Research On The Remote-Brained Service Robot Based On The Techniques Of Measurement And Control With Machine Vision

With the development of sensors technology in recent years, the service robot is a new domain emerging in the robot discipline. The service robot will take an important effect upon work and life of human beings more and more while the standard of living being improved and the demand of human beings for service robot increasing. So some experts predict that intelligent service robot would be one of the most potential robot application domains in this century. Therefore the researches on the intelligent service robot have important theoretical value and practical significance.This article researches on the remote-brained service robot based on the techniques of measurement and control with machine vision. First, overall design project of remote-brained robot based on machine vision and techniques of measurement and control, which is according to functions and demand on the intelligent service robot, is introduced in chapter2. Then, the questions about the remote-brained robot technology, service robot technology and technology of measurement and control are described in detail. Further more, the improvement scheme of remote-brained robot technology is brought forward on the basis of. original remote-brained robot technology, and a new control model of robot is built. At the same time, the design of software and development of hardware are accomplished. Based on the deep research upon the four-point calibration method and virtual grid calibration method, a new method that the different calibration matrix will be used in different detecting area is brought forward and is accomplished.The hardware and software development of this robot system is introduced in detail. Based on the research of many process methods and detection methods of color image, a color tag detecting scheme suited for vision subsystem of this robot is put forward, which has been realized. Experiments prove that the scheme have good robustness to variable luminance. Then this article uses SIMULINK to simulate the methods of robot path planning to obviate obstacle.To the problems of software development and global debugging, the detailed analysis, demonstration and description have been done in this paper. At last, the experiments prove that this robot system can accomplish the tasks and commands that operator gives correctly.