Research on Visual Spherical Mobile Robot System Based on Object Autonomous Recognition

In order to solve the shortcomings of the traditional spherical robot, such as less application scenarios, poor practicability and high cost, a spherical mobile robot system with visual object autonomous recognition is designed. The hardware structure of the robot mainly includes high-definition image acquisition bpi-d1, sensor data fusion processing master STM32F103, motor drive, Bluetooth transmission and power management. In order to complete the self-balancing state of the robot in the moving process, the PID control algorithm is designed. In terms of software, the overall functional flow design and self-balancing control flow design of the robot are completed. Through the system software and hardware test, it can be seen that the average maximum deflection angle of the robot's non-interference self-balancing is about 19.86°, the maximum average deflection angle of the disturbed self-balancing is about 23.86°, the average self-balancing time is about 1.78 s, and the disturbed self-balancing time is within 3S, which meets the original design intention of the robot.