基于视觉控制的足轮两式机器人设计与研究硬件电路与控制系统设计.docVIP

PAGE 73 基于视觉控制的足轮两式机器人硬件电路与控制系统设计 摘 要 随着人类社会的进步，人类对自然界的探索范围的不断扩大，人们发明了各种各样的机器人来替代人类去完成一些相对危险的工作或难以解决的问题。其中机器人常用的远距离移动方式有三种，分别是轮式、履带式、足式，并且各有其优缺点。 （1）轮式机器人在平坦的道路上可以快速行走，但在相对泥泞与崎岖的复杂地形却难以行进，且其转弯半径大，转弯效率差，灵活性较差。 （2）履带式机器人相比于传统轮式机器人，能够在泥泞与崎岖的复杂地形行进，还可以原地转弯，但当其遇到落差较大的障碍时却难以越过。 （3）足式机器人可以适应多种复杂地形，尤其是在其跨越障碍方面相对于轮式机器人和履带式机器人有很大的优势。但足式机器人行进速度相对较低，步态行进的稳定性与环境有很大的关系，控制难度大，比较容易侧翻，稳定性能相对较差。 本设计一方面根据各种类型机器人的优缺点取长补短，将轮式机器人与足式机器人结合起来制造出能够适应多种地形并且可灵活变换的机器人。这种机器人可根据不同地形灵活变换成不同的形态，取长补短将不同种类的机器人优势发挥出来。例如：在平坦的地形使用轮式形态行进，行进速度快，能源消耗相比较足式机器人要少。但在复杂地形可以使用足式形态行进，灵活性高且越野能力强。另一方面除了配置基础的上位机控制方式之外还搭配了手部识别的视觉控制模式，实现了通过手部的动作变化从而控制机器人的运动方式，提高了本设计的操作多样性。 关键词：足轮结合; 数据传输; 上位机; 人机交互 Foot wheel two type robot based on vision control Hardware circuit and control system design Abstract With the progress of human society and the expansion of humans exploration of the natural world, people have invented all kinds of robots to replace human beings to complete some relatively dangerous work or difficult problems.Among them, there are three kinds of long-distance moving methods commonly used in robots, which are wheel type, tracked type and foot type, and each has its advantages and disadvantages. 1. The wheeled robot can walk quickly on a flat road, but it is difficult to travel in other muddy and rugged complex terrain, with a large turning radius, poor turning efficiency and poor flexibility. 2. Compared with traditional wheeled robots, tracked robots can travel in muddy, rough and complex terrain and turn on the spot, but it is difficult to cross when it encounters obstacles with a large drop. 3. Foot-type robot can adapt to a variety of complex terrain, especially it has great advantages over wheeled robot and tracked robot in crossing obstacles. However，the walking speed is relatively low, and the stability of walking has a great relationship with the environment. It is difficult to control, easy to roll over, and the stability is relatively poor. On the one hand, according to the advantag