【摘要】：移動(dòng)機(jī)器人的定位與導(dǎo)航是其主要的功能,也是目前研究領(lǐng)域的熱點(diǎn)和難點(diǎn)。本文針對(duì)室內(nèi)定位機(jī)器人,以三輪航跡推算定位方式為基礎(chǔ),設(shè)計(jì)了一款全向移動(dòng)機(jī)器人,重點(diǎn)進(jìn)行了磁導(dǎo)航實(shí)驗(yàn)的設(shè)計(jì)和避障功能的實(shí)現(xiàn),具體工作包括:對(duì)當(dāng)前機(jī)器人領(lǐng)域的智能移動(dòng)機(jī)器人研究現(xiàn)狀、機(jī)器人定位及導(dǎo)航技術(shù)研究現(xiàn)狀進(jìn)行了綜述。進(jìn)行了輪式移動(dòng)機(jī)器人運(yùn)動(dòng)機(jī)構(gòu)的分析,在此基礎(chǔ)上設(shè)計(jì)制造了一款具有主、從動(dòng)輪系統(tǒng)的、具有高負(fù)載能力且具有減震功能的全向移動(dòng)機(jī)器人。對(duì)機(jī)器人整體結(jié)構(gòu)、輪子的傳動(dòng)機(jī)構(gòu)、彈簧減震機(jī)構(gòu)等進(jìn)行了詳細(xì)的介紹。進(jìn)行了機(jī)器人硬件方案的選型和設(shè)計(jì)。選用STM32F103VET6作為機(jī)器人的主控芯片、設(shè)計(jì)了基于旋轉(zhuǎn)編碼器的航跡推算定位模塊,完成電機(jī)驅(qū)動(dòng)模塊伺服電機(jī)的設(shè)計(jì)計(jì)算和驅(qū)動(dòng)器的選型,使用超聲波傳感器和視覺(jué)傳感器作為磁導(dǎo)航的避障模塊,完成機(jī)器人硬件系統(tǒng)的設(shè)計(jì)和硬件電路的搭建。對(duì)機(jī)器人主動(dòng)輪系統(tǒng)的運(yùn)動(dòng)進(jìn)行了分析,推導(dǎo)出麥克納姆輪全向移動(dòng)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)方程。建立了機(jī)器人三輪全向移動(dòng)的運(yùn)動(dòng)學(xué)模型,得到從動(dòng)輪轉(zhuǎn)速與機(jī)器人位姿之間的關(guān)系,推導(dǎo)了三輪航跡推算定位算法,對(duì)該算法進(jìn)行了實(shí)驗(yàn)驗(yàn)證,并對(duì)定位誤差進(jìn)行了分析。通過(guò)采集前、后磁傳感器的信號(hào),分析機(jī)器人與磁條位置關(guān)系進(jìn)行機(jī)器人橫向定位,結(jié)合航跡推算算法實(shí)現(xiàn)機(jī)器人縱向定位,并通過(guò)超聲波傳感器測(cè)距和視覺(jué)傳感器測(cè)量障礙物橫向尺寸確定障礙物輪廓,進(jìn)行了避障功能的設(shè)計(jì),最終實(shí)現(xiàn)機(jī)器人的磁導(dǎo)航功能,并分析了導(dǎo)航誤差。結(jié)果表明本課題設(shè)計(jì)的全向移動(dòng)機(jī)器人底盤結(jié)構(gòu)滿足負(fù)載和強(qiáng)度要求,采用的航跡推算算法基本滿足室內(nèi)定位要求,為移動(dòng)機(jī)器人定位的研究提供了理論支持和實(shí)驗(yàn)參考。
[Abstract]:The localization and navigation of mobile robot is its main function, and it is also a hot and difficult research field. In this paper, a omnidirectional mobile robot is designed on the basis of three-wheeled track reckoning positioning method for indoor positioning robot. The design of magnetic navigation experiment and the realization of obstacle avoidance function are emphasized. The specific work includes: the current research status of intelligent mobile robot in the field of robot, robot localization and navigation technology are summarized. Based on the analysis of the motion mechanism of wheeled mobile robot, an omnidirectional mobile robot with high load capacity and shock absorption function is designed and manufactured, which has the main and slave drive wheel system. The whole structure of the robot, the transmission mechanism of the wheel and the spring damping mechanism are introduced in detail. The selection and design of robot hardware scheme are carried out. STM32F103VET6 is selected as the main control chip of the robot, and the track reckoning and positioning module based on rotary encoder is designed. The design and calculation of servo motor of motor driving module and the selection of driver are completed. Using ultrasonic sensor and vision sensor as obstacle avoidance module of magnetic navigation, the design of robot hardware system and the construction of hardware circuit are completed. The kinematics equation of McNum wheel omnidirectional moving mechanism is derived by analyzing the motion of robot active wheel system. The kinematics model of robot three-wheel omni-directional movement is established, and the relationship between the rotation speed and robot position is obtained. The algorithm of three-wheel track reckoning is deduced, and the algorithm is verified experimentally and the positioning error is analyzed. By collecting the signal of the magnetic sensor before and after, the relationship between the robot and the magnetic stripe is analyzed to locate the robot laterally, and the longitudinal location of the robot is realized by combining the algorithm of track calculation. The obstacle profile is determined by ultrasonic sensor ranging and visual sensor measurement of obstacle lateral dimension, and the obstacle avoidance function is designed. Finally, the magnetic navigation function of the robot is realized, and the navigation error is analyzed. The results show that the chassis structure of the omnidirectional mobile robot designed in this paper can meet the requirements of load and strength, and the track reckoning algorithm can basically meet the indoor positioning requirements, which provides theoretical support and experimental reference for the research of mobile robot positioning.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：2308908