The Design And Implemention Of Omni-directional Mobile Automatic Follow-up Robot System

With the rapid development of the Internet and big data technologies,more and more people like to shop online.Due to the large number of merchandise categories and the irregular shape of most e-commerce vendors,it is often necessary to manually pick and transport goods.It is a huge challenge to the traditional logistics and warehousing industry.This paper studies and designs an omnidirectional mobile robot that can autonomously follow the picking staffs movement.It can greatly improve the warehousing and logistics industry's rapid picking capacity and meet the current growing demand for online shopping.This paper first analyzes the kinematics modeling of omnidirectional mobile robots.It mainly includes the description of the structure of the Mecanum wheel.The kinematic model of omnidirectional mobile robots is derived by establishing the relationship between the coordinates of the Mecanum wheel and the robot.At the same time,because the camera is fixed on the robot body,it does not generally coincide with the robot coordinate system.This paper establishes the transformation matrix between the camera coordinate system and the robot coordinate system.At the same time,it is derived to obtain the conversion relationship between camera speed space to the robot speed space.In view of the autonomous follow-up capability needed by the robot,this paper uses vision sensor,researches and analyzes the current mainstream visual target tracking algorithm,and proposes that the CMT algorithm is particularly suitable for the application of this project.Then analyzed the key technical points of the CMT algorithm,such as matching and tracking,voting mechanism,consistency,etc.,and tested its actual effect.In order for the robot to track moving target objects quickly and steadily,designing a robust and robust visual tracking controller is the key to achieving this goal.Firstly,two kinds of visual servo control algorithms for omnidirectional mobile robot are introduced.They are the IB VS controller design based on image Jacobian matrix and the IB VS controller design based on spherical features.The advantages and disadvantages of the two control algorithms are illustrated respectively.Then,aiming at obstacle avoidance and other issues during the follow-up process of the robot,an online obstacle avoidance strategy based on the artificial potential field method is designed.Finally,the simulation experiments of these two algorithms are analyzed.Finally,an omnidirectional mobile robot visual self-following experiment system was set up.The mechanical structure,software and hardware selection and design scheme of the system were introduced in detail,and the kinematics and visual auto-following of the robot were tested and analyzed.