环境信息实时感知的图书馆搬运机器人自动化控制系统  

Automatic Control System of Library Handling Robots with Real-time Perception of Environmental Information

作　　者：何佳 HE Jia(The Library of Xi'an Siyuan University,Xi’an 710038,China)

机构地区：[1]西安思源学院图书馆,西安710038

出　　处：《计算机测量与控制》2024年第7期181-188,共8页Computer Measurement &Control

摘　　要：图书馆搬运机器人对于图书馆数字化、便捷化能够起到重要的促进作用;提出一种结合双目视觉进行环境感知的方式,同时通过改进趋近律的双闭环非线性变结构控制,解决传统控制方式当中向理想轨迹趋近速度与抖振现象之间的矛盾关系;经过实验验证,在趋近律速度上,文章提出的改进趋近律控制方式实际轨迹与理想轨迹的差值在0.009至0.197的范围之内,传统等速趋近律方式实际轨迹与理想轨迹的差值最好情况为滑膜增益是0.3时,差值在0.098至0.354之间;同时在针对环境信息实时感知的实验中,图书馆搬运机器人的入位准确率高达97.8%,证明了系统的高效性及可靠性;相比之下,基于环境信息实时感知的图书馆搬运机器人自动化控制系统更具优越性。Library handling robots can play an important role in promoting the digitization and convenience of libraries.This paper proposes an environment perception method combined with binocular vision,and solves the contradictory relationship between the approach velocity and the jitter phenomenon in the traditional control method by improving the double closed-loop nonlinear variable structure control of the approach law.Experiments show that in the velocity of the approach law,the difference between the actual trajectory and the ideal trajectory of the improved approach law control method proposed in this paper is within a range of 0.009 to 0.197,and the difference between the actual trajectory and the ideal trajectory of the traditional isokinetic approach law method is best and is between 0.098 to 0.354,with a synovial gain of 0.3.At the same time,in the experiment of real-time perception of environmental information,the accuracy rate of library handling robot is as high as 97.8%,which proves the high efficiency and reliability of the system.In contrast,based on the real-time perception of environmental information,the automatic control system of library handling robots is more superior.

关 键 词：图书馆搬运机器人 自动化控制 双目视觉 改进趋近律 环境感知 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]