基于FPGA的冰雪赛场补冰巡检一体化机器人设计

FPGA-Based Design of An Integrated Robot for Ice Replenishment and Inspection in Winter Sports

针对2022北京冬季奥运会的特色“科技冬奥”,设计基于现场可编程逻辑门阵列(Field Programmable Gate Array,FPGA)的补冰巡检一体化机器人,以减轻冰场补冰员的负担。利用可编程器件FPGA采集处理多源传感器信号,结合沉芯微控制单元(Micro Controller Unit,MCU)反馈控制六轴机械臂,并融合灰度深度双特征,实现精准补冰。本系统通过冰场在线联调验证系统的有效性,测试了补冰精确性。结果表明,该系统能准确检测大小各异的冰坑,并实现精准补冰,在冰雪运动中具有很高的应用前景和商业价值。

Aiming at the 2022 Beijing Winter Olympics feature“science and technology Winter Olympics”,a Field Programmable Gate Array(FPGA)-based integrated ice replenishment inspection robot is designed to relieve the heavy task of ice replenishment personnel on the ice rink.The project utilizes a programmable device,FPGA,to collect and process multi-source sensor signals.It is combined with a Chenxin Micro Controller Unit(MCU)to provide feedback control of the six-axis robotic arm.The system integrates the dual features of grayscale and depth to achieve precise ice replenishment.To validate the effectiveness of the system,it was tested through online joint debugging of the ice rink,and the accuracy of ice replenishment was also tested.The results demonstrate that the system can accurately detect ice pits of various sizes and precisely replenish ice,making it highly valuable for commercial applications in winter sports.