基于Python智能四足户外排污口循迹识别机器人控制系统设计

Design of a Control System for an Intelligent Quadruped Outdoor Sewage Outlet Tracking Recognition Robot Based on Python

摘要: 为满足户外排污口寻迹识别所需地形及稳定性方面的要求，本文提出一种基于Python智能四足循迹识别机器人控制系统设计。本文所述系统主要包含硬件系统及软件系统，其中硬件系统以树莓派4B为主控制芯片，辅以电源电路﹑行走电路﹑无线收发电路﹑嵌套模块控制电路来实现对四足机器人的控制；软件系统利用PID算法控制程序来确保四足式机器人在行走过程中的稳定性和良好的反馈；进而根据摄像头对外界信号的采集，利用视觉循迹算法来实现图像的获取与处理，从而实现循迹和物体识别跟随等功能。在完成本文系统软硬件设计的基础上对系统进行实物测试，测试结果显示：本文所提智能四足循迹识别机器人控制系统具有多向控制、路线寻迹、物体识别与跟随等功能。这在户外排污口寻迹识别方面具有良好的应用前景。

Abstract: To meet the requirements of terrain and stability for outdoor sewage outlet tracking recognition, this paper proposes a control system design of a Python based intelligent quadruped tracking recognition robot. The system described in this article mainly includes hardware and software systems. The hardware system uses Raspberry Pi 4B as the main control chip, supplemented by power circuits, walking circuits, wireless transceiver circuits, and nested module control circuits to achieve control of quadruped robots; The software system utilizes PID algorithm to control the program to ensure the stability and good feedback of the quadruped robot during walking; Furthermore, based on the acquisition of external signals by the camera, visual tracking algorithms are used to achieve image acquisition and processing, thereby achieving functions such as tracking and object recognition. On the basis of completing the software and hardware design of the system in this article, physical testing was conducted on the system. The test results showed that the intelligent quadruped tracking recognition robot control system proposed in this article has functions such as multi-directional control, route tracking, object recognition and tracking. This has good application prospects in tracking and identifying outdoor sewage outlets.