| 基于STM32自动网球拾取机器人设计 |
| |
| 引用本文： | 刘玲,靳伍银,王洪建.基于STM32自动网球拾取机器人设计[J].南京气象学院学报,2020,12(5):609-613. |
| |
| 作者姓名： | 刘玲 靳伍银 王洪建 |
| |
| 作者单位： | 兰州理工大学 机电工程学院, 兰州, 730050,兰州理工大学 机电工程学院, 兰州, 730050,重庆工商大学 机械工程学院, 重庆, 400067 |
| |
| 基金项目： | 重庆市中小学创新人才培养工程（CY190802） |
| |
| 摘 要： | 针对网球场捡球工作量大的问题，开发了一款基于STM32的智能自动小型移动网球拾取机器人，规避了现存网球机器人结构庞大、灵活性差、效率低的问题.通过构建机器人三维模型，设计了一款造价低廉、高精密的小型移动网球拾取机器人.采用质心法获取目标物坐标信息，在机器视觉模块与双机械臂机构协同下，采取多行走舵机与万向轮协同实现机器人自动寻找目标、完成拾取、归集网球等动作.实验结果表明机器人能很好地完成以上功作，且拾取速度快，精确度达到98％.
|
| 关 键 词： | 机器视觉 双机械臂 质心法 网球拾取机器人 STM32 |
| 收稿时间： | 2020/6/20 0:00:00 |
Design of automatic tennis pickup robot based on STM32 |
| |
| LIU Ling,JIN Wuyin and WANG Hongjian.Design of automatic tennis pickup robot based on STM32[J].Journal of Nanjing Institute of Meteorology,2020,12(5):609-613. |
| |
| Authors: | LIU Ling JIN Wuyin and WANG Hongjian |
| |
| Institution: | School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050,School of Mechanical and Electronical Engineering, Lanzhou University of Technology, Lanzhou 730050 and School of Mechanical Engineering, Chongqing Technology and Business University, Chongqing 400067 |
| |
| Abstract: | In view of the heavy workload of tennis pickup in tennis court,as well as the problems of large size,poor flexibility and low efficiency of the existing tennis picking robots,an intelligent small mobile robot capable of automatic tennis picking based on STM32 was designed.The robot''s mechanical structure was presented by constructing its 3D model.The robot adopted the centroid method to obtain target''s coordinate information,and realized acts including target search,tennis pick and tennis deposit automatically,under the effective cooperation of its machine vision module,the walking steering gear,the universal wheel,and the double mechanical arms.The experiment results showed that the robot can quickly locate and collect tennis with high precision up to 98%. |
| |
| Keywords: | machine vision double mechanical arms centroid method tennis picking robot STM32 |
|
| 点击此处可从《南京气象学院学报》浏览原始摘要信息 |
| 点击此处可从《南京气象学院学报》下载免费的PDF全文 |
|
