Research On The Key Technologies Of Measurement And Control System Applied To Autonomous Mobile Robot

Robot technology, sensor technology and measurement & control technology have been developing rapidly. The research and application of intelligent measurement & control technology applied to mobile robot have become an important branch of this field. This article aims to research and realize an intelligent robot measurement & control system which can be carried by autonomous mobile robot platform. The system is based on the embedded systems, the communication networks and sensors. Meanwhile, the research on several key technologies, such as multisensor data fusion, location, obstacle avoidance, image acquisition and processing, is also conducted on this platform.Based on the developing trend of the measurement & control technology of autonomous mobile robot, this paper raises an architecture of measurement & control system applied to the autonomous mobile robot and functional distribution strategy with three functional levels. They are sensor information acquisition layer, information processing and motion-control layer, image acquisition and information exchange layer. In the sensor information acquisition layer, three-axis accelerometer module, electronic compass direction detection module, ultrasonic ranging module, infrared obstacle avoidance module, GPS positioning module and intelligent power module have been designed and implemented based on MSP430 16-bit ultra-low-power microcontrollers. The information processing and motion-control layer uses TMS320F28335 as the core and realizes a sensor network with sensor modules. Besides, the RS-485 bus communication system is also achieved on the basis of the Modbus protocol. Meanwhile, the analysis and fusion of the sensor data are also conducted to give out the motion-control signals. The image acquisition and information exchange layer is based on high-performance 32-bit microprocessor ARM9 (S3C2410). Image acquisition with USB camera, image display, information processing and communications with motion-control platform are implemented in embedded Linux, providing important research platforms for the future expansion.This subject combines with advanced sensor technology, control technology, embedded systems technology, image acquisition and processing technology. It achieves a robot measurement & control system with modularization, strong portability, strong scalability and high robustness. It creates conditions for the measurement & control system to be implemented in the autonomous mobile robot platform, as well as providing an excellent platform for follow-up research.