Design Of The Sensing And Control Modules Of The Self-reconfigurable Mobile Robot In Control System

In recent years, a growing number of mobile robots to replace human work in the environmentwhich is not suitable for human survival is a big trend in the field of robotics research, however, dueto the robot working contions and tasks are not fixed, different robots with different function andstructure need to be developed for different situations, it will cause the increase of the developmentcycle, the increase of the cost, and problems such as wasting of resources.Now one of the ways which can better solve this kind of problem is to develop the modularself-reconfigurable robot, modular self-reconfigurable mobile robot is composed of some functionalmodules, the robot can change the combination among the modules to change its overallconfiguration for completing task according to the change of working conditions and tasks.This thesis focuses on the control system of the modular self-reconfigurable mobile robot,developed a variety of sensing modules and control modules with specific functions based on theZigBee wireless ad-hoc network, including software design, hardware design and the design of thePC monitoring center, these functional modules can be well applied to the self-reconfiguration of thecontrol system of the mobile robot.The main research content is as follows:1. Focused on the control system of self-reconfigurable robot, this thesis discusses theprinciple and characteristics of the ZigBee network. It is going to design sensing modules andcontrol modules based on the ZigBee wireless ad-hoc network, such as dc motor control module,stepper motor control module, stress detection module, infrared detection module, toxic gasdetection module, temperature and humidity detection module, digital compass and pressuredetection module, and digital acceleration detection module.2. The hardware design of the functional modules. It developed the core circuit board of everyfunctional module using CC5530as their main control chip. There are two kinds of core circuitboards. Some have power amplifier chips, but others don’t. A variety of sensors and actuators areselected. The hardware circuit of each functional module is designed.3. The software design of the functional modