摘要
设计了一种基于机器视觉的写字机器人实验系统。该系统机械结构包括2自由度运动单元和书写机构;硬件部分由主控、识别、运动控制以及人机交互等模块组成,主控模块使用STM32作为主控制器;软件部分通过使用Bresenham算法结合坐标变换实现书写机构按照特定轨迹进行运动。测试结果表明,写字机器人系统可以完成运动手势识别,控制书写机构运动;也可以通过识别手写笔的运动来控制书写机构进行同步书写。该系统易于实现,且具有运动手势识别准确率高、同步书写精度较高等优点。
In order to help students to master the knowledge of robotics and computer vision,a machine vision-based writing robot experiment system is designed.The mechanical structure of the system includes a two-degree-of-freedom motion unit and a writing mechanism.The hardware part is composed of a main control module,an identification module,a motion control module,and a human-computer interaction module.The control module uses STM32 as a main controller and the software part uses a Bresenham algorithm with coordinating transformation to realize the movement of the writing mechanism according to a specific trajectory.The test results show that the writing robot system can achieve the motion gesture recognition to control the movement of the writing mechanism.It can also control the writing mechanism to perform synchronous writing by recognizing the movement of the stylus.The system is easy to implement,and has the advantages of high accuracy of motion gesture recognition and high precision of synchronous writing.
作者
张清勇
高晓宇
夏慧雯
郭广淼
ZHANG Qingyong;GAO Xiaoyu;XIA Huiwen;GUO Guangmiao(School of Automation,Wuhan University of Technology,Wuhan 430070,China)
出处
《实验室研究与探索》
CAS
北大核心
2020年第5期85-89,106,共6页
Research and Exploration In Laboratory
基金
武汉理工大学教学改革与研究项目(W2018098)。
