基于视觉和SLAM技术的家用多功能捡拾机器人设计  

Design of Household Multi-function Pickup Robot Based on Vision and SLAM Technology

作　　者：赵萌[1] 潘之遥 施展[2] 林蔚然 陈开峰 陈凯[1] 初晓[1] Zhao Meng;Pan Zhiyao;Shi Zhan;Lin Weiran;Chen Kaifeng;Chen Kai;Chu Xiao(Fundamental Industry Training Center,Tsinghua University,Beijing 100084,China;Weiyang College,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华大学基础工业训练中心,北京100084 [2]清华大学未央书院,北京100084

出　　处：《机电工程技术》2024年第10期152-156,共5页Mechanical & Electrical Engineering Technology

基　　金：清华大学第六届实验室创新基金(53102210123)。

摘　　要：随着人工智能和物联网技术的发展,家庭智能清洁机器人逐渐成为家庭助手的重要组成部分。首先阐述了捡拾机器人的应用背景和研究意义,详细介绍了机器人的系统架构和关键技术。在系统架构方面,采用树莓派作为主控制器,利用计算机视觉技术进行物体识别,并结合SLAM技术实现自主导航。在关键技术方面,采用计算机视觉识别和分类家庭物品,SLAM技术则支持机器人在未知环境中的实时定位和路径规划。对捡拾机器人的机械结构进行了优化设计,使其能够适应不同形状和大小的物体,并通过“扫入”方式提升捡拾效率。此外,还采用了视觉传感器和导航技术,实现了实时地图构建和更新。本研究为基于机器人实践竞赛的项目式教学,展示了一种创新的机器人设计思路,为家庭机器人领域提供了新的设计方向,并拓展了机器人的应用范围。通过实验验证,捡拾机器人能够在多种家庭环境中稳定工作,展现出较高的准确性和可靠性,相较于传统清洁工具,具有显著的创新性和实用性。With the development of artificial intelligence and the Internet of Things technology,household intelligent cleaning robots have gradually become an important part of household assistants.The application background and research significance of the pick-up robot are elaborated,and the robot's system architecture and key technologies are introduced.In terms of system architecture,the robot adopts a Raspberry Pi as the main controller,utilizes computer vision technology for object recognition,and combines SLAM technology to achieve autonomous navigation.In terms of key technologies,computer vision is used to identify and classify household items,while SLAM technology supports the robot's real-time positioning and path planning in unknown environments.The mechanical structure of the pick-up robot is optimized to adapt to different shapes and sizes of objects,and the pick-up efficiency is improved through the"sweeping"method.Additionally,the project adopted visual sensors and navigation technology to achieve real-time map building and updating.The research is a project-base teaching practice based on robot practice competition,demonstrate an innovative robot design concept,provides a new design direction for the field of household robots and expands the scope of robot applications.Through experimental verification,the pick-up robot can stably operate in various household environments,exhibiting high accuracy and reliability.Compared to traditional cleaning tools,it possesses significant innovation and practicality.

关 键 词：家用机器人 多功能捡拾 计算机视觉 项目式教学 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]