智能型水面垃圾清理机器人控制系统的设计与研究  

DESIGN AND RESEARCH OF INTELLIGENT SURFACE GARBAGE CLEANING ROBOT

作　　者：王云亮 赵逸文 吴艳娟 Wang Yunliang;Zhao Yiwen;Wu Yanjuan(College of Electronic Engineering,Tianjin University of Technology,Tianjin 300384,China;Tianjin Key Laboratory of Control Theory and Application of Complex Systems,Tianjin 300384,China)

机构地区：[1]天津理工大学电气电子工程学院,天津300384 [2]天津市复杂系统控制理论及应用重点实验室,天津300384

出　　处：《计算机应用与软件》2024年第9期90-96,共7页Computer Applications and Software

基　　金：天津市科技计划项目(18ZXYENC00100)。

摘　　要：近年来,我国水域垃圾污染问题日益严重,针对当前现状设计一种基于图像处理的水面垃圾清理机器人控制系统,该控制系统以STM32F407作为基础结合图像处理NCC模板匹配算法以及PID控制算法,并应用GPS、视觉传感器、超声波传感器、姿态传感器和风向传感器,能够根据多个传感器协同感知环境信息并且自动靠近水面漂浮的垃圾,同时可以判断机器人的运行状态。实验室测试结果表明该机器人可以精确地识别垃圾并且能够稳定、灵活地运行。In recent years,the problem of garbage pollution in China's waters has become increasingly serious.Aiming at the current situation,this paper designs a control system of surface garbage cleaning robot based on image processing.The control system took STM32F407 as the foundation,combined image processing NCC template matching algorithm and PID control algorithm,and used GPS,vision sensor,ultrasonic sensor,attitude sensor and wind direction sensor.Multiple sensors could co-perceive environmental information and automatically approach the floating garbage on the surface of the water,and the operating state of the robot could be judged.Through laboratory test,the results show that the robot can accurately identify garbage and can run stably and flexibly.

关 键 词：多传感器 PID 模板匹配 NCC算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]