基于嵌入式系统的捡球机器人设计

Design of Ball-picking Robot Based on Embedded System

随着经济社会的发展,网球运动已经得到普及,文中针对捡球繁琐这一问题,结合机器视觉、电机控制、PID算法等技术的应用,设计了一种基于嵌入式系统的捡球机器人。该设计以STM32F103芯片为控制核心,主要设计了硬件系统部分、OpenMV物体识别部分、网球跟踪的PID设计部分、OLED显示部分和超声波避障部分。机器人通过OpenMV识别网球并将二维坐标值通过串口发送至STM32F103,进而通过PID算法来控制电机运动,使机器人靠近网球并进行收集,经过120次室内调试,完成度高达93.3%,调试结果表明,该系统的准确性和实用性均满足了使用要求。

With the development of economy and society, tennis has been popular. According to the problem of tedious ball picking, combined with the application of machine vision, motor control, PID algorithm and other technologies, a robot robot is designed. The design takes STM32F103 chip as the control core, and mainly designs the hardware system part, OpenMV object recognition part, tennis tracking PID design part, OLED display part and ultrasonic obstacle avoidance part. The robot recognizes the tennis ball through OpenMV and sends the two-dimensional coordinate value to STM32F103 through the serial port, and then controls the motor movement through the PID algorithm, so that the robot is close to the tennis ball and collects it. After 120 indoor debugging, the completion degree is as high as 93.3%. The debugging results show that the accuracy and practicability of the system meet the use requirements.