基于视觉系统的自主导航搬运机器人的设计  

Design of Autonomous Navigation Handling Robot Based on Vision System

作　　者：孙慧霞[1,2] 毛世彤 柳长叶 乔文宇 王沁欣 马紫微 SUN Huixia;MAO Shitong;LIU Changye;QIAO Wenyu;WANG Qinxin;MA Ziwei(Department of Physics and Electronic Engineering,Yuncheng University,Yuncheng 044000,China;College of Computer Science and Technology,Taiyuan Normal University,Jinzhong 030619,China)

机构地区：[1]运城学院物理与电子工程系,山西运城044000 [2]太原师范学院计算机科学与技术学院,山西晋中030619

出　　处：《运城学院学报》2023年第6期35-41,共7页Journal of Yuncheng University

基　　金：山西省高校科技创新项目(2022L476);运城市科技计划项目(YCKJ-202268);大学生创新创业训练计划项目(DC2023037)。

摘　　要：自主导航搬运机器人通过多种感知技术、机器学习算法以及物联网技术等,使整个生产、供应流程的自动化水平提高,对于产业数字化具有重要的意义。文章基于视觉技术和ROS(Robot Operating System,机器人操作系统)自主导航系统算法,设计并开发了一款自主导航搬运机器人。该机器人的硬件设计包括避障模块、物品识别模块、机械臂抓取放置装置等,软件设计包括路径规划算法、目标抓取算法等。该机器人搭载树莓派、STM32处理器、摄像头、机械臂、ESP8266、语音等模块,通过TCP协议完成手机App与机器人的信息交互,实现自主导航。Autonomous navigation handling robots improve the automation level of the entire production and supply process through a variety of perception technologies,machine learning algorithms and Internet of Things technologies,which is of great significance for industrial digitalization.Based on vision technology and ROS(Robot Operating System)autonomous navigation system algorithm,an autonomous navigation handling robot is designed and developed.The hardware design of the robot includes obstacle avoidance module,item identification module,robotic arm grasping and placement device,etc.The software design includes path planning algorithm and target grasping algorithm.The robot is equipped with Raspberry PI,STM32 processor,camera,robotic arm,ESP8266,voice,etc.It realizes information interaction between mobile App and robot through TCP protocol to achieve autonomous navigation.

关 键 词：搬运机器人 自主导航 视觉技术 信息交互 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]