Bosquejo proyecto de un robot

ROBOT BRILLADOR Y LIMPIADOR.

José Antonio Prieto Godoy, Carlos Francisco Palacios Narvaez, Universidad Piloto de Colombia, Bogotá, Cundinamarca 111131.

Abstract.

It developed one polisher robot autonomous using machine vision and a number of technical approaches for characterization developed and decision making by means of a software (MATLAB) where navigation is planned and a series of patterns are extracted for the characterization of our environment, this was done by means of image processing with webcam, considering that we face a problem of planning locally this means that we do not know the location of obstacles and merge the overall basic problem of paths is where the user It indicates the initial and final coordinates which our robot will make the journey.

Keywords.

Machine vision, image processing path.

1. Introduction.

Over time, customs and technologies have changed, now the average worker in Colombia working an hourly amount of 10h however must also meet the duties of home, these duties spend an hourly average of 2 hours of which 1h is mop and clean the floor, this is where you enter our robot which will meet one of his duties earning him more time so that it can invest in their children or academic work, making the technology is not only in industrial areas can also reach to our home to benefit us greatly.

1. Reference framework.

1. Theoretical framework

Robotics is the branch of artificial intelligence that studies the automatic systems able to establish a direct interaction with the physical world. Is part of a set of technologies that promise to solve problems that are difficult, boring or dangerous to man, with considerable progress since its inception, today are available in the programmable manipulators trade, robots that walk, learn and interact with each other as it has also made great strides in the components of robots in vision, sensors, materials and control algorithms, the design of these requires knowing structures, materials, dynamics, actuators, sensors, control and programming. There are two groups of robots: robots Fixed and mobile robots. The essence of a mobile robot is moving in a known or unknown environment, therefore it is necessary to know the position of the robot in its universe of precise or relative manner according to the applicability and behavior.

• The structure of a mobile robot.

A mobile robot is formed with four specific functions: The system power, locomotion or actuators, perception or sensóricos systems and control systems that basically determine the decision. See figure 1.

[pic 1]
Figure 1.

1. Conceptual framework.

This project will focus with autonomous navigation, it is essential to know in depth the definitions and procedures or diagram which more explicit context of our project.

The design and implementation of mobile autonomous robot that is able to avoid obstacles, is an all development and study of the basic theories of robotics and implementation of electronic systems such as the discrete control, electronic sensor systems and basic structures of mechanical and kinematics.

Robotics theory leads us to interpret the fundamental behavior of the robot, electronics enables us to develop the project as such and the interaction of the two makes it possible to implement a more applicability for industrial needs. The implementation of this project should take into account the following constituents and blocks developed under the principles and laws of robotics, and electronics:

• Basic structure of the mobile robot.

The basic structure of a mobile robot, allows us to generalize the body, shaping the robot, its dimensions and its exterior and interior components. how the robot components, such as engines and wheels, able to exert the force with which the movement will run, taking into account the power module that the system should provide the components capable of exercising displacement described makes displacement, . It also describes the form of perception and acquisition of environmental variables, using sensors, how should process these data obtained from 14 sensory systems and their own conditioning of this signal. Finally it shows the ability of decision adopts the robot, through the control module, which is handled by discrete electronics.

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