2026 ·
Autonomous Item Handling Robot
An autonomous robot capable of navigating simple terrain, avoiding obstacles, and performing item handling tasks based on known maps. The robot can autonomously navigate, grasp items, carry them, and sort them into designated recycling areas marked with QR codes.
Hardware Components
The robot’s hardware system is designed for robust performance in varied environments:
Sensors
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Mid-360 LiDAR: Provides comprehensive environment scanning for navigation and obstacle detection
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USB Camera: Enables visual recognition and item identification capabilities
Manipulator System
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Stepper Motor-driven Robotic Arm: Offers precise control for lifting and moving objects
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Servo-driven Gripper: Ensures reliable grasping of various item types and sizes
Mobility Platform
- Mecanum Wheel Chassis: Enables omnidirectional movement for flexible navigation in tight spaces
Control Units
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Jetson Orin NX Computing Module: Handles complex computational tasks including navigation and object recognition
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STM32F407 Control Board: Manages real-time control of motors and sensors
Software Architecture
The software framework integrates multiple technologies to enable autonomous operation:
Mapping and Navigation
- FAST-LIO: Implements efficient scanning and mapping algorithms for real-time localization
Object Detection
- YOLOv5: Provides fast and accurate item detection capabilities
Vision Processing
- OpenCV: Processes visual data for coordinate calculation and spatial awareness
Key Features
The robot offers several distinct capabilities that make it suitable for automated item handling tasks:
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Autonomous Navigation
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Map-based path planning for efficient route calculation
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Advanced obstacle avoidance capabilities for safe operation
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Terrain traversal including curbs and slopes
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Item Handling
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Visual recognition of items for identification and sorting
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Precise grasping mechanism for reliable item pickup
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QR code-based sorting system for accurate item placement
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Multi-modal Mobility
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Omnidirectional movement for flexible positioning
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Obstacle negotiation capabilities for navigating complex environments
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Demonstration
Images
Chassis movement demonstration
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Robotic arm elevation
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Robotic arm extension
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Robot traversing speed bumps
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Robot traversing slopes
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Robot gripper opening and closing
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Robot storage box switch
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Future Improvements
Several enhancements are planned to further improve the robot’s capabilities:
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Enhanced object recognition capabilities for better item identification
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Improved terrain handling algorithms for more challenging environments
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Extended battery life and efficiency for longer operational periods
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More sophisticated sorting mechanisms for complex classification tasks