Automatic Control System of Library Handling Robots with Real-time Perception of Environmental Information
Library handling robots can play an important role in promoting the digitization and convenience of libraries.This pa-per proposes an environment perception method combined with binocular vision,and solves the contradictory relationship between the approach velocity and the jitter phenomenon in the traditional control method by improving the double closed-loop nonlinear variable structure control of the approach law.Experiments show that in the velocity of the approach law,the difference between the actual trajectory and the ideal trajectory of the improved approach law control method proposed in this paper is within a range of 0.009 to 0.197,and the difference between the actual trajectory and the ideal trajectory of the traditional isokinetic approach law method is best and is between 0.098 to 0.354,with a synovial gain of 0.3.At the same time,in the experiment of real-time perception of envi-ronmental information,the accuracy rate of library handling robot is as high as 97.8％,which proves the high efficiency and reliability of the system.In contrast,based on the real-time perception of environmental information,the automatic control system of library handling robots is more superior.
library handling robotsautomatic controlbinocular visionimproving the law of approachenvironmental perception
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