【摘要】 为解决高空垃圾处理问题，实现由人工捡拾到自动处理的智能化转变，设计了一款高空垃圾处理机器人。该机器人以四旋翼飞行器为搭载平台，由智能捡拾装置、垃圾存储装置、图像识别装置、太阳能电池板和动力电源供电装置、无线通信等模块组装而成，主要实现智能捡拾、远程控制和无线传输功能。系统通过OpenMV摄像头模块对目标垃圾进行智能识别，通过图像处理获得位置坐标。以TM4C123GH6PM为主控，设计闭环比例积分微分(PID)控制回路进行运动控制，实现智能捡拾。同时，组建ZigBee无线网络，以实现远程数据传输及通信。利用ZigBee终端节点，将多台终端机器人联合组网，实现多机控制。与其他机器人相比，该机器人将ZigBee技术与物联网技术应用到高空作业中，创新了多机工作模式，克服了目前高空垃圾处理机器人覆盖面小、功耗高、实时性差等问题，有利于实现高空作业的智能一体化。更多还原

【Abstract】 To solve the problem of high-altitude garbage disposal and realize the intelligent transformation from manual picking up to automatic processing, a high-altitude garbage disposal robot is designed.The robot is equipped with a four-rotor aircraft platform, composed of intelligent picking up device, garbage storage device, image recognition device, solar panels and power supply device, wireless communication module assembly, mainly to achieve intelligent picking up, remote control and wireless transmission functions.The system uses OpenMV camera module to intelligently identify the target garbage and obtain the location coordinates through image processing.With TM4 C123 GH6 PM as the main control chip, the closed-loop proportional integral differential(PID) control loop is designed for motion control and intelligent pickup is realized.At the same time, ZigBee wireless network is established to realize remote data transmission and communication.ZigBee terminal node is used to combine multiple terminal robots and realize multi-machine control.Compared with other robots, the robot applies ZigBee technology and Internet of Things technology to high-altitude work, with inovative multi-machine working mode, which overcomes the current problems of high-altitude garbage disposal robot such as small coverage, high power consumption and poor real-time performance, and is conducive to the realization of intelligent integration of high-altitude work.更多还原