【摘要】：移動機器人在軍事,醫(yī)療,工業(yè)等方面的應用已經(jīng)逐漸成熟,隨著科學技術的發(fā)展以及人們生活水平的逐漸提高,以機器人代替人類進行高危險、高精度、機械化勞動已成為一種趨勢。目前在人們生活的城市環(huán)境中充斥著大量地面污跡垃圾,如廣告貼畫以及宣傳單等,并以其難清除、反復出現(xiàn)等難題嚴重干擾著人們的正常生活和城市的美觀。為此本文設計了一種基于視覺攝像頭的地面污跡清除機器人。該機器人能夠自動尋找地面目標位置并清除。 本文根據(jù)地面清潔機器人的實際需求設計了系統(tǒng)的總體結(jié)構,主要以機器人結(jié)構分析、視覺系統(tǒng)建模、圖像采集處理、定位避障算法作為研究的主體。首先,設計機器人系統(tǒng)的總體構成,敘述了各個功能結(jié)構模塊及其硬件配置;其次通過地面清潔機器人機械本體上的單目攝像頭,對三維環(huán)境信息進行捕捉,通過視覺模型將三維信息轉(zhuǎn)換為二維圖像信息,并傳遞給主控制芯片,采用動態(tài)閾值法進行圖像分割,之后選擇標定像素點法對圖像特征提取,計算地面目標物的實際位置;最后介紹當機器人行進過程中遇到障礙物時,運用以模糊控制理論為基礎的避障算法實現(xiàn)機器人的避障。 通過實驗表明,本文設計的地面清潔機器人系統(tǒng)通過圖像采集、處理以及對特征像素點的標定等步驟能夠有效的識別地面污跡信息,并通過主控模塊向執(zhí)行機構發(fā)送指令將其清除,該系統(tǒng)具有較好的清潔效果,同時本文所使用的避障算法能夠使機器人安全避障。
[Abstract]:With the development of science and technology and the improvement of people's standard of living, mobile robots have been used in military, medical and industrial fields to carry out high danger and high precision instead of human beings. Mechanized labor has become a trend. At present, people live in the urban environment full of a large number of ground dirt garbage, such as advertising stickers and posters, and because of its difficult to remove, recurring and other problems seriously interferes with people's normal life and the beauty of the city. In this paper, a kind of ground stain removal robot based on visual camera is designed. The robot can automatically locate and clear ground targets. In this paper, the overall structure of the system is designed according to the actual needs of the ground cleaning robot. The main body of the research is robot structure analysis, visual system modeling, image acquisition and processing, location and obstacle avoidance algorithm. Firstly, the overall structure of the robot system is designed, and each functional structure module and its hardware configuration are described. Secondly, the 3D environment information is captured through the monocular camera on the mechanical body of the ground cleaning robot, and the 3D information is converted into two-dimensional image information through the visual model and transferred to the main control chip. The dynamic threshold method is used to segment the image, then the calibration pixel method is selected to extract the image features, and the actual position of the ground object is calculated. Finally, when the robot encounters obstacles in the course of moving, the obstacle avoidance algorithm based on fuzzy control theory is used to realize the obstacle avoidance of the robot. The experimental results show that the system can effectively identify the ground smear information through the steps of image acquisition, processing and calibration of feature pixels. The system has good cleaning effect and the obstacle avoidance algorithm used in this paper can make the robot avoid obstacles safely.
【學位授予單位】：哈爾濱理工大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TP242

【參考文獻】

相關期刊論文 前10條

1 宗光華;鄧魯華;王巍;;一種魯棒的室外移動機器人定位方法[J];北京航空航天大學學報;2007年04期

2 胡勁草;;室內(nèi)自主式移動機器人定位方法研究[J];傳動技術;2006年04期

3 張輝;張道勇;何最紅;;灰度等級處理中的OSTU動態(tài)閾值法研究[J];傳感器世界;2008年07期

4 熊光明;趙濤;龔建偉;高峻\，

本文編號：2365820