自主移动机器人边界识别与自主返回充电研究

【作者】 陈奇广；

【导师】 王华坤；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2008， 硕士

【摘要】 本文以全区域覆盖自主移动机器人为研究对象,着重研究其工作区域边界生成、识别、自主返回基站充电和运动系统设计。作者提出了基于信标的边界建立与识别和在电量不足情况下机器人自主沿磁边界返回基站充电的解决方案。对于边界的信标设定采用了一种安全、环保和经济的磁钉材料,文中采用了一种烧结NdFeB永磁材料做为磁边界,机器人在工作过程中通过对磁边界磁场强度的检测来确定边界信息,对于磁边界的测量文中使用多个具有霍尔效应HMC1022型磁阻传感器组成一条磁尺来测量磁场。对于返回基站充电的研究,本文充分利用磁边界这一现成资源,将磁边界作为导航介质,提出了沿磁边界返回基站充电的方法。文中采用一种基于蓄电池电动势和内阻组合确定剩余电量的新方法—安时法,在检测到机器人电量不足情况下发出返回基站充电指令,提出远程对接和近程对接两个阶段。最后,作者根据全区域覆盖自主移动机器人的特点,对整个方案的硬件系统和软件系统进行了设计。本课题研究为全区域覆盖移动机器人的边界生成与识别和返回基站充电提供了一种低成本、高精度的设计方案,具有一定的理论意义和实用价值。更多还原

【Abstract】 In this thesis, the whole-region coverage mobile robot was researched, mainly addressing in the setting-up and identification of the boundary, the auto returning base station of recharge and the design of motion system. A solution based on the boundary beacons set-up, the identification of operational area and less power left is put forward, which makes the mobile robot retune to the base station to charge along the magnetic boundary. To set up the boundary beacons, a kind of safety, environmental protection and economic magnetic nails were used. In this paper, the permanent magnet material of sintered NdFeB was made to be the magnetic boundary, along which the mobile robot in the working time can identify the boundary though testing the magnetic field strength, and the magnetic device which is made of several Hall Effect HMC1022 Reluctance sensors was used in this thesis.About the recharge base station system, the available resource of the magnetic boundary as navigation medium was fully made use of, and the method of retuning to the base station to charge along the magnetic boundary was promoted . Here a new way is adopted to ensure the remaining capacity of battery basing on EMF and the resistance of the battery. When the mobile robot detects the electricity is not enough, the instruction of returning to the recharge base station would be sent in two phases, which are long-range and short-range docking.At last, according to the characters of the whole-region coverage mobile robot, both of the hardware and software were designed in the thesis. In this paper, a low-cost and high-precision design was supplied method to the boundary set-up and identification of operational area and the recharge base station, which has a certain theoretical and practical value.更多还原