Research And Design Of Automatic Sorting Robot For Competition

The designing of automatic sorting robot adopts module design method.The rules of the automatic sorting robot are taken as the design requirements.The designing following the sequences,from overall to parts design.Firstly,an overall plan is conducted to determine the plan and direction.In the parts design,mechanical structure design,hardware circuit design and software system design were conducted.When analyzing,each module has done in an in-depth theoretical analysis method at both of the beginning,and at the end of the experimental verification.When designing mechanical structure,a detailed analysis and reasonable design was conducted on its appearance,size,etc.In the dissertation,the design requirements of each component as well as their structure and role in the robot will be described in detail.In addition,the assembly method of parts and components,as well as the installation of hardware such as control actuator and direct current machine are described in detail.In the paper,an analysis of the Torque checking on the main force components in the mechanical structure was shown.During the competition,a structure that contains a manipulator for grasping the workpiece,and different components to form two four-bar-mechanism in a plane was used.The structure formed between the various components enables the hand to maintain the state parallel to the ground,thereby reducing the use of the steering gear.In the paper,a cubic polynomial planning for the manipulator's grasping trajectory and a MATLAB to simulation the trajectory will be showed,and it shows that the simulation has reached the desired results.In terms of hardware systems part,the selected hardware as well as related hardware circuit designing will be described in detail.During the competition,a tracking system consists of a photosensor consisting of a photodiode and photoresistors was used to detect the ground line.The system was integrated with the operational amplifier to amplify the detection signal so that the robot's tracing can be stable and error-free.The tracking system feeds back the detected external information to control chip,and the control chip controls the motor so as to realize the speed control of the robot walking.The robot uses infrared photoelectric switch to position and take the first stop after deceleration,so that the robot can accurately stop at the designated position in the game.Finally,in aspect of visual recognition,a powerful Openmv vision module was selected to identify the workpiece to be grasped,and the control chip was used to control the operation of the robot,giving full play to Openmv's functions.It is shown that the desired result was reachedThirdly,in terms of software systems,the designing of the software system will be shown.In the competition,the robot walking control chip and the Openmv vision module are both programmed using Python language.In order to improve the recognition accuracy and improve the rate of workpiece sorting,the visual recognition includes three aspects: color recognition,shape recognition,and template matching.In addition to the use of the target recognition algorithm.Before programing,a study was conducted on the positioning of the visual robot assisted robot.The angle measurement algorithm and the improved horizontal distance measurement algorithm were tested to verify the feasibility of the two algorithms.Through the above work,an automatic sorting robot designed and manufactured in this paper has strong ability to obtain outside information,has a fast walking speed,and is fast and stable in identifying and grabbing moving targets.It was finally awarded in the China Robotics Cup 2017 second prize.