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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4mm。
The purpose of this study is to achieve low cost, high precision mobile robot docking. Detect the environment and pinpoint the location using infrared and laser-guided methods. First, the robot is locked onto the beam using a vertical laser beam emitted from the docking station. That is, the beam is emitted from the center of the docking station and perpendicular to the wall, and the robot is driven into the docking station by ensuring that the laser beam is centered on the robot’s sensor array. The infrared sensor then measures the distance between the robot and the docking station and brings the robot into the final docking position. The corresponding algorithm for controlling the motor is proposed. Experimental results show that the docking accuracy is less than 4mm.