基于物体自主识别的视觉式球形移动机器人系统研究  

Research on Visual Spherical Mobile Robot System Based on Object Autonomous Recognition

作　　者：张佑春[1] 游志宇 任远林[1] 仲济艳[1] Zhang Youchun;You Zhiyu;Ren Yuanlin;Zhong Jiyan(School of Application Engineering,Anhui Business and Technology College,Hefei,Anhui 231131,China;College of Electrical and Information Engineering,Southwest Minzu University,Chengdu,Sichuan 610041,China)

机构地区：[1]安徽工商职业学院应用工程学院,安徽合肥231131 [2]西南民族大学电气信息工程学院,四川成都610041

出　　处：《黑龙江工业学院学报（综合版）》2022年第10期46-50,共5页Journal of Heilongjiang University of Technology(Comprehensive Edition)

基　　金：安徽省高校学科(专业)拔尖人才学术资助项目(项目编号:gxbjZD2020105);安徽高校自然科学研究重点项目(项目编号:KJ2020A1095,KJ2021A1509);全国高等职业院校技术应用服务联盟暨长三角高职院校应用技术协同创新联盟-亚龙智能装备集团股份有限公司专项基金项目(项目编号:U20006);安徽省高校优秀青年人才支持项目(项目编号:gxyq2022273)。

摘　　要：为了解决传统球形机器人应用场景少、实用性差和成本偏高的缺点,设计了视觉式物体自主识别球形移动机器人系统。该机器人的硬件结构主要包括了主控制器STM32F103模块、图像采集传感器模块、动力驱动模块和角度采集陀螺仪模块等。为了机器人移动过程能够完成自平衡状态,完成了PID控制算法设计。软件方面,完成了机器人总体功能流程设计和自平衡控制流程设计。经过系统软硬件测试可知,机器人无干扰自主平衡平均最大偏角约为3.96°,自平衡平均时间约为4.02s,受扰处理后的自平均最大偏角约为2.88°,自平衡时间在3s以内。In order to solve the shortcomings of the traditional spherical robot,such as less application scenarios,poor practicability and high cost,a spherical mobile robot system with visual object autonomous recognition is designed.The hardware structure of the robot mainly includes the main controller STM32F103 module,image acquisition sensor module,power drive module and angle acquisition gyroscope module.In order to complete the self-balancing state of the robot in the moving process,the PID control algorithm is designed.In terms of software,the overall functional flow design and self-balancing control flow design of the robot were completed.Through the system software and hardware test,it can be seen that the average maximum deflection angle of the robot′s non-interference self-balancing is about 3.96°,the average self-balancing time is about 4.02s,the maximum average deflection angle of the disturbed self-balancing is about 2.88°,and the disturbed self-balancing time is within 3S.

关 键 词：视觉式 自主平衡 传感融合 PID控制 

分 类 号：TP393.1[自动化与计算机技术—计算机应用技术]