基于视觉SLAM的履带传动式智能拾蛋机器人  

An Intelligent Egg Collecting Robot Based on Visual SLAM

作　　者：王志豪 李锐圳 韩利芬 黄永欣 邓君[1] Wang Zhihao;Li Ruizhen;Han Lifen;Huang Yongxin;Deng Jun(College of Mechanical Engineering,Dongguan University of Technology,Dongguan,Guangdong 523000,China)

机构地区：[1]东莞理工学院机械工程学院,广东东莞523000

出　　处：《机电工程技术》2022年第8期231-235,共5页Mechanical & Electrical Engineering Technology

摘　　要：针对传统的纯手工收集蛋类耗费大量的劳动量、减少养殖利益的问题,设计了一种基于视觉SLAM技术的智能拾蛋机器人。机器人配置了OrbbecAstrapro深度摄像头、树莓派4B主控板、ArduinoMEGA2560单片机、L298N电机驱动板,以及各种传感器。采用即时定位与地图构建(SLAM)技术和运用机器人操作系统(ROS)实现在养殖场中的地图构建、自动避障和导航定位功能,来实现在未知环境下的路径规划。并且结合自主设计的履带传动式拾捡机械结构对蛋类进行收集,以实现对养殖场的蛋类拾捡。实验结果表明,设计的智能拾蛋机器人能有效地构建出可靠的地图,并能完成路径规划和蛋类收集,效果良好。因此,可将其应用于养殖场,以提高拾捡效率,节约人力成本。Aiming at the traditional manual egg collection, which costs a lot of labor and reduces the benefits of breeding, an intelligent egg collecting robot based on visual SLAM technology was designed. The robot was equipped with OrbbecAstrapro depth camera, Raspberry PI 4B master control board, ArduinoMEGA2560 microcontroller, L298N motor drive board, and various sensors. The robot adopted SLAM technology and ROS to realize map building, automatic obstacle avoidance and navigation and positioning in the farm, so as to realize path planning in the unknown environment. And combined with the self-designed crawler drive mechanical structure of duck egg pickup to collect eggs, in order to realize the experiment of egg pickup farm. The experimental results show that the designed intelligent egg-picking robot can effectively build a reliable map, and can complete the path planning of the robot in the farm and collect duck eggs, the effect is good. Therefore, the intelligent egg picking robot can be applied to breeding farms to improve the picking efficiency and save labor costs.

关 键 词：机器人 SLAM ROS 深度摄像头 路径规划 自主导航 蛋类拾捡机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]