本文選題：網(wǎng)球服務(wù)機(jī)器人 + 反射式全景視覺系統(tǒng)��； 參考：《北方工業(yè)大學(xué)》2017年碩士論文

【摘要】：本論文提出了一個(gè)基于全景視覺的網(wǎng)球服務(wù)機(jī)器人的設(shè)計(jì)方案,并將該方案予以實(shí)現(xiàn)。該網(wǎng)球服務(wù)機(jī)器人以中型組足球機(jī)器人的機(jī)械為原型在原有的基礎(chǔ)上進(jìn)行機(jī)械上的改造和設(shè)計(jì),并以STM32F407微控制器為核心設(shè)計(jì)了機(jī)器人下位機(jī)核心驅(qū)動(dòng)板,完成了機(jī)器人硬件框架。機(jī)器人采用了筆記本電腦作為其上位機(jī)的核心控制單元,并在其上位機(jī)上研究和設(shè)計(jì)了上位機(jī)軟件,該軟件通過USB連接反射式全景視覺系統(tǒng)采集機(jī)器人四周的圖像。同時(shí)機(jī)器人可以通過手機(jī)遠(yuǎn)程控制啟動(dòng)和關(guān)閉。課題設(shè)計(jì)和研究主要包含三方面:機(jī)械、硬件和軟件。機(jī)械方面需要對原有的機(jī)械結(jié)構(gòu)重新設(shè)計(jì),設(shè)計(jì)機(jī)器人的吸球裝置和網(wǎng)球的儲(chǔ)存裝置。硬件方面需要設(shè)計(jì)機(jī)器人的整體硬件架構(gòu),包括機(jī)器人的行走和吸球驅(qū)動(dòng)器、核心板的設(shè)計(jì)和上位機(jī)與下位機(jī)的連接以及通信。軟件方面是課題的一個(gè)難點(diǎn),首先是圖像的采集,單純的依靠視覺作為機(jī)器人的感官原件,對光照的要求叫嚴(yán)格,在很多場景下需要改變攝像頭參數(shù)才能更好的識(shí)別網(wǎng)球,所以課題的首先需要克服光照環(huán)境對識(shí)別效率的影響。課題的軟件設(shè)計(jì)是先通過對采集圖像的預(yù)處理工作,自動(dòng)調(diào)節(jié)攝像頭參數(shù),使直接通過攝像頭獲得的圖像適應(yīng)課題后續(xù)的圖像處理工作。然后對圖像進(jìn)行增強(qiáng)和顏色空間的轉(zhuǎn)換,通過課題研究的網(wǎng)球識(shí)別算法進(jìn)行網(wǎng)球的識(shí)別及其位置信息的確定,再由行為策略模塊對網(wǎng)球位置信息統(tǒng)計(jì)并生成行為指令,控制機(jī)器人進(jìn)行網(wǎng)球的拾取工作。首先,第一章介紹了網(wǎng)球服務(wù)機(jī)器人的研究現(xiàn)狀及背景,敘述了可以研究內(nèi)容的意義以及內(nèi)容。第二章介紹機(jī)器人整體的設(shè)計(jì)方案。同時(shí)介紹了課題中所用到的各項(xiàng)關(guān)鍵技術(shù)。第三章展示了機(jī)器人的機(jī)械設(shè)計(jì)方案。第四章介紹了機(jī)器人的硬件框架的設(shè)計(jì),包括行走輪機(jī)構(gòu)、吸球器機(jī)構(gòu)、機(jī)載電源、下位機(jī)控制單元和上位機(jī)控制單元的各個(gè)硬件設(shè)計(jì)。第五章介紹了機(jī)器人上位機(jī)的軟件的設(shè)計(jì)。詳細(xì)介紹了軟件的框架和層次結(jié)構(gòu),并針對框架中設(shè)計(jì)的功能模塊進(jìn)行了詳細(xì)設(shè)計(jì)介紹。最后是調(diào)試的結(jié)果分析以及本課題的結(jié)論與展望。
[Abstract]:In this paper, a design scheme of tennis service robot based on panoramic vision is proposed and implemented. The tennis service robot is designed on the basis of the mechanical prototype of the medium-sized soccer robot, and the core driving board of the robot is designed with the STM32F407 microcontroller as the core. The hardware frame of the robot is completed. The robot adopts the notebook computer as the core control unit of its upper computer, and studies and designs the upper computer software on its upper computer. The software collects the images around the robot through USB connected with the reflective panoramic vision system. At the same time, the robot can be remotely controlled by the mobile phone to start and close. The project design and research mainly include three aspects: mechanical, hardware and software. In the mechanical aspect, the original mechanical structure should be redesigned to design the ball suction device of the robot and the storage device of the tennis ball. In the aspect of hardware, we need to design the whole hardware architecture of the robot, including the walking and sucking drive of the robot, the design of the core board, the connection and communication between the upper computer and the lower computer. The software aspect is a difficult point of the subject, first is the image collection, relying solely on the vision as the robot's sensory original, the requirement of illumination is strict, in many scenes, we need to change the camera parameters to recognize tennis ball better. Therefore, the first need to overcome the impact of lighting environment on the efficiency of recognition. The software design of the subject is to adjust the camera parameters automatically through the preprocessing of the collected images, so that the images obtained directly through the camera can adapt to the subsequent image processing work of the subject. Then the image is enhanced and the color space is transformed. The tennis ball recognition and location information are identified by the tennis recognition algorithm studied in this paper. Then the behavior strategy module statistics the tennis position information and generates the behavior instructions. Control the robot to pick up tennis balls. The first chapter introduces the research status and background of tennis service robot, and describes the significance and content of the research content. The second chapter introduces the overall design of the robot. At the same time, the key technologies used in the subject are introduced. The third chapter shows the mechanical design of the robot. Chapter 4 introduces the design of the hardware frame of the robot, including the hardware design of the walking wheel mechanism, the ball absorber mechanism, the airborne power supply, the lower computer control unit and the upper computer control unit. The fifth chapter introduces the software design of robot upper computer. The framework and hierarchy of the software are introduced in detail, and the functional modules designed in the framework are introduced in detail. Finally, the result analysis of debugging and the conclusion and prospect of this subject are given.
【學(xué)位授予單位】：北方工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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