Motion control system and motion control method for spherical robot with visual feedback

A technology of robot movement and spherical robot, which is applied in the field of robotics, can solve the problem of less visual positioning of spherical robots, and achieve the effects of ensuring stability, improving accuracy, and flexible control

Inactive Publication Date: 2013-06-05
BEIJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in practical applications, few spherical robots use visual positioning.
Although there are also equ

Method used

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  • Motion control system and motion control method for spherical robot with visual feedback
  • Motion control system and motion control method for spherical robot with visual feedback
  • Motion control system and motion control method for spherical robot with visual feedback

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Embodiment Construction

[0037] Specific embodiments of the present invention are described in more detail below with reference to the accompanying drawings.

[0038] Such as figure 1Shown is the spherical robot motion control system with visual feedback according to the present invention. The system includes: a binocular vision system 1, a gyroscope 2, a spherical robot body 3, an embedded controller 4 and a wireless communication module 5. The motion control system coordinates the binocular vision system 1 and the gyroscope 2 for positioning, and measures the motion parameter information of the robot body 3 in real time, and inputs it to the embedded controller 4 as feedback. Control commands to realize the tracking of the target path, and at the same time, it can remotely monitor the status information of the robot and issue operation instructions through the wireless communication module.

[0039] The binocular vision system 1 consists of two CCD black-and-white cameras of the same model, which ...

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Abstract

The invention discloses a motion control system and a motion control method for a spherical robot with visual feedback. The motion control system comprises a binocular visual system, a gyroscope, a spherical robot body, an embedded-type controller and a wireless communication module. The motion control system is positioned through cooperation between a visual camera and the gyroscope and measures self motion parameter information of the robot in real time, and the self motion parameter information is used as feedback to be input into a controller. After conducting calculations, the controller issues a control order to a motor on the spherical robot so as to achieve tracking of a targeted path. Meanwhile, the controller can also monitor state information of the robot remotely and give an operation order. The motion control method sets up an inner ring control strategy by adopting a state feedback algorithm, sets up an outer ring control strategy by adopting a curvature tracking algorithm and conducts control through combining an inner ring and an outer ring. The left and right image sequence can be collected in real time through the binocular visual system. By means of adoption of a binocular visual range algorithm, postures and changes of position of the spherical robot can be figured out. By mean of the gyroscope, errors caused by an unstable platform are complemented, and obtained results are used as feedback to be brought into a control algorithm.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a motion control system and a motion control method for a spherical robot with visual feedback. Background technique [0002] A spherical robot refers to a type of mobile robot in which motion mechanisms, sensors, controllers, etc. are built into a spherical shell, and the spherical shell is used as a rolling walking device. Compared with mobile robots such as wheeled and tracked robots, the characteristics of spherical robots are: 1) flexible steering and small turning radius, and can pass through tortuous passages with apertures slightly larger than their diameters; 2) have characteristics similar to tumblers, walking Collision with obstacles or other moving mechanisms during the process will also restore the steady state after a short period of irregular movement; 3) In the event of a dangerous situation such as falling from a high place, it can still continue to work, and ther...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 叶平韩亮亮孙汉旭贾庆轩张天石
Owner BEIJING UNIV OF POSTS & TELECOMM
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