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出 处:《工程机械》2025年第5期15-19,I0001,I0002,共7页Construction Machinery and Equipment
基 金:江西省大学生创新创业训练计划(X202313421045、S202213421015);江西省教育厅科学技术研究项目(GJ2402802)。
摘 要:基于目前餐桌的清洁方式存在桌面清洁不及时、效率低、清洁不彻底等问题,设计一种新型餐桌清洁机器人。通过激光雷达构建房间的平面图确定机器人相对餐桌的位置,实现自动避障,通过3D点阵云深度相机和高精度激光测距模块,利用单应性矩阵将检测到的平面对齐到相机视角,以实现通过Canny算法分辨桌面物体边缘,再通过一种将边缘检测结果与YOLO检测边框相结合的方法,增强目标检测的性能。通过机械臂夹持爪的闭环FOC控制以合适的力度,抓起桌面餐具,该餐桌清洁机器人能够实现对各种形状大小餐桌的刮擦桌面、餐具收集、固液垃圾分离等作业流程。In view of the problems of current table cleaning method,such as untimely,inefficient and incomplete table cleaning,a new type of table cleaning robot is designed.The floor plan of the room is constructed by LiDAR to determine the position of the robot relative to the table to realize automatic obstacle avoidance,the detected planes are aligned to the camera's angle of view by using a homography matrix through a 3D dot-matrix cloud depth camera and a highprecision laser ranging module to realize the recognition of the tabletop object edges through the Canny algorithm,and then the performance of object detection is enhanced through a method that combines the edge detection results with YOLO detection boxes.Through the closed-loop FOC of the robotic arm gripping claw to grip the tabletop tableware with an appropriate force,it can realize the operation processes such as tabletop wiping,tableware collection and solid-liquid waste separation for tables of various shapes and sizes.
关 键 词:餐桌清洁机器人 自动避障 机械臂 餐具收集 视觉识别
分 类 号:TP242[自动化与计算机技术—检测技术与自动化装置]
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