智能移动垃圾分拣机器人

广东东软学院本科毕业设计〔论文)AbstractThis paper discusses an intelligent mobile garbage sorting robot systembased on machine vision recognition technology.The system realizes thepath planning,traversing the area to be cleaned,and identifying and locatingthe target object in a simple background.The system uses the method of deeplearning to realize the authenticity identification of the target garbage in thesimple background,which is composed of three parts:the targetidentification unit,navigation unit and the sorting control unit.Based on theROS distributed framework,automatic navigation uses lidar to collect theenvironment information of the cleaning area,uses the slam function ofscanning matching algorithm,and uses the optimal path algorithm to planand traverse the cleaning area.In the process of robot traversal,the targetrecognition unit detects and classifies the image acquired by the camerathrough the SSD MobileNet v2 deep learning algorithm,obtains thecoordinates and angle information of the target as the input information ofthe sorting control unit,and controls the sorting control unit to perform thegarbage grabbing task.Key Words:Machine vision,Garbage sorting Deep Learning Automaticpilot