【作者】 裘运根；

【导师】 王立权；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2007， 硕士

【摘要】 随着科学技术的发展，机器人技术越来越多的被应用于医疗领域，用护士助手机器人去代替医护人员执行护理任务变成现实。但是护士助手机器人的自主导航定位的研究是一个难点问题，本课题是以黑龙江省自然科学基金项目“护士助手机器人基础技术研究”为依托，重点研究了护士助手机器人自主导航方法。首先，了解了移动机器人及护士助手机器人的国内外发展现状，分析了移动机器人自主导航定位的关键技术发展状况。建立以三轮结构为基础的两轮差速驱动方式的移动机器人运动学模型，提出了结合高层智能决策级和低层反应式控制级的混合式的控制方法。其次，论述了在已知结构化环境中如何建立介绍了拓扑地图及根据拓扑地图推算的边运动算法。采用相对定位与绝对定位相结合的方法来实现护士助手机器人自主定位导航的方法。如障碍物时，则采用栅格地图避障法来实现自主避障。其中相对定为采用航位推算，绝对定位采用RFID路标。此外，还分析了超声波测距原理，超声波传感器模块的设计及基于超声波传感器量出的数据超声波测障方式。最后，阐述了在护士助手机器人的主机与电机驱动模块、超声波传感器模块之间基于RS-485总线通讯的设计。更多还原

【Abstract】 With the development of science and technology, robotic technology is more and more applied in medical domain. Therefore, the Nursing Helpmate Robot which can take the place of doctors and nurses is come forth.Self-navigation and location of Nursing Helpmate Robot is one of difficulties on the research of mobile robot. The research of this paper is supported by the project of "Key Technologies of Nursing Helpmate Robot", funded by the Hei Longjiang Natural Science Fund. Especially, Self-navigation and Location is studied in this paper.First of all, the developing situation of nursing helpmate robot is overviewed and the development of self-navigation technology is introduced. Basing on the structure of triple wheels, the kinematic model is set up and the hybrid control system architecture’s characteristic is summarized.Secondly, it is discussed that how to construct the topological map and calculate margin movement arithmetic in the given structured environment. it possible to use the combination of absolute location and relative location to locate the Nurse Aided Robot. The local path planning which is realized by local grid map is applied by the robot to find the optimum motion path in the local region. Absolute location is defined by RFID while relative location is defined by dead reckoning.Thirdly, the theory of ultrasonic, the design of ultrasonic sensor model and the method of surveying obstacle are all analysed.Finally, The robot’s main CPU, motor driving model, the design of RS-485 communication between ultrasonic models are all set forth.更多还原