餐桌智能清理机器人系统设计

Design of Intelligent Table Cleaning Robot System

为了解决目前国内各类学校与工厂的食堂就餐高峰期人手不足、桌面得不到及时清理、高峰期过后人手冗余的问题,设计了一套餐桌智能清理机器人系统。结合学校与工厂食堂的实际需求对餐桌智能清理机器人进行方案设计,通过理论分析完成主要器件的参数确定,并对系统的控制电路以及软件进行设计,该系统可通过红外传感器在60~70 cm内实现自动避障,并且通过灰度处理、二值化处理以及腐蚀膨胀处理等操作,实现对垃圾图像轮廓的提取,完成垃圾识别,建立机械手与桌面垃圾的坐标映射关系,具有体积小、灵活性强、性价比高等特点。经过验证,该餐桌智能清理机器人系统可以很好地对桌面垃圾进行清理。

In order to solve the problems of insufficient staff in the dining halls of various schools and factories in China at the peak time,the desks can not be cleaned in time,and the staff redundancy after the peak time,an intelligent table cleaning robot system is designed in this paper.In combination with the actual needs of the school and factory canteens,the scheme design of the intelligent table cleaning robot is carried out.The parameters of the main components are determined through theoretical analysis,and the control circuit and software of the system are designed.The system can realize automatic obstacle avoidance within 60~70 cm through infrared sensors,and the garbage image contour is extracted through grayscale processing,binary processing,corrosion expansion processing and other operations to complete garbage recognition.The coordinate mapping relationship between the manipulator and the desktop garbage is established,which has the characteristics of small size,strong flexibility and high cost performance.After verification,the table intelligent cleaning robot system can well clean the desktop garbage.