| 基于双目视觉的机械手捡球机器人设计 |
| |
| 引用本文： | 周旭,周海波,陈睿,张兆强,张忠党.基于双目视觉的机械手捡球机器人设计[J].机床与液压,2020,48(3):34-40. |
| |
| 作者姓名： | 周旭 周海波 陈睿 张兆强 张忠党 |
| |
| 作者单位： | 天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384;天津理工大学机电工程国家级实验教学示范中心,天津300384;天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384;天津理工大学机电工程国家级实验教学示范中心,天津300384;天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384;天津理工大学机电工程国家级实验教学示范中心,天津300384;天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384;天津理工大学机电工程国家级实验教学示范中心,天津300384;天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384;天津理工大学机电工程国家级实验教学示范中心,天津300384 |
| |
| 基金项目： | 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） |
| |
| 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。
|
| 关 键 词： | 捡球机器人 双目视觉 机械手 避障 控制系统 |
Design of Pick-up Ball Robot Based on Binocular Vision |
| |
| ZHOU Xu,ZHOU Haibo,CHEN Rui,ZHANG Zhaoqiang,ZHANG Zhongdang.Design of Pick-up Ball Robot Based on Binocular Vision[J].Machine Tool & Hydraulics,2020,48(3):34-40. |
| |
| Authors: | ZHOU Xu ZHOU Haibo CHEN Rui ZHANG Zhaoqiang ZHANG Zhongdang |
| |
| Affiliation: | (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) |
| |
| Abstract: | 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. |
| |
| Keywords: | Pick-up ball robot Pinocular vision Manipulator Obstacle avoidance Control system |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《机床与液压》浏览原始摘要信息 |
|
点击此处可从《机床与液压》下载全文 |
|
