摘要
第七届全国大学生工程训练综合能力竞赛智能+赛道基于机器视觉的智能物流搬运机器人,对OpenMV4视觉模块进行研究,应用该模块进行二维码、不同颜色物料等多种目标的识别,信息经过模块上STM32F427微控制器的处理,与Arduino Mega 2560板通信,机器人识别场地上的三个区域,用PID算法驱动麦克纳姆轮机器人的四个直流电机旋转并且定位机器人,通过PCA9685模块的I2C通信协议,发送PWM脉冲信号给机械臂上的四个关节舵机,使智能物流搬运机器人对场地上的物料进行自动搬运。实验证明其可以较为精确地完成各项搬运任务。
The 7th National College Student Engineering Training Comprehensive Ability Competition Intelligent+Track intelligent logistics handling robot based on machine vision conduct research on the OpenMV4 visual module.The module is used to identify various objects such as two-dimensional code and different color materials.The information is processed by STM32F427 micro-controller on the module and compared with Arduino Mega 2560 board communication,the robot recognizes three areas on the field,uses PID algorithm to drive four DC motors of mecanum wheel robot to rotate and position the robot,and sends PWM pulse signal to four joint steering gear on the manipulator through I2C communication protocol of PCA9685 module,so as to automatically carry materials on the field by intelligent logistics handling robot.Experiments show that it can be more accurate to complete the handling tasks.
作者
张兴华
Zhang Xinghua(Faculty of Intelligent Manufacturing Engineering,Guangdong Baiyun University,Guangdong Guangzhou 510450)
出处
《南方农机》
2024年第5期144-147,171,共5页
基金
广东省教育厅重点科研平台项目(2019GCZX008)
广东白云学院科研项目(2022BYKY92)。
关键词
工程训练
机器视觉
智能物流搬运
麦克纳姆轮机器人
engineering training
machine vision
intelligent logistics handling
mecanum wheel robot
