Study On System Of Mobile Robot Power Autonomy Based On Solar Battery

Implementing fully intelligence for robot,not only behavior autonomy but also power autonomy.The task general compare kinds of powers abroad and internal for mobile robot,educe that mobile robot in petroleum and chemical industry, solar power is fit power.The task is power autonomy system for mobile robot based on solar power battery,including tracking machine and control system. The tracking machine of level direction adopts simple and applied dial ,at height direction tracking machine adopts turning pass bracket , realized tracking to the solar azimuth and altitude angle in real time.Sense system adopts photosensitive resistance compare method .Based on photosensitive resistance changing at illumination ,four photosensitive resistance separate are placed battery's around symmetry positions, symmetry positions build up two sense system.When light intension are accepted by each sense system less than enactment threshold ,singlechip don't send out order after singlechip deal with.When light intension are accepted by each sense system more than enactment threshold, singlechip controls step motor turn towards minish difference.The pace of step motor is ascertained by difference ,the difference is ascertained pass blur operation,so that ensure solar battery always plumb sun and accept solar power farthest. Control system's CPU select At89S52 (compatible with Intel Company MCS-51 series), it is used as control core to control the executive part—step motor. Have finished the design of the peripheral hardware circuit of single-chip and design of the corresponding software. This driver adopted the special compositive module related to the step motor.It has the character of strong anti-jamming,good performance of high frequency,simple construction and running steadily etc.