环境信息实时感知的图书馆搬运机器人自动化控制系统

Automatic control system of library handling robot with real-time perception of environmental information

摘要:

图书馆搬运机器人对于图书馆数字化、便捷化能够起到重要的促进作用。提出一种结合双目视觉进行环境感知的方式,同时通过改进趋近律的双闭环非线性变结构控制,解决传统控制方式当中向理想轨迹趋近速度与抖振现象之间的矛盾关系。经过实验验证,在趋近律速度上,本文提出的改进趋近律控制方式实际轨迹与理想轨迹的差值在0.009至0.197的范围之内,传统等速趋近律方式实际轨迹与理想轨迹的差值最好情况为滑膜增益是0.3时,差值在0.098至0.354之间。同时在针对环境信息实时感知的实验中,本文提出方式可更快避障并回到预定轨迹。相比之下,基于环境信息实时感知的图书馆搬运机器人自动化控制系统更具优越性。

Abstract:

Library handling robots can play an important role in promoting the digitization and convenience of libraries. This paper proposes a method of environment perception combined with binocular vision, and solves the contradictory relationship between the approach velocity and the jitter phenomenon in the traditional control method by improving the double closed-loop nonlinear variable structure control of the approach law. Experiments have verified that in terms of approach law velocity, the difference between the actual trajectory and the ideal trajectory of the improved approach law control method proposed in this paper is within the range of 0.009 to 0.197, and the difference between the actual trajectory and the ideal trajectory of the traditional constant velocity approach law method is best when the synovial gain is 0.3, and the difference is between 0.098 and 0.354. At the same time, in the experiment of real-time perception of environmental information, the proposed method can avoid obstacles faster and return to the predetermined trajectory. In contrast, the library handling robot automation control system based on real-time perception of environmental information is more superior.