全自主扫雪机器人车体运动控制算法研究  

Research on Vehicle Motion Control Algorithm of Fully Autonomous Snowplow Robot

作　　者：邓健 李长勇[1] 智泉卿 DENG Jian;LI Chang-yong;ZHI Quan-qing(School of Mechanical Engineering Xinjiang University,Xinjiang Urumqi 830047,China)

机构地区：[1]新疆大学机械工程学院,新疆乌鲁木齐830047

出　　处：《机械设计与制造》2023年第3期267-270,276,共5页Machinery Design & Manufacture

基　　金：新疆维吾尔自治区自然科学基金(2016D01C060);大学生创新项目(201910755003)。

摘　　要：针对全自主扫雪机器人在扫雪运行过程中偏离运行轨迹、覆盖率小、重复率高的问题,提出了一种路径-方向解析的选择搜索机制,设定扫雪场景局部坐标和世界坐标模型,采用视觉处理融合超声波测距反馈机制和方向解析算法,建立人机交互界面决策规则。通过扫雪机器人硬件和软件两个部分连接控制点,软件部分包括积雪识别、位置信息获取、人机界面;硬件部分包括行走机构、浮雪机构、视觉传感器、超声波传感器以及STM32F103ZET6芯片为核心的系统硬件。结果表明该优化控制算法在扫雪场景100cm范围内起点偏移距离维持在±2.17%内、起点偏差角度维持在±0.37%内、扫雪覆盖率≥95%、扫雪重复率≤20%,满足一定区域范围全自主除雪需求。Aiming at the problems of the fully autonomous snowplow robot deviating from its trajectory,small coverage,and high repetition rate during the snowplow operation,an optimized coverage algorithm and the priority of each snowplow direction of the snowplow during the snowplow process were proposed. Can clear snow from all angles. Combining vision processing and ultrasonic ranging to improve the performance of the snowplow from the mechanism. The snowplow robot mainly includes hardware and software. The software part includes snow recognition,visual positioning,position information acquisition,and human-machine interface. The hardware part includes walking mechanism,snow floating mechanism,vision sensor,ultrasonic sensor,and STM32F103ZET6 chip. Core system hardware. The results show that the optimal control algorithm maintains the starting point offset distance within ±2.17%,the starting point deviation angle within ±0.37%,the snow removal coverage rate ≥95%,and the snow removal repetition rate ≤20% within 100cm of the snow removal scene. Meet the needs of autonomous snow removal in a certain area.

关 键 词：扫雪机器人 人机界面 STM32芯片为核心系统硬件 视觉处理 路径-方向解析算法 积雪识别 

分 类 号：TH16[机械工程—机械制造及自动化]