基于视觉定位的仓储搬运机器人避障控制方法  

Obstacle Avoidance Control Method of Warehouse Handling Robot Based on Visual Positioning

作　　者：毕海婷[1] 付龙海[2] 任大伟 BI Haiting;FU Longhai;REN Dawei(Department of Intelligent Control,Yantai Vocational College,Yantai 264670,China;Scientific Research Office,Yantai Vocational College,Yantai 264670,China;Moon Environment Technology Co.,Ltd.,Yantai 264670,China)

机构地区：[1]烟台职业学院智能控制系,山东烟台264670 [2]烟台职业学院科研处,山东烟台264670 [3]冰轮环境技术股份有限公司,山东烟台264670

出　　处：《测控技术》2024年第9期79-85,共7页Measurement & Control Technology

基　　金：山东省教育科学“十三五”规划课题(2020ZC346)。

摘　　要：为保证仓储搬运机器人的工作效率和安全,在动态环境下,提出基于视觉定位的仓储搬运机器人避障控制方法。利用视觉定位技术,通过环境图像生成、预处理、特征提取、障碍物识别等步骤,确定动态环境中的障碍物位置。检测仓储搬运机器人实时位姿,考虑障碍物实时位置和搬运目标地点,规划出机器人移动路径。根据机器人位姿与规划路径之间的偏差,计算仓储搬运机器人避障控制量,在控制器的支持下,实现仓储搬运机器人避障控制工作。实验结果表明:与传统方法相比,采用优化设计的避障控制方法后,仓储搬运机器人在动态环境中的碰撞次数明显减少,位置和姿态角控制误差均值分别为0.08 m和0.029°,所提方法的控制数据优于传统控制方法。In order to ensure the efficiency and safety of the warehouse handling robot,the obstacle avoidance control method of the warehouse handling robot based on visual positioning is proposed in dynamic environ-ment.The location of obstacles in dynamic environment is determined by means of environmental image genera-tion,preprocessing,feature extraction and obstacle recognition by using visual positioning technology.The real-time pose of the warehouse handling robot is detected and the real-time position of obstacles and the moving target location is considered to plan the moving path of the robot.According to the deviation between the robot posture and the planned path,the obstacle avoidance control quantity of the warehouse handling robot is calcu-lated.With the support of the controller,the obstacle avoidance control work of the warehouse handling robot is realized.The experimental results show that,compared with the traditional method,the number of collision of warehouse handling robot in dynamic environment is significantly reduced by using the optimized obstacle a-voidance control method,and the mean errors of position and attitude angle control are 0.08 m and 0.029°,re-spectively.The control data is superior to the traditional control method.

关 键 词：动态环境 视觉定位 仓储搬运机器人 机器人避障控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]