摘要
服务型巡航机器人在交通和运载等领域的影响非常大,业内对于服务型机器人的研发力度不断增长。针对目前服务型机器人自巡航策略的问题,提出一种基于MK60FX512VLQ15微控制器的同轨异向可交汇行走的服务型机器人自巡航系统。该系统通过摄像头采集路径图像经MK60FX512VLQ15微控制器处理实现路径规划,采用超声波测距模块实现机器人之间的安全距离控制,通过蓝牙2.0进行机器人之间的实时通信,实现机器人间的相互交汇。同时采用QT Creator软件开发一款上位机软件,实现机器人的图像处理分析以及远程在线调试参数。实验结果表明,该系统的寻轨服务在复杂场景下,能够有效地在指定路径实现机器人间的互相交汇行走。
Service-oriented cruise robots have a great influence on traffic and transportation, and the research and development of service-oriented robots is increasing.To solve the problem of self-cruise strategy of service-oriented robots, a self-cruise system of service-oriented robots meeting in same trajectory and different directions based on MK60FX512VLQ15 microcontroller is proposed.The system achieves path planning by capturing path images by camera and processing by MK60FX512VLQ15 microcontroller.The safe distance control between robots is realized by using ultrasonic ranging module.The real-time communication between robots is realized by Bluetooth 2.0.At the same time, a host computer software is developed by using the QT Creator software to realize the image processing and analysis of the robot and remote online debugging parameters.The experimental results show that the orbital-seeking service of the system can effectively realize the intersection of robots in a given path under complex scenarios.
作者
陈华珍
夏国清
陈泽锋
CHEN Hua-zhen;XIA Guo-qing;CHEN Ze-feng(Department of Electronic Studies, South China Institute of Software Engineering, Guangzhou University, Guangzhou 510990, China)
出处
《计算机与现代化》
2019年第7期104-110,共7页
Computer and Modernization
基金
2015年广东省教育厅重点平台及科研项目(2015KQNCX240)
