运输机器人自主行走与上下电梯控制技术  

Autonomous Walking and Elevator Control Technology of Transport Robot

作　　者：王怀榕 汪正涛 陶卫军[1] Wang Huairong;Wang Zhengtao;Tao Weijun(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《兵工自动化》2023年第6期75-80,88,共7页Ordnance Industry Automation

摘　　要：针对室内跨楼层无接触配送服务需求,设计一种搭载六自由度机械臂的室内运输机器人。根据功能需求设计运输机器人的机械结构、控制系统硬件框架以及运动学模型;在此基础上运用即时定位与地图构建(simultaneous localizationandmapping,SLAM)技术实现机器人在室内的自主行走与导航功能;以YOLOv4-tiny卷积神经网络为基础,实现电梯按钮的识别与定位并基于ROS中的MoveIt!来控制机械臂完成电梯按钮的按压功能。实验结果表明:该机器人能够在大楼内实现自主定位导航与行走,可自主搭乘电梯完成跨楼层运输任务的需求。An indoor transportation robot with a 6-Dof manipulator is designed to meet the needs of indoor cross-floor contactless delivery service.According to the functional requirements,the mechanical structure,the hardware framework of the control system and the kinematic model of the transport robot are designed,and on this basis,the simultaneous localization and mapping(SLAM)technology is used to realize the autonomous walking and navigation functions of the robot indoors;Based on YOLOv4-tiny convolutional neural network,the recognition and location of elevator buttons are realized,and based on MoveIt!to control the mechanical arm to complete the pressing function of the elevator button.The experimental results show that the robot can realize autonomous positioning,navigation and walking in the building,and can autonomously take the elevator to complete the cross-floor transportation task.

关 键 词：运输机器人 机械臂运动控制 SLAM 视觉识别 YOLOv4-tiny 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]