为实现室内喷涂机器人在作业中对空间障碍物的避障,引进数字信号处理器(Digital Signal Processor,DSP)和模糊逻辑,开展室内喷涂机器人视觉导航方法的设计研究.建立二维平面空间坐标系0-xy,根据机器人在空间中的位置、运动方向、与x坐标轴夹角,建立室内喷涂机器人运动学模型;利用DSP中集成的滤波器,建立针对图像的核函数,对其进行滤波;采用DSP中的边缘检测Can-ny算子,计算机器人中摄像头采集图像在水平方向与垂直方向的梯度值,实现机器人视觉传感图像的处理;利用完成处理的图像,引进模糊逻辑,设计机器人室内避障与视觉导航.对比实验结果表明:设计的方法能够精准指导机器人识别并避开所有障碍物,实现对所有指定作业面的完全喷涂.
Research on Vision Navigation of Indoor Spraying Robot Based on DSP and Fuzzylogic
in order to avoid obstacles in space,the Digital Signal Processor(DSP)and fuzzy logic are introduced to design the visual navigation method for indoor spraying robot.Based on the position,motion direction and angle between X axis and robot in space,the kinematics model of indoor spraying robot is established,by using Canny operator in DSP,the gradient values of the horizontal and vertical directions of the images collected by the camera in the robot are calculat-ed,using the processed image,fuzzy logic is introduced to design the obstacle avoidance and vis-ual navigation in the robot room.The experimental results show that the proposed method can accurately guide the robot to recognize and avoid all obstacles,and realize the complete spraying on all designated work surfaces.
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