一种移动机器人快速续能站机构设计与系统实现

摘要

In order to realize the long-term autonomy of mobile robot,a kind of rapid exchanging station was designed,and the design method of mechanism structure and the control system of the exchanging station were provided. In order to minimize the docking time of mobile robot,the mode of automatic exchanging battery was adopted. The rotary structure was designed replacing the tradition-al structure which only could move in the horizontal direction,and in the condition of the same number batteries in the exchanging sta-tion,possessive ground was economized greatly. The experiment results show that the system can efficiently finish the batterys ex-changing,the docking time is minimized greatly,and a new idea for the autonomy exchanging station design is proved.%　　为了实现移动机器人的长期自治，设计了一种快速续能站系统，给出了续能站机械结构和控制系统的设计方法。采用自动更换电池的续能方式，以减少机器人续能的停留时间；并将传统的水平方向移动的切换装置设计成能够旋转的转盘式结构，使续能站系统在拥有相同数量电池组的情况下大大节省了占地面积。实验结果表明，该系统能够快速高效地完成电池更换，大大减少了机器人的续能时间，为移动机器人自主续能站的设计提供了新思路。