【摘要】 移动机器人检测到电源电压较低时,给定位目标——充电装置发送无线电,充电装置收到无线电就发射红外线,对机器人进行导航。机器人不断采集红外信号,并用软件模拟脉宽调制的方法对驱动机器人双轮的电机进行实时控制,从而实现机器人对红外的跟踪。机器人检测到红外线信号较弱或者没有检测到红外线时,利用超声波、红外、红外光电等多种传感技术和经验丰富的专家系统进行避障、路径规划,无需图像处理,无需精确的环境模型,实现机器人以尽可能短的路径离开局部环境,快速跟踪红外线,最后准确定位于充电装置进行充电。更多还原

【Abstract】 The mobile robot sends radio to a destination of power supply device when it detects that the voltage of power is insufficient. The device sends infrared to guide the robot in moving towards it as soon as it receives the radio. The robot successively collects the signals of the infrared,and the two motors that drive the bicycle of the robot are real-time controlled,which is realized by the software that simulates pulse width modulation。In doing this,the function of the robot to track infrared is achieved. Without image processing and precise environment model,the robot avoids collision and plans routes with many kinds of sensing technologies including ultrasonic,infrared,photoelectric,and with an embedded experienced expert system when it detects no or weak signals of the infrared,and then,it quickly leaves the local place and trails the infrared in the shortest distance,and is accurately located in the power supply device lastly.更多还原