| With the rapid development of science and technology, the developing trend for robotics is to improve the intelligent and visual capability. The spherical mobile robot can resume stability even if a collision happened, and the advantage of the spherical robot includes high maneuverability, so it is very suitable to be used in those environments, such as industrial building, civil application, defense construction and space exploration domain. In this paper hemispheric differential motion spherical robot system is designed based on spherical mobile robot, navigation and control technology is researched.First, briefly analyze the research status of home and abroad spherical mobile robots and navigation sensor technology, and point out the shortcomings of them, compare several kind of spherical robot, summed up the advantages and disadvantages, on this basis, proposed a new configuration, establish the model of hemispheric differential motion spherical robot, and then, control system and control algorithms is designed based on kinematic analysis.Secondly, construct the navigation vision system of spherical robot, using the interface of the video capture card to provide real-time image. Using monocular vision theory get the location information of the target from the noisy environment through corrosion, filtering, threshold processing and shape matching method. Obtained the distance information of the target, and then send to the follow-up control systems.Thirdly, design the hardware and software project of the spherical robot control system, complete the host computer navigation software using VC++. Design the hardware and software system of the robot based on ARM platform.Finally, design the target tracking experiment, collecting the test data, experimental results and further data analyses show that the method is validity, accuracy and robustness. Summarize research results of this paper and point out the next in-depth study and new application direction. |
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