摘要
为解决人工捡球费力费时的问题,设计了一种双目视觉识别定位、机械手捡拾和自主避障的轮式智能捡球机器人。该机器人通过双目摄像头和Lab VIEW平台,实现对小球图像的实时采集与处理;运动控制系统采用以STM32F411为主核心的NUCLEO-F411RE嵌入式开发板,实现对各个模块的驱动;通过五自由度机械手实现小球的捡拾;通过红外传感器检测周围环境,实现自主避障;由计数器统计捡球数量,通过手柄模块人机交互辅助完成卸载过程。仿真结果表明:该机器人能够完成高尔夫球、乒乓球、网球等多种小型球类的捡拾任务。
In order to solve the labor and efficiency problem of manual picking up balls,a kind of wheeled intelligent pick-up robot is designed,which is used with binocular vision and manipulator for picking up balls. The robot could be realized of the real-time acquisition and processing of ball image based on the binocular camera and Lab VIEW platform;the motion control system could be realized of the drive of each module based on NUCLEO-F411 RE embedded development board based on STM32 F411 cor;the five degrees of freedom( 5 DOF) manipulator could pick up balls. the infrared sensors can detect the surrounding environment and achieve obstacle avoidance balls;the counter could count the number of balls;unloading balls could be assisted with the remote control module by man-machine interactive technology. The kinematies simulation shows that the robot can pick up a variety of small ball games such as golf,table tennis,tennis and so on.
作者
周旭
周海波
陈睿
张兆强
张忠党
ZHOU Xu;ZHOU Haibo;CHEN Rui;ZHANG Zhaoqiang;ZHANG Zhongdang(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)
出处
《机床与液压》
北大核心
2020年第3期34-40,79,共8页
Machine Tool & Hydraulics
基金
国家级大学生创新创业训练计划项目(201610060050)
天津市自然科学基金重点项目(17JCZDJC30400)。
关键词
捡球机器人
双目视觉
机械手
避障
控制系统
Pick-up ball robot
Pinocular vision
Manipulator
Obstacle avoidance
Control system
