Developing a vision-based auto-recharging system for mobile robots |
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Authors: | Ting-Li Chien |
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Affiliation: | 1.Department of Electronic Engineering,Wu-Feng University,Tainan,Taiwan |
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Abstract: | This article describes a vision-based auto-recharging system that guides a mobile robot moving toward a docking station. The
system contains a docking station and a mobile robot. The docking station contains a docking structure, a control device,
a charger, a safety detection device, and a wireless RF interface. The mobile robot contains a power detection module (voltage
and current), an auto-switch, a wireless RF interface, a controller, and a camera. The controller of the power detection module
is a Holtek chip. The docking structure is designed with one active degree of freedom and two passive degrees of freedom.
For image processing, the mobile robot uses a webcam to capture a real-time image. The image signal is transmitted to the
controller of the mobile robot via a USB interface. We use an Otsu algorithm to calculate the distance and orientation of
the docking station from the mobile robot. In the experiment, the proposed algorithm guided the mobile robot to the docking
station. |
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Keywords: | |
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