基于视觉反馈的全自动微小型轮式机器人  

Autonomous miniature wheeled robot based on visual feedback

作　　者：陈海初[1] 李满天[1] 张蕊华[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2006年第3期348-349,483,共3页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2003AA404190)

摘　　要：为实现精密定位与全方位运动,采用两个微型电机对角驱动原理,设计了一种新的全方位微小型轮式移动机器人.利用蓝牙技术在短距离内进行无线数据传输的优点,来实现机器人无缆化、自动化,以及对机器人的运动控制与位置控制.通过实验测试,机器人达到了0.05 mm的运动分辨率.最后采用CCD相机作为测量元件,并利用所建立的实验系统,引导机器人完成了对目标的自动跟踪实验研究.In order to realize precise positioning and omni-directional moving, a novel omni-directional miniature wheeled robot is designed in this paper based on the bi-corner driving principle by using two micro mo- tors. It takes advantage of blue-tooth technology to transmit data by wireless in a short distance, to realize the miniature robot with the characteristics of being wireless and autonomous, then to accomplish motion and position controlling of the robot. Through test, the motion resolution of the robot is found about 0. 05mm. At last, a CCD camera is used as measuring equipment, and experiment is conducted on the miniature robot based on the experimental system, and then the robot is led to automatically track the target with the help of the CCD camera.

关 键 词：微小型机器人 全方位 蓝牙 视觉反馈 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]