摘要
本文介绍了一种可以在既定工作环境内按照指定轨道运动,并在工作区域通过视觉识别实现分拣的机械爪系统.其中,循迹功能采用红外灰度传感器实现;计算机视觉识别采用opencv和卷积神经网络实现;机械臂由舵机连接组成,而舵机旋转的角度由逆运动学得出,从而对舵机实现精准控制.此外,本次研究使用soildworks实现了对包括移动平台内的全部零件的建模,并通过3d打印成功实现了该系统.
This paper introduces a mechanical claw system that can move according to a specified track in a given working environment and realize sorting through visual recognition in the working area.Among them,the tracking function is realized by infrared grayscale sensor;the computer vision recognition is realized by opencv and convolutional neural network;the mechanical arm is composed of steering gear connections,and the rotation angle of the steering gear is obtained by inverse kinematics,so as to realize the realization of the steering gear.Precise control.In addition,the modeling of all parts including the mobile platform was realized using soildworks in this study,and the system was successfully realized by 3D printing.
作者
梁力文
管必强
唐嘉泽
李沅峻
周瑞辰
冯望
徐海川
LIANG Li-wen;GUAN Bi-qiang;TANG Jia-ze;LI Yuan-jun;ZHOU Rui-chen;FENG Wang;XU Hai-chuan(Beijing University of Chemical Technology,Beijing 100029,China)
出处
《新一代信息技术》
2022年第7期37-39,85,共4页
New Generation of Information Technology
关键词
视觉识别
传感器
建模
3D打印
visual recognition
sensor
modeling
3d printing
