Motion control system of spherical robot having visual feedback and motion control method thereof

Abstract

The invention discloses a motion control system of a spherical robot having visual feedback and a motion control method thereof. The motion control system comprises a spherical robot body, a control system which is installed on the spherical robot body and an upper computer which wirelessly communicates with the control system. The control system comprises a core control system, a performing system, a sensor system, an image processing system and a power supply system which are electrically connected with the core control system, and a communication system which performs wireless transmission with the core control system. The performing system, the sensor system, the communication system and the image processing system are electrically connected with the power supply system. According to the motion control system of the spherical robot having visual feedback and the motion control method thereof, the inertia measurement unit data are processed so that accurate acquisition of attitude information can be realized; and the speed and the attitude of the spherical robot can be controlled and rectilinear motion and arc turning motion of the robot can be realized.

Description

technical field [0001] The invention relates to a motion control system and a motion control method of a spherical robot with visual feedback, belonging to the technical field of robots. Background technique [0002] Mobile robots are playing an increasingly important role in space exploration, complex operations, and field exploration, replacing humans with dangerous work; at present, with the development of mobile robots, their main movement methods are divided into two types: one One is mobile robots that rely on wheels and crawlers, such as remote control cars; the other is bionic mobile robots, such as bionic cats and snake robots; these robots have strong adaptability to the environment, but they also have degrees of freedom Many, complex control, slow movement and other deficiencies; with the development of human beings and the deepening of the exploration process of unknown things, robots need to replace human beings in more harsh environments, which requires robots ...

AI Technical Summary

Problems solved by technology

[0002] Mobile robots are playing an increasingly important role in space exploration, complex operations, and field exploration, replacing humans with dangerous work; at present, with the development of mobile robots, their main movement methods are divided into two types: one One is mobile robots that rely on wheels and crawlers, such as remote control cars; the other is bionic mobile robots, such as bionic cats and snake robots; these robots have strong adaptability to the environment, but they also have degrees of freedom Many, complex control, slow movement and other deficiencies; with the development of human beings and the deepening of the exploration process of unknown things, robots need to replace human beings in more harsh environments, which requires robots to have better self-protection capabilities and The ability to detect the environment, in this context, the spherical robot came into being; however, to autonomously complete path planning, obstacle avoidance, target tracking and scheduled tasks, the spherical robot needs to grasp the knowledge of its external environment in real time, and Determine its correct position in the environment; therefore, in order to be able to acquire the exact position, a spherical robot motion control system with visual feedback is set up and its motion control method is proposed

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