基于红外定位的微小型自重构移动机器人

摘要

为了提高微小型移动机器人的作业能力，提出了一种模块化的微小型自重构移动机器人系统。系统中每个单元机器人既可以作为动力单元，拖动其他机器人进行探测，也可以独立成为通信节点，扩大系统的通信范围。单元机器人由中央处理模块、通信模块、驱动模块、对接模块和定位模块组成。多个单元机器人可以彼此对接构成组合机器人。为了实现微小型化，设计了基于红外信号强度的定位方法。并针对现有对接技术的不足，结合电磁式重构机构与机械式重构机构的优势，提出一种新型的自动对接方法。最后进行了机器人之间的对接实验，实验结果证明了机器人设计的合理性。%In order to improve the miniature mobile robot’s operation abilities,a modular miniature self-reconfigurable mobile robot system has been designed which has both assembly and disassembly modes of task execution to expand the scope of individual miniature robot's detection activity.In the system every robot unit can also autonomously be detached to be the wireless communication node for longer dis-tances.A robot unit includes the central processing,motor module,docking module,positioning and com-munication modules.Several robot units can interlink with each other to form an assembling robot based on the positioning module and the communication module.In order to reduce the volume,the positioning module based on infrared intensity has been prensented.In order to improve the performance of the exist-ing docking technology,a docking mechanism was designed based on the advantage of electromagnetic and machinery docking mechanism.In the end,we planned the robot docking experiments to verify that the design of the unit robot is reasonable.