摘要
传统的工业机器人避障系统只能处理数据信息,导致障碍物检测准确率低,设计的避障路线实际应用效果差;为此,引入区块链技术设计一种新的工业机器人视觉检测及避障系统;系统设计分为硬件及软件两部分,硬件优化了系统电源,通过传感器分析环境信息、障碍物参数,选用TX-AS700无线射频通信模块,以HSJ-2芯片作为检测器电路核心,用以传输并存储障碍物数据;软件部分在Visual C++程序框架中设定应用程序,与区块链技术中的数据库资源相结合,实现图像信息提取,计算区块阶矩得到障碍物检测公式,通过仿真程序分析处理障碍信息,并设计有效的避障路线;实验结果表明,基于区块链技术的工业机器人视觉检测及避障系统能够提取图像信息,检测到的障碍物准确率高,系统的检测有效率平均值为83%,避障准确率接近理想避障效果,能够规划出更加有效的避障方案。
The traditional industrial robot obstacle avoidance system can only process data information,resulting in low obstacle detection accuracy and poor practical application of the designed obstacle avoidance route.To this end,the introduction of blockchain technology to design a new industrial robot vision detection and obstacle avoidance system.The system design is divided into hardware and software.The hardware optimizes the system power supply,analyzes the environmental information and obstacle parameters through the sensor,selects the TX-AS700 wireless radio frequency communication module,and uses the HSJ-2 chip as the core of the detector circuit to transmit and Store obstacle data.The software part sets the application program in the Visual C ++ program framework,and combines with the database resources in the blockchain technology to achieve image information extraction,calculate the block moment to obtain the obstacle detection formula,and analyze and process the obstacle information through the simulation program,and Design effective obstacle avoidance routes.The experimental results show that the industrial robot vision detection and obstacle avoidance system based on blockchain technology can extract image information,the detected obstacles have high accuracy,the average detection efficiency of the system is 83%,and the obstacle avoidance accuracy is close to ideal avoidance Obstacle effect,can plan a more effective obstacle avoidance program.
作者
华丹
Hua Dan(School of Information Engineering,Changzhou Vocational Institute of Light Industry,Changzhou 213164,China;Nanjing University of Science And Technology,Nanjing 210094,China)
出处
《计算机测量与控制》
2020年第7期69-73,共5页
Computer Measurement &Control
基金
常州市科技项目(CR20192005)。
关键词
区块链技术
工业机器人
视觉检测
避障系统
Blockchain technology
industrial robot
visual inspection
obstacle avoidance system
