QR码导航的室内目标搜寻机器人研究

针对室内的目标搜寻问题, 开发研制了一套使用Android手机作为主要处理设备、可远程操控和使用语音控制的机器人系统。介绍了该系统的结构组成, 提出了一套基于人工路标的导航方案。该方案应用QR码作为人工路标引导机器人运动到指定区域, 然后识别出目标位置, 最后通过判断目标区域面积是否达到阈值的方法停在目标附近位置, 基于有限状态机实现机器人的模式切换。对目标检测和人工路标识别分别进行了实验, 结果验证了该方案的有效性和实用性。

Study of Indoor Object Search Robot Based on QR Code Navigation

In this paper, a robot based on android phone is presented to search objects in indoor environments, which supports remote control and voice control. This paper introduces the structure of the system, and proposes a navigation method based on artificial landmark. This method applies QR code to guide the robot move to certain area, recognize the target position, then stop near the target by judging whether the size of the target area can reach a threshold, and switch the mode using the finite state machine. Experiments for blob detection and artificial landmark recognition are carried out and the results verify its validity and practicability.