导游服务型机器人系统设计与分析

【作者】 张毅；

【导师】 冯虎田；

【作者基本信息】 南京理工大学 ， 机械制造及自动化， 2007， 硕士

【摘要】 课题以工程实际项目“江苏省科技馆导游服务型机器人系统”为背景，针对项目提出的性能指标，结合当前机器人技术的发展，开发出一种可靠的，具有寻线导游，人机交互，礼貌迎宾等功能的机器人系统，能够满足展馆、商店等场合导游服务的需要。在分析功能要求的基础上，移动机器人总体设计方案以小型工控机为控制核心，采用轮式移动方式，步进电机驱动。文中对移动机器人的研究重点包括：移动机器人系统总体设计；移动机器人平台机械结构设计；移动机器人运动控制系统的设计与实现；移动机器人基于路标导航的实现。通过对滚轮、机身、手臂等各分部件的设计研究得到一种可靠的机械系统设计方案；通过对运动控制卡和步进电机特性的研究提出运动控制方案；设计了一种基于光电传感器的寻线导航方案，并通过实验调试对寻线导航方案进行优化。这些方案的设计为以后此类服务型机器人的研制奠定了技术基础。论文的最后，对机器人平台的设计工作进行了总结，指出已取得的成果和未完成的工作，并对未来的工作提出了设想。更多还原

【Abstract】 This paper takes the actual project "Guide and service-robot system for JiangsuMuseum of Science and Technology" as background. According to actual demandsfor this robot project and the performance indicators the robot need to meet, andcombining with the current development of robot technology, the author developed amultifunctional robot system. It has a high reliability, and the line-track guidingfunction. Between human and robot can also build an interaction. This robot can greetguests politely. So it can meet the need of guide services in hall, shops or other place.On the base of analysis about functions and demands, the main part of thecontrol system is a small industrial computer; it uses wheeled mobile means, andtakes stepper motor as the robot drive.In this paper, the mobile robot research focused on three areas: Mobile robotplatform mechanical structure design; Mobile robot motion control system design andimplementation; Based on signs mobile robot navigation designand implementation.Through the design to wheel, frame, arm and other parts of the robot, the authorget a viable mechanical systems design. Through the design to motion control card,the stepping motor and the study to characteristics of them, the author design a motioncontrol program. The paper designs a line-tracking navigation system based on thephotoelectric sensor, and this system is checked and optimized by doing experiment.These design programs lay a technological foundation for future research of thisservice-robot.Finally, the paper makes a conclusion for the design of robot platform and pointsout the results already achieved and the works unfinished. The author also made anenvisage for the future work.更多还原