The objective of this research is to obtain a low-cost and high precision docking. An infrared and laser guidance method was used to sense the environment and accurately position for docking. Firstly, the robot was made to lock on the beam using a vertical light stripe laser beam that emanated from the docking station along its centerline of attachment and normal to the wall and steered its way into the station by keeping the beam central to the array, and then infrared sensors measured the distance between the robot and the docking station to pull the robot into its final resting place. The corresponding algorithms for controlling the motor were put forward. Experimental results show that docking accuracy of less than 4 mm is achieved.%该研究的目的是实现低成本、高精度的移动机器人对接.利用红外和激光导向的方法检测环境并进行精确定位.首先,利用从对接站发出的垂直激光束使机器人锁定在光束上.即光束从对接站中心位置发出并垂直于墙面,并通过保证激光束位于机器人上的传感器阵列的中心来操纵机器人驶入对接站.然后,红外传感器界测出机器人与对接站的距离,并使机器人进入最后的对接位置.提出了控制马达的相应的算法.实验结果显示:对接精度小于4 mm.
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