摘要
随着工业自动化和机器人技术的不断发展,机器人在工业生产领域的应用越来越广泛,具有循迹能力的自动导引运输车(AGV)是工业机器人的一种典型应用,本文介绍了采用摄像头实现循迹功能的机器人小车软硬件设计及算法实现。硬件层面,小车采用STM32微控制器和树莓派主板作为小车的控制核心;软件层面,小车使用ROS系统作为中间件,基于OpenCV实现摄像头数据的读取和循迹算法。文中介绍的小车由循迹层和运动控制层组成,循迹层采集摄像头数据并根据摄像头采集到的画面计算出小车的目标运动速度和方向,运动控制层根据循迹层的计算结果控制驱动小车按照指定速度运动。实验表明,相较于电磁导轨等循迹系统,小车采用摄像头实现循迹功能具备场地部署简单、成本低,循迹算法可以有效工作的特点。
With the continuous development of industrial automation and robotics, robots are more and more widely used in industrial production. The AGV(Automated Guided Vehicle) is a typical application of industrial robots. This paper introduces the use of cameras. The software and hardware design and algorithm implementation of the robot car that realizes the tracking function. At the hardware level, the car uses STM32 microcontroller and Raspberry Pi motherboard as the control core of the car; at the software level, the car uses the ROS system as the middleware, and realizes the camera data reading and tracking algorithm based on OpenCV. The car introduced in the paper consists of a tracking layer and a motion control layer. The tracking layer collects the camera data and calculates the target moving speed and direction of the car according to the picture captured by the camera. The motion control layer controls the driving car according to the calculation result of the tracking layer. Exercise at the specified speed. Experiments show that compared with the tracking system such as electromagnetic guide rail, the car adopts the camera to realize the tracking function, which has the characteristics of simple site deployment, low cost, and the tracking algorithm can work effectively.
引文
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