Transport robot integrating multi channel optical sensing and variable integral pid algorithm

LI Wenhao; TAN Yufei; ZHOU Dengke; QIN Yunbai; YANG Jiaxing

doi:10.37188/OPE.20233123.3504

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Transport robot integrating multi channel optical sensing and variable integral pid algorithm

Information Sciences | 更新时间：2023-12-13

- Transport robot integrating multi channel optical sensing and variable integral pid algorithm
- Optics and Precision Engineering Vol. 31, Issue 23, Pages: 3504-3516(2023)
- 作者机构：
  
  1.广西师范大学电子与信息工程学院，广西桂林 541004
  2.广西师范大学智能机器人实验室，广西桂林 541004
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20233123.3504
  CLC：
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李文浩,谭宇飞,周登科等.融合多光学传感及变积分PID算法的搬运机器人[J].光学精密工程,2023,31(23):3504-3516.

LI Wenhao,TAN Yufei,ZHOU Dengke,et al.Transport robot integrating multi channel optical sensing and variable integral pid algorithm[J].Optics and Precision Engineering,2023,31(23):3504-3516.
李文浩,谭宇飞,周登科等.融合多光学传感及变积分PID算法的搬运机器人[J].光学精密工程,2023,31(23):3504-3516. DOI： 10.37188/OPE.20233123.3504.

LI Wenhao,TAN Yufei,ZHOU Dengke,et al.Transport robot integrating multi channel optical sensing and variable integral pid algorithm[J].Optics and Precision Engineering,2023,31(23):3504-3516. DOI： 10.37188/OPE.20233123.3504.

摘要

为解决搬运机器人无法在复杂光环境下实现精准循迹等问题，提出适用于智能搬运机器人的融合多光学传感和变积分PID方法。将短波长激光器与多路灰度传感器相结合，实时采样循迹轨迹并应用滑动平均滤波算法预处理其采集信息，计算数据与平衡状态的偏差，再对其加权累加融合后作为变积分PID算法的输入量，收敛距离可缩短至10 cm以内。在此基础上，在搬运机器人本体增加抓取物块结构，以拓展搬运机器人作业的灵活性和适用性，采用4自由度机械臂、气泵和载物台组成灵活抓取结构。实验结果表明，在室内光线和室外自然光环境下，该算法可在3 min内实现二维码识别、稳定循迹和物块搬运等功能，且机器人的任务准确率均为100%。变积分PID算法能够增强搬运机器人循迹的实时反馈，加快对循迹误差的响应能力，提高了搬运机器人循迹的稳定性和环境适应性。

Abstract

This paper proposes a fusion of multiplexed optical sensors and variable integral PID methods for intelligent handling robots to deal with their inability to realize accurate trajectories in complex environments. First， a short-wavelength semiconductor laser sensor and multiple grayscale sensors were used to sample the trajectory in real time， and the collected data were preprocessed by applying the sliding average filtering algorithm. Then， the deviation of the data from the equilibrium state was calculated using a combined multi-optical sensing and variable integral PID control algorithm. The accumulation and fusion were weighted， which serves as the input of the variable integral PID control algorithm and reduces the convergence distance to 10 cm. Finally， to expand the applicability of the gripping structure of the object block， a four degrees-of-freedom robotic arm， extractor pump， and load table were used to form a grasping structure. The experimental results show that the algorithm can perform the functions of QR code recognition， stable trajectory， and block grasping and handling in 3 min， in both indoor and outdoor environments. The robot has a task handling accuracy rate of 100%. The algorithm improved the stability and environmental adaptability of the trajectory of the handling robot， strengthened the real-time feedback of the robot route in the process of handling the trajectory， and accelerated the robot's response to the trajectory error， which is of great significance for automation technology.

关键词

光电搬运机器人半导体激光PID控制算法二维码识别

Keywords

photoelectric handling robotsemiconductor laserPID control algorithmQR code recognition

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