being disturbed.It can also realize the function of multiple cooperative control and super large area searching.And combined with the image acquisition and recognition function of the camera,the object seeking can be realized finally.Moreover,compared with the wheeled robot,the spherical robot has stronger anti-interference ability and higher robustness.