全地形智能垃圾抓取机器人的设计与实现

Design and implementation of all-terrain intelligent garbage

为实现复杂地况垃圾清理,设计了一款针对复杂室内外场景下的通用移动垃圾抓取机器人,能够实现特定场景下的自主定位、轨迹规划、多方位感应自动避障、垃圾视觉识别、机械臂自动抓取等功能。主要使用Arduino和K210完成机器定位、路线规划、自动避障等方案的设计,同时进行了全局路线规划和导航,在过程中也使用了超声波传感器搭配K210利用的局部路线规划算法,实现了动态避障。仿真结果证明了方案设计方法的合理性,在复杂地况物体抓取方面具有高效率,有着良好的应用前景。

In order to achieve a complex situation, the garbage is designed in this paper, a universal mobile waste of the complex indoor and outdoor scenes, which can realize the autonomous positioning, trajectory planning, multi-face sensing automatic avoidance, garbage visual identification, intelligent garbage crawling robot for automatic crawling of robotic arms. Mainly using Arduino and K210 for machine positioning, path planning, automatic avoidance and other schemes, implementation of global path planning and navigation, using ultrasonic sensor with K210 by local path planning algorithm for dynamic avoidance. The experimental results verify the effectiveness of the proposed method, and have high efficiency in the abundance of the complex situation, therefore has a good application scenario.