基于机器视觉的水面巡航清洁机器人  

Surface Cruising Cleaning Robot Based on Machine Vision

作　　者：陈桥[1] 邓卉彤 向冠名 李昂 CHEN Qiao;DENG Huitong;XIANG Guanming;LI Ang(College of Computational Science and Electronics,Hunan Institute of Engineering,Xiangtan 411104,China)

机构地区：[1]湖南工程学院计算科学与电子学院,湘潭411104

出　　处：《湖南工程学院学报（自然科学版）》2023年第3期44-50,共7页Journal of Hunan Institute of Engineering(Natural Science Edition)

基　　金：国家级大学生创新创业训练计划项目(202211342020)。

摘　　要：针对小面积水域垃圾漂浮物打捞方式落后以及人工清理效率不足等问题,提出一种基于OPENCV机器视觉的水面巡航清洁机器人.机器人以STM32F103ZET6为控制器,采用边缘识别Sobel算子进行距离控制和航线规划,LBP级联分类器进行目标检测,联动推杆机构和摆动捕捞机构进行垃圾回收,以双无刷电机作为水中动力结构.机器人支持移动终端远程控制,搭载姿态模块进行侧翻预警,航行状态下目标识别率能达到86%以上.系统响应速度快,具有较好的抗干扰能力,对水域清洁维护具有重要意义.Aiming at the backward salvage method of garbage floating debris in small water area and the insuf-ficient efficiency of manual cleaning,this paper proposes a surface cruise cleaning robot based on OPENCV machine vision.The robot which takes STM32F103ZET6 as the controller adopts edge recognition Sobel opera-tor for distance control and route planning,LBP cascade classifier for object detection,linkage pusher mecha-nism and swing fishing mechanism for garbage collection,and double brushless motor as the underwater pow-er structure,robat as supporting remote control of mobile terminals,and equipped with attitude module for rollover warning.The target recognition rate can reach more than 86%under navigation conditions.The system is capable of responsing rapidly and it is good at anti-interference,which is of great significance for water cleaning and maintenance.

关 键 词：水面垃圾清理机器人 机器视觉 OPENCV 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN912.3[自动化与计算机技术—控制科学与工程]