基于图像处理的机器人控制系统的研究设计  

Research and design of robot control system based on image processing

作　　者：罗朝辉 李丽宏[1] 谭爽[1] Luo Zhaohui;Li Lihong;Tan Shuang(College of Information Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学信息工程学院,太原030024

出　　处：《现代制造工程》2018年第10期65-71,50,共8页Modern Manufacturing Engineering

摘　　要：针对高空幕墙清洗强度大、效率低及存在安全隐患等问题,设计了一种基于STM32和LPC4300的清洗机器人控制系统。首先提出了以电动推杆、伺服电动机和真空吸盘为基础的系统控制方案;其次,为了提高清洗机器人的智能化水平,提出了以图像传感器OV9715作为图像采集单元和以LPC4300作为图像处理器的机器人视觉控制系统;然后,针对机器人在清洗过程中的图像识别问题,提出了基于HSI颜色空间的图像识别方法;最后,对清洗机器人进行了人机交互界面的设计。测试结果表明,该清洗机器人控制系统具有操作简单、控制灵活及实时性高等特点,具有良好的应用前景。In order to solve the problems such as high intensity, low efficiency and hidden danger trouble, a control system of cleaning robot based on STM32 and LPC4300 is designed. Firstly, the scheme of control system based on electric push rod, servo motor and vacuum chuck is presented ; Secondly, in order to improve the intelligent level of cleaning robot, a vision control system based on image sensor OV9715 as the image acquisition unit and LPC4300 as image processor is proposed; Then, aiming at the problem of image recognition in the cleaning process, an image recognition method based on HSI color space is proposed;Finally, the man-machine interface of the cleaning robot is designed. The test results show that the control system of the cleaning robot has the advantages of simple operation, flexible control and real time strong and so on, has a good application prospect.

关 键 词：清洗机器人 图形识别 智能清洗 HSI颜色模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]