Design On Control System Of Automatically Following Robot Base On Kinect

With the development of science and technology, the use of robots has been increasingly widespread, and the concept of the robot is becoming more and more wide. Within the field of robot research, it is an increasingly popular topic to exploit how to order robot to follow the user when it is permitted. Therefore, a control system for following robot based on Kinect was developed in this thesis to release working pressure for workers and solve the safety problems in mechanical manufacture workshop.In the beginning, research of robot technology from domestic and overseas were reviewed. Based on that, Kinect sensor was introduced in the control system of the automatic following robot. This article focued on the research and design of the automatic following robot control system that based on Kinect sensor, introduced the content and methods to research automatic following robot.In hardware building, this article analyzes the shortage of centralized hardware structure, and develop the scheme of distributed control system hardware structure and makes the type selection of the critical components of hardware system. The motion of the Mecanum based on moving platform has been analyzed, and relative kinematical equation has been proposed. After these, several experiments have been set up to test the feasibility of this hardware system.In algorithm research, according to the target following theory, combined with the motion control algorithm and local trajectory algorithm, the automatic following algorithm which based on the artificial potential field has been introduced. Using this algorithm, robot could implement the function of direction, speed following and automatically avoid obstacle. At the same time, based on the human skeleton data, this article put forward an algorithm of motion recognition, it could remove the differences of the bone data from the target and achieve the automatic following robot’s function of motion recognition.In the aspect of software system, the overall solution of the following robot software was proposed in this paper. The software system is built from motion control software and upper computer software two directions, it combined with Kinect SDK, OpenCV function library and MFC software framework, implements the function of software interaction and automatic control.Finally, an automatic following robot experiment platform has been built to verify the algorithms mentioned in this article, and to prove the motion algorithms and artificial potential field algorithms could be used in the following robot control system successfully. Through the field tests in the mechanical manufacture workshop, the performance of following robot in the industrial place could be tested and its problem could be analyzed. The result shows that the robot designed in this article could be used in manufacture workshop perfectly.