Design And Implementation Of Autonomous Positioning Sensor For Indoor Mobile Robot

Autonomous positioning sensor is a key functional component for mobile robot to ob-stacle avoidance,positioning and navigation.At present,autonomous positioning sensors in-clude laser radar,laser scanning range finder,visual sensors and inertial sensors.However,when these autonomous positioning sensors are applied to the field of pharmaceutical storage vehicles,home service robots and medical service robots,we still meet some problems such as narrow field of view,difficult to install and high energy consumption.Therefore,it is of key importance to design and implement an autonomous positioning sensor with lower cost,lower power consumption,wide field of view,easy to install and so on.The hardware system of autonomous positioning sensor is based on the ARM-based dual-controller platform.Upper computer part,fixed platform part and rotation ranging part are th-e three mainly parts of the sensor.To get rid of the wire in the communications and power supply constraints by carrying out dual-controller,bluetooth wireless communication and wireless power transmission.Thus,a flat 360-degree scanning range and positioning function is achived.And then,the model of the ideal echo and the noisy waveform of the range echo signal is established and simulated.In order to improve the SNR and the accuracy of auto-nomous,wavelet soft-thresholding denoising method is used to reduce the noise.Finally,theory analysis and MATLAB simulation study are used to optimize the key parameters and ensure the efficiency and stability of wireless power transmission system.In order to verify the accuracy,stability and anti-disturbing of autonomous positioning,static and dynamic tests were cayyied out on it.Static tests were implemented under different distances and different illuminance.And dynamic test is mainly to measure the obstracles at different angles and different distances around autonomous positioning sensors.Eventually,the test results show that the autonomous positioning sensor has a flat 360-degree wide field of view,high precision,strong anti-interference ability and so on within 6 meters of the in-door environment.