基于Jetson Nano的智能投送机器人系统实现  

Implementation of Intelligent Delivery Robot System Based on Jetson Nano

作　　者：牛金辉 杨旗[1] 周杨 NIU Jin-hui;YANG Qi;ZHOU Yang(Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学,辽宁沈阳110159

出　　处：《机械工程与自动化》2024年第3期134-136,139,共4页Mechanical Engineering & Automation

摘　　要：针对室内狭小空间的作业环境,提出了一种基于视觉的智能投送机器人。设计了智能投送机器人的机械结构,搭建了智能投送机器人的软硬件控制系统。利用Jetson Nano处理图像识别并搜索物体信息;以STM32F4作为机器人底盘主控芯片,采用模糊分数阶PID控制算法控制电机速度,实现了机器人精准定位、自主避障循迹、物料的分选以及投送功能。Aiming at the working environment of indoor narrow space,an intelligent delivery robot based on vision is proposed.The mechanical structure of the intelligent delivery robot is designed,and the software and hardware control system of the intelligent delivery robot is built.Jetson Nano was used to process image recognition and search object information.The STM32F4 is used as the main control chip of the robot chassis,and the fuzzy fractional order PID control algorithm is used to control the motor speed,which realizes the robot accurate positioning,autonomous obstacle avoidance and tracking,material sorting and delivery functions.

关 键 词：智能投送 全向移动机器人 机器视觉 模糊分数阶PID控制 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]