Abstract
In order to solve the shortcomings of the traditional spherical robot, such as less application scenarios, poor practicability and high cost, a spherical mobile robot system with visual object autonomous recognition is designed. The hardware structure of the robot mainly includes high-definition image acquisition bpi-d1, sensor data fusion processing master STM32F103, motor drive, Bluetooth transmission and power management. In order to complete the self-balancing state of the robot in the moving process, the PID control algorithm is designed. In terms of software, the overall functional flow design and self-balancing control flow design of the robot are completed. Through the system software and hardware test, it can be seen that the average maximum deflection angle of the robot's non-interference self-balancing is about 19.86°, the maximum average deflection angle of the disturbed self-balancing is about 23.86°, the average self-balancing time is about 1.78 s, and the disturbed self-balancing time is within 3S, which meets the original design intention of the robot.
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Acknowledgements
This work was supported in part by Suzhou University Doctoral Research Initiation Fund Project 2023BSK023. Natural Research Science Institute of Anhui Provincial Department of Education 2022AH051379.
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Liang, W., Zhang, X., Liu, W., Sun, H. (2024). Research on Visual Spherical Mobile Robot System Based on Object Autonomous Recognition. In: Wang, W., Liu, X., Na, Z., Zhang, B. (eds) Communications, Signal Processing, and Systems. CSPS 2023. Lecture Notes in Electrical Engineering, vol 1033. Springer, Singapore. https://doi.org/10.1007/978-981-99-7502-0_27
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DOI: https://doi.org/10.1007/978-981-99-7502-0_27
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