Study On Material Handling Robot Used In Public Area

In order to solve the problems of high cost,imprecise positioning and universal development of material delivery robot in public area,the positioning system of material delivery robot is studied on the basis of visual positioning.At the same time,the secondary development system and motion controller are designed under the condition of existing robot structure.The work of this paper is as follows(1)The secondary development system is designed based on the existing robot structure.In order to meet the needs of multi parameter and multi size of material delivery robot in different environments,a development system based on secondary development is designed to realize the rapid generation of robot parts,assembly and engineering drawings.(2)The robot motion controller is designed.According to the function of the robot,the whole motion controller is designed by modularization.The chip selection and peripheral circuit design of each module are carried out.Finally,the function test of each module is carried out.(3)A feature recognition and location method based on self luminous markers is proposed and tested.By testing a variety of feature detection algorithms and comparing their effects,the most suitable detection algorithm is determined.Then the self luminous markers are detected and matched to determine the position of the robot in the image.Finally,an appropriate visual positioning model is established,and the position of the robot in the actual environment is determined by coordinate transformation.(4)The dynamic tracking and testing of self luminous markers are completed.The robot in the initial state is identified by the improved moving object detection algorithm,and the position of the robot in the next frame is predicted by the filter.Based on the template update,the robot in the video is tracked by the matching algorithm.After the research of the above secondary development system,motion controller and positioning system,the test results basically meet the expected functions,and all functional modules can work normally,which proves that the scheme is feasible and can provide certain reference value for robots with such functions.