Border Recognition Of Autonomous Mobile Robots With Self-return Charge Study

In this thesis, the whole-region coverage mobile robot was researched, mainly addressing in the setting-up and identification of the boundary, the auto returning base station of recharge and the design of motion system. A solution based on the boundary beacons set-up, the identification of operational area and less power left is put forward, which makes the mobile robot retune to the base station to charge along the magnetic boundary. To set up the boundary beacons, a kind of safety, environmental protection and economic magnetic nails were used. In this paper, the permanent magnet material of sintered NdFeB was made to be the magnetic boundary, along which the mobile robot in the working time can identify the boundary though testing the magnetic field strength, and the magnetic device which is made of several Hall Effect HMC1022 Reluctance sensors was used in this thesis.About the recharge base station system, the available resource of the magnetic boundary as navigation medium was fully made use of, and the method of retuning to the base station to charge along the magnetic boundary was promoted . Here a new way is adopted to ensure the remaining capacity of battery basing on EMF and the resistance of the battery. When the mobile robot detects the electricity is not enough, the instruction of returning to the recharge base station would be sent in two phases, which are long-range and short-range docking.At last, according to the characters of the whole-region coverage mobile robot, both of the hardware and software were designed in the thesis. In this paper, a low-cost and high-precision design was supplied method to the boundary set-up and identification of operational area and the recharge base station, which has a certain theoretical and practical value.