| With the rapid development of science and technology,more and more new technologies have entered various areas of daily life.The decoration industry has also ushered in new development opportunities driven by technological innovation.Home decoration has become a popular trend.A key element in home improvement design.The filling quality of the tile gap has a great influence on the overall effect of home decoration.At present,the artificial glue gun is mainly used to squeeze the beauty joint agent/caulk agent for the gap treatment,and the working procedures are complicated and the work efficiency is low.Based on the engineering background of tile filling and beautifying joints,the thesis explored the automatic filling/beautifying joint robots,designed a joint-seeking robot based on visual navigation,and focused on its path planning problems.System design,in order to meet the real-time performance of slot extraction and path planning of the slot-seeking robot,the high-performance ARM processor RK3288 is used as the core,combined with a camera and equipped with a Linux system to form an embedded host computer architecture,and the STM32 chip is used as the lower computer as the bottom layer Drive control,build the overall structure of the visual sewing robot.The system function is set with path planning unit,gap recognition unit,low-level control unit and remote monitoring unit.The upper computer performs path planning and gap recognition,and sends the deviation correction instructions of the planned robot path point and the navigation line to the motion control unit through serial communication.The motion control unit is a four-wheeled vehicle-mounted robot architecture,which combines the upper-level correction instructions to control the machine to achieve various motion states of the robot.The remote monitoring unit receives the operating data fed back by the robot on the PC through WIFI communication,and displays the processing results of the gap recognition unit in real time,facilitating remote monitoring by construction personnel.Algorithm design,path planning aspects: According to the idea of finding Euler paths,the intelligent optimization algorithm is combined with the one-stroke algorithm for path search.In order to improve the efficiency,the intelligent optimization algorithm-the atomic search algorithm(ASO)has been improved.An Improved Atomic Search Algorithm(IASO)is proposed.IASO adds the binding force generated by the historical optimal solution of individual atoms to modify the acceleration of ASO and enhance the global search ability;adaptively update two multiplier coefficients to coordinate the algorithm's global search and local development capabilities;use Gaussian mutation strategy to update atoms Position,improve the ability to jump out of precocity.IASO has greatly improved its convergence speed and accuracy.The IASO algorithm is used to construct the Euler diagram by matching the singular points of the template map,and the path search is performed on the Euler diagram by combining the Hierholzer algorithm to realize the optimal path planning of the robot.In the aspect of gap recognition: The image is preprocessed by ITTI salient target detection and Canny edge detection algorithm,and then the tile gap is extracted by Hough transform,and the navigation line information is extracted by straight line fitting,which realizes the robot real-time seam search. |
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