视觉导航草坪修剪机器人控制系统设计

设计了基于视觉导航的草坪修剪机器人,通过摄像头采集草坪场景的图像,利用基于深度学习的图像分割技术识别草坪已割区域和未割区域,提取区域间的分割线作为机器人的规划路径。系统以STM32F407VET6为主控芯片进行机器人驱动控制系统的设计,以IR2014结合H桥作为底盘电机驱动电路,在视觉识别的区域分割线的导引下进行循迹运动。实验结果表明,该控制系统能够在视觉导航下完成行进运动、避障和割草作业。

Design of Control System for Visual Navigation Mowing Robot

A lawn mowing robot based on vision navigation is designed in this paper.The image of lawn scene is collected by camera.The mowed area and uncut area are identified by image segmentation technology based on depth learning,and the segmentation line between the areas is extracted as the robot's planning path.The system uses STM32F407VET6 as the main control chip to design the robot driving control system,and uses IR2014,H-bridge as the driving circuit of chassis motor to track under the guidance of vision recognition area dividing line.