自主移动机器人边界识别与自主返回充电研究
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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。
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.
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。
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.
引文
1.王耀南 机器人智能控制工程.北京-科学出版社 2004
2.林红,翁桂荣 地面清扫机器人的研究.基础自动化.2000,4(7):72-76
3.王俭,赵鹤鸣,陈卫东 移动机器人全覆盖任务的研究进展,中国电子期刊网,2004
4.蒋新松 未来机器人技术发展方向的探讨.机器人2000.2(3):21-22
5.刘华军,杨静宇,陆建峰,唐振民,赵春霞,成伟明 移动机器人运动规划研究综述,中国工程科学,2006.1
6.卢韶芳,刘大维 自主式移动机器人导航研究现状与相关技术.农业机械学报.2002,33(2):112-116
7.K Harai,M Hiros,T Takenaka.Current and Future Perspective of Honda Humanoid Robot.IEEE/RSJ Intelligent Robots and Systems.1998:500-508
8.BRIAN R.Robots reach the home floor.Industrial Robot.2001,28(1):27-28
9.MONICA S.Service robots-the end of the beginning.Industrial Robot.1999,26(6):456-459
10.IWAN R U,FRANCESO M,NICOUD J D.Autonomous vacuum cleaner.Robotics and Autonomous Systems.1997,19(2):233-245
11.GREGORY D,MICHAEL J.Computational principle of mobile robotics.Cambridge University Press.2000:132-145
12.朱世强,刘瑜,庞作伟,金波 自主吸尘机器人的研究现状.机器人2004.11:569-564
13.Ma X,Zhu S,Fu J.Study on intelligent dust-collecting robot.Proceeding of the Fifth International Conference on Fluid Power Transmission and Control.International Academic Publishers.2001:392-396
14.Liu Y,Zhu S,Jin B,Feng S et al.Sensory navigation of autonomous cleaning robots.Proceedings of 2004 World Congress on Intelligent Control and Automation.Hangzhou:IEEE.2004:4793-4796
15.Lobo J,Queiroz C,Dias J.World feature detection and mapping using stereovision and inertial sensor.Robotics and Autonomous System.2003,44(1):69-81
16.Christian Hofner,Gunther Schmidt.Path Planning and Guidance Technology for an Automatic Mobile Cleaning Robot.Robotics and Autonomous Systems.1995,14(2):199-212
17.WALTER W G..The Living Brain,New York W.W.Norton,1999:1-3
18.NOURBAKHSH I.An affective mobile robot with a full-time job.Artificial Intelligence.1999,114(1-2):95-124
19.郝宗波,洪炳熔 室内环境下移动机器人自主充电研究.哈尔滨工业大学学报.2005,7:885-887
20.DeSouza G,Kak A.Vision for mobile robot navigation,a survey.IEEE Transaction on Pattern Analysis and Machine.Intelligence.2002,24(2):237-267
21.Lee Y,Chung M.A reliable feature matching method in omnidirectional views for autonomous map generation of mobile robot.Proceedings of the 2001 IEEE/RSJ international Conference on Intelligent Robots and System,USA.2001:858-900
22.江月松,阎平,刘振玉 光电技术与试验.北京理工大学出版社,2000:134-140
23.李朝青 单片机原理及接口技术.北京航空航天大学出版社,1999:21
24.张建生 现代仪器电源.科学出版社,2005:169-176
25.王鸿麟,马文计 氢镍/镉镍电池快速充电集成电路BQ2002应用.电子技术.1995,2:31-33
26.张晓钢 快速充电器DV2002L2.电子世界.1997,4:22-23
27.王增福,李昶,魏永明 新编线性直流稳压电源.电子工业出版社,2004:4-5
28.王水平,付敏江 开关稳压电源.西安电子科技大学出版社,1997:1-3
29.朱森良等 自主式智能系统.第1版.杭州:浙江大学出版社,2000:254-277
30.赵海兰.李磊,叶涛等 移动机器人技术研究现状与未来.机器人,2002(5):475-480
31.Ryu Jehyuk,Yun Sungho,Song Kyungjin,Cho Jundong,Choi Jongmoo,Lee Sukhan.High speed 3D IR scanner for home service robots.IEICE Transactions on Fundamentals of Electronics,Communications and Computer Sciences.2006,3:678-685
32.Palacin Jordi,Salse Jose Antonio,Valganon Ignasi,Clua Xavi.Building a mobile robot for a floor-cleaning operation in domestic environments.IEEE Transactions on Instrumentation and Measurement.2004,10:1418-1424
33.Poncela A,Perez E,Bander A etal.Efficient integration metric and topological maps for directed exploration of unknown environments.Robotics and Autonomous Systems.2002,41(1):21-39
34.Yongge Wu,Jingyu Yang,Ke Liu.Obstacle detection and environment modeling based on multi-sensor fusion for robot navigation.Artificial Intelligence in Engineering.1996,10(4):323-333
35.裴颜纯,陈志超 基于单片机系统的红外遥控器设计.电子与封装.2005,12:3
36.Randall D.Beer,Hillel J.Chiel,Richard F.Drushel.Using autonomous robotics to teach science and engineering.Communications of the Association of Computing Machinery.1999,42(6):85-92.
