摘要
综合应用单目视觉测量和多传感器数据融合技术,设计一种室内搬运机器人。以NI-myRIO为主控制器,处理摄像头采集到的图像信息并提取设定物体的目标数据,处理传感器获取的姿态数据,对机器人进行自动导向,控制电机驱动机器人行进;以STM32单片机为协处理器,控制机器人上肢完成设定物体的抓取和搬运。通过实验测试,该系统能完成机器人的视觉图像处理和路径控制,机器人按照设定目标完成工作。
A kind of indoor moving robot is designed based on monocular vision measurement and multi-sensor data fusion technology.With NI-myYRIO as the main controller,the image information collected by the camera is processed and the target data of the set object is extracted.The attitude data obtained by the sensor is processed.The robot is guided automatically and the motor is controlled to drive the robot.The STM32 microcontroller is used as the coprocessor to control the upper limb of the robot to grasp and move the set object.Through the experimental test,the system can complete the visual image processing and path control of the robot,and the robot can complete the work according to the set target.
作者
蔡妍娜
CAI Yan-na(Wuxi Machinery and Electronic Branch,Jiangsu Union Technical Institute.Wuxi 214028,China)
出处
《仪表技术》
2019年第11期14-17,共4页
Instrumentation Technology
基金
江苏省职业教育教学改革研究课题(ZYB46)
