【摘要】：移動(dòng)機(jī)器人在軍事,醫(yī)療,工業(yè)等方面的應(yīng)用已經(jīng)逐漸成熟,隨著科學(xué)技術(shù)的發(fā)展以及人們生活水平的逐漸提高,以機(jī)器人代替人類進(jìn)行高危險(xiǎn)、高精度、機(jī)械化勞動(dòng)已成為一種趨勢。目前在人們生活的城市環(huán)境中充斥著大量地面污跡垃圾,如廣告貼畫以及宣傳單等,并以其難清除、反復(fù)出現(xiàn)等難題嚴(yán)重干擾著人們的正常生活和城市的美觀。為此本文設(shè)計(jì)了一種基于視覺攝像頭的地面污跡清除機(jī)器人。該機(jī)器人能夠自動(dòng)尋找地面目標(biāo)位置并清除。 本文根據(jù)地面清潔機(jī)器人的實(shí)際需求設(shè)計(jì)了系統(tǒng)的總體結(jié)構(gòu),主要以機(jī)器人結(jié)構(gòu)分析、視覺系統(tǒng)建模、圖像采集處理、定位避障算法作為研究的主體。首先,設(shè)計(jì)機(jī)器人系統(tǒng)的總體構(gòu)成,敘述了各個(gè)功能結(jié)構(gòu)模塊及其硬件配置;其次通過地面清潔機(jī)器人機(jī)械本體上的單目攝像頭,對三維環(huán)境信息進(jìn)行捕捉,通過視覺模型將三維信息轉(zhuǎn)換為二維圖像信息,并傳遞給主控制芯片,采用動(dòng)態(tài)閾值法進(jìn)行圖像分割,之后選擇標(biāo)定像素點(diǎn)法對圖像特征提取,計(jì)算地面目標(biāo)物的實(shí)際位置;最后介紹當(dāng)機(jī)器人行進(jìn)過程中遇到障礙物時(shí),運(yùn)用以模糊控制理論為基礎(chǔ)的避障算法實(shí)現(xiàn)機(jī)器人的避障。 通過實(shí)驗(yàn)表明,本文設(shè)計(jì)的地面清潔機(jī)器人系統(tǒng)通過圖像采集、處理以及對特征像素點(diǎn)的標(biāo)定等步驟能夠有效的識(shí)別地面污跡信息,并通過主控模塊向執(zhí)行機(jī)構(gòu)發(fā)送指令將其清除,該系統(tǒng)具有較好的清潔效果,同時(shí)本文所使用的避障算法能夠使機(jī)器人安全避障。
[Abstract]:With the development of science and technology and the improvement of people's standard of living, mobile robots have been used in military, medical and industrial fields to carry out high danger and high precision instead of human beings. Mechanized labor has become a trend. At present, people live in the urban environment full of a large number of ground dirt garbage, such as advertising stickers and posters, and because of its difficult to remove, recurring and other problems seriously interferes with people's normal life and the beauty of the city. In this paper, a kind of ground stain removal robot based on visual camera is designed. The robot can automatically locate and clear ground targets. In this paper, the overall structure of the system is designed according to the actual needs of the ground cleaning robot. The main body of the research is robot structure analysis, visual system modeling, image acquisition and processing, location and obstacle avoidance algorithm. Firstly, the overall structure of the robot system is designed, and each functional structure module and its hardware configuration are described. Secondly, the 3D environment information is captured through the monocular camera on the mechanical body of the ground cleaning robot, and the 3D information is converted into two-dimensional image information through the visual model and transferred to the main control chip. The dynamic threshold method is used to segment the image, then the calibration pixel method is selected to extract the image features, and the actual position of the ground object is calculated. Finally, when the robot encounters obstacles in the course of moving, the obstacle avoidance algorithm based on fuzzy control theory is used to realize the obstacle avoidance of the robot. The experimental results show that the system can effectively identify the ground smear information through the steps of image acquisition, processing and calibration of feature pixels. The system has good cleaning effect and the obstacle avoidance algorithm used in this paper can make the robot avoid obstacles safely.
【學(xué)位授予單位】：哈爾濱理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TP242

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本文編號(hào)：2365820