基于树莓派的视觉机器狗巡线的设计  

Design of Visual Robot Dog Patrol Line Based on Raspberry Pie

作　　者：张鑫雨 毛艺晓 高燕 张帅[1] 王志鹏[1] ZHANG Xinyu;MAO Yixiao;GAO Yan;ZHANG Shuai;WANG Zhipeng(Physical and Electronic Engineering College,Nanyang Normal University,Nanyang Henan 473061,China)

机构地区：[1]南阳师范学院物理与电子工程学院,河南南阳473061

出　　处：《信息与电脑》2021年第4期111-113,共3页Information & Computer

基　　金：南阳师范学院教学研究项目(项目编号:2019-JXYJYB-65);南阳师范学院课堂教学模式改革项目(项目编号:2019-JXYJKT-26);南阳师范学院大学生实践教学活动创新项目(项目编号:SPCP2020436);南阳师范学院实验室开放项目(项目编号:2020-SYKF-21)。

摘　　要：笔者提出的基于树莓派的视觉机器狗巡线设计将树莓派4B作为控制核心,通过树莓派拓展板控制多路PWM总线舵机,配合摄像头、串行总线舵机等元件及供电装置构成视觉巡线机器狗。该设计能够使机器狗完成自主巡线、自主识别红色标识线、自主完成上坡、自主完成下坡、低姿态行走等一系列的基本动作。在完成这些基本的动作后,还可以设计更多新的步态动作等。该系统设计简单且外形生动美观,既能有效提高生产效率,又能降低生产成本和劳动强度,而且还不影响外部形象。The Raspberry Pi-based visual robot dog line patrol design proposed by the author takes the Raspberry Pi 4B as the control core,and controls the multi-channel PWM bus servos through the Raspberry Pi expansion board,and cooperates with the camera,serial bus servos and other components and power supply devices.It constitutes a visual line patrol robot dog.The design can make the robot dog complete a series of basic actions such as autonomous line inspection,autonomous recognition of the red marking line,autonomous completion of uphill,autonomous completion of downhill,and low-profile walking.After completing these basic movements,you can also design more new gait movements.The system has a simple design and a vivid and beautiful appearance,which can effectively improve production efficiency,reduce production costs and labor intensity,and does not affect the external image.

关 键 词：树莓派 摄像头 自主循迹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]