37.陈志青 喷雾机器人控制系统研制.中国农业大学硕士论文.2002:14-21.
38.赵瑛琪 用805l单片机接收红外遥控的实现.计算机知识与技术.2005,12:193-194.
39.赵凯华、陈熙谋 电磁学.第2版.高等教育出版社.2002.6
40.J.M.Kahn,J.R.Barry.Wireless Infrared Communications.Proc.of the IEEE.1997,2:265-298.
41.J.B.Carruthers,J.M.Kahn.Angle Diversity for Nondirected Wireless Infrared Communication.subm.to IEEE Trans.on Commun..1997,6:45-47
42.Kahn J M,Barry J R,Krause W J.High-speed nondirectional Infrared Communication for Wireless Local-area Networks.Asilomar Conf.Signals.2002,10(26):83-87
43.J.B.Carruthers,J.M.Kahn.Modeling of Nondirected Wireless Infrared Channels.IEEE Transactions on Communications.1996,40(10):1260-1268
44.方建军,何广平 智能机器人.北京-化学工业出版社 2004
45.M.D.Audeh.Power-Efficient Modulation for High-Speed Non-Directed Wireless Infrared Communication.PhD thesis,University of California at Berkely,1995,3:69-74
46.H.Park.Upper bounds on Error Probability of Equalization Schemes in Wireless Infrared Link.Electronics Letters.2001,37(3):319-321
47.樊明龙,倪永宏 基于数/模变换技术的多种波形发生器.微电子技术.2003,2:60-61
48.钱铮 应用ROM存储技术的数字多波形发生器.苏州丝绸工学院学报.1998,6:26-28哈尔滨工业大学工学硕士学位论文
49.岳峰 全区域覆盖自主移动机器人无信标边界生成和识别的研究.硕士论文,2004
50.王思明,张鑫,王宁波,王睿明 智能化程控波形发生器设计与实现.兰州铁道学院学报.2002.6:124-128
51.靳达 单片机应用系统开发实例导航.人民邮电出版社,2003,10:96-97
2.林红,翁桂荣 地面清扫机器人的研究.基础自动化.2000,4(7):72-76
3.王俭,赵鹤鸣,陈卫东 移动机器人全覆盖任务的研究进展,中国电子期刊网,2004
4.蒋新松 未来机器人技术发展方向的探讨.机器人2000.2(3):21-22
5.刘华军,杨静宇,陆建峰,唐振民,赵春霞,成伟明 移动机器人运动规划研究综述,中国工程科学,2006.1
6.卢韶芳,刘大维 自主式移动机器人导航研究现状与相关技术.农业机械学报.2002,33(2):112-116
7.K Harai,M Hiros,T Takenaka.Current and Future Perspective of Honda Humanoid Robot.IEEE/RSJ Intelligent Robots and Systems.1998:500-508
8.BRIAN R.Robots reach the home floor.Industrial Robot.2001,28(1):27-28
9.MONICA S.Service robots-the end of the beginning.Industrial Robot.1999,26(6):456-459
10.IWAN R U,FRANCESO M,NICOUD J D.Autonomous vacuum cleaner.Robotics and Autonomous Systems.1997,19(2):233-245
11.GREGORY D,MICHAEL J.Computational principle of mobile robotics.Cambridge University Press.2000:132-145
12.朱世强,刘瑜,庞作伟,金波 自主吸尘机器人的研究现状.机器人2004.11:569-564
13.Ma X,Zhu S,Fu J.Study on intelligent dust-collecting robot.Proceeding of the Fifth International Conference on Fluid Power Transmission and Control.International Academic Publishers.2001:392-396
14.Liu Y,Zhu S,Jin B,Feng S et al.Sensory navigation of autonomous cleaning robots.Proceedings of 2004 World Congress on Intelligent Control and Automation.Hangzhou:IEEE.2004:4793-4796
15.Lobo J,Queiroz C,Dias J.World feature detection and mapping using stereovision and inertial sensor.Robotics and Autonomous System.2003,44(1):69-81
16.Christian Hofner,Gunther Schmidt.Path Planning and Guidance Technology for an Automatic Mobile Cleaning Robot.Robotics and Autonomous Systems.1995,14(2):199-212
17.WALTER W G..The Living Brain,New York W.W.Norton,1999:1-3
18.NOURBAKHSH I.An affective mobile robot with a full-time job.Artificial Intelligence.1999,114(1-2):95-124
19.郝宗波,洪炳熔 室内环境下移动机器人自主充电研究.哈尔滨工业大学学报.2005,7:885-887
20.DeSouza G,Kak A.Vision for mobile robot navigation,a survey.IEEE Transaction on Pattern Analysis and Machine.Intelligence.2002,24(2):237-267
21.Lee Y,Chung M.A reliable feature matching method in omnidirectional views for autonomous map generation of mobile robot.Proceedings of the 2001 IEEE/RSJ international Conference on Intelligent Robots and System,USA.2001:858-900
22.江月松,阎平,刘振玉 光电技术与试验.北京理工大学出版社,2000:134-140
23.李朝青 单片机原理及接口技术.北京航空航天大学出版社,1999:21
24.张建生 现代仪器电源.科学出版社,2005:169-176
25.王鸿麟,马文计 氢镍/镉镍电池快速充电集成电路BQ2002应用.电子技术.1995,2:31-33
26.张晓钢 快速充电器DV2002L2.电子世界.1997,4:22-23
27.王增福,李昶,魏永明 新编线性直流稳压电源.电子工业出版社,2004:4-5
28.王水平,付敏江 开关稳压电源.西安电子科技大学出版社,1997:1-3
29.朱森良等 自主式智能系统.第1版.杭州:浙江大学出版社,2000:254-277
30.赵海兰.李磊,叶涛等 移动机器人技术研究现状与未来.机器人,2002(5):475-480
31.Ryu Jehyuk,Yun Sungho,Song Kyungjin,Cho Jundong,Choi Jongmoo,Lee Sukhan.High speed 3D IR scanner for home service robots.IEICE Transactions on Fundamentals of Electronics,Communications and Computer Sciences.2006,3:678-685
32.Palacin Jordi,Salse Jose Antonio,Valganon Ignasi,Clua Xavi.Building a mobile robot for a floor-cleaning operation in domestic environments.IEEE Transactions on Instrumentation and Measurement.2004,10:1418-1424
33.Poncela A,Perez E,Bander A etal.Efficient integration metric and topological maps for directed exploration of unknown environments.Robotics and Autonomous Systems.2002,41(1):21-39
34.Yongge Wu,Jingyu Yang,Ke Liu.Obstacle detection and environment modeling based on multi-sensor fusion for robot navigation.Artificial Intelligence in Engineering.1996,10(4):323-333
35.裴颜纯,陈志超 基于单片机系统的红外遥控器设计.电子与封装.2005,12:3
36.Randall D.Beer,Hillel J.Chiel,Richard F.Drushel.Using autonomous robotics to teach science and engineering.Communications of the Association of Computing Machinery.1999,42(6):85-92.
37.陈志青 喷雾机器人控制系统研制.中国农业大学硕士论文.2002:14-21.
38.赵瑛琪 用805l单片机接收红外遥控的实现.计算机知识与技术.2005,12:193-194.
39.赵凯华、陈熙谋 电磁学.第2版.高等教育出版社.2002.6
40.J.M.Kahn,J.R.Barry.Wireless Infrared Communications.Proc.of the IEEE.1997,2:265-298.
41.J.B.Carruthers,J.M.Kahn.Angle Diversity for Nondirected Wireless Infrared Communication.subm.to IEEE Trans.on Commun..1997,6:45-47
42.Kahn J M,Barry J R,Krause W J.High-speed nondirectional Infrared Communication for Wireless Local-area Networks.Asilomar Conf.Signals.2002,10(26):83-87
43.J.B.Carruthers,J.M.Kahn.Modeling of Nondirected Wireless Infrared Channels.IEEE Transactions on Communications.1996,40(10):1260-1268
44.方建军,何广平 智能机器人.北京-化学工业出版社 2004
45.M.D.Audeh.Power-Efficient Modulation for High-Speed Non-Directed Wireless Infrared Communication.PhD thesis,University of California at Berkely,1995,3:69-74
46.H.Park.Upper bounds on Error Probability of Equalization Schemes in Wireless Infrared Link.Electronics Letters.2001,37(3):319-321
47.樊明龙,倪永宏 基于数/模变换技术的多种波形发生器.微电子技术.2003,2:60-61
48.钱铮 应用ROM存储技术的数字多波形发生器.苏州丝绸工学院学报.1998,6:26-28哈尔滨工业大学工学硕士学位论文
49.岳峰 全区域覆盖自主移动机器人无信标边界生成和识别的研究.硕士论文,2004
50.王思明,张鑫,王宁波,王睿明 智能化程控波形发生器设计与实现.兰州铁道学院学报.2002.6:124-128
51.靳达 单片机应用系统开发实例导航.人民邮电出版社,2003,10:96-97