基于立体视觉的机器人自主乘梯控制方法设计与研究

Research and Design of Robot Self-Autonomous Stair Ride Control Method Using Stereo Visual

摘要: 本文设计一种基于模糊逻辑控制及立体视觉的自主乘梯机器人，使其能够独立完成自乘电梯，该自主乘梯机器人具备两个视觉系统，头部的双CCD用于识别电梯方位，四轴机械手臂上的单CCD用于识别电梯的按钮数字及楼层。基于模糊控制理论的机器人搭乘电梯的运作可分为五个步骤：机器人行进至电梯前的适当位置，机械手臂识别并触及上下按钮，判断电梯开门并进入电梯，机械手臂识别并触及指定楼层按钮，在电梯到达目的楼层后判断电梯开门，离开电梯。实验结果表明，结合模糊逻辑与视觉控制的移动机器人可以在30秒内独立完成自主乘梯。

Abstract: This paper uses fuzzy logic to control the mobile robot to take elevator independently using stereo visual servoing. There are two vision systems on the mobile robot. One is the head double CCD sys-tem for mobile robot for detecting direction and position of the elevator, the other is mounted on a four-axis manipulator used to recognize the buttons of elevator and detect whether the button light is on or off. The motion path planning and motion control of the mobile robot are accomplished by using fuzzy logic. The processing stage of the mobile robot taking the elevator can be divided into five steps. First, the mobile robot moves to adequate position in front of the elevator door. Secondly, the manipulator recognizes the up or down button and presses it. Thirdly, the mobile robot recog-nizes the elevator door opened and enters the elevator. Fourthly, the manipulator recognizes the floor button assigned and presses it. Finally, when the elevator reached the target floor, the mobile robot recognizes the elevator door opened and leaves the elevator. Experimental results show that the combination of fuzzy logic and stereo visual servoing for controlling mobile robot can fulfill the work of taking elevator autonomously in 30 seconds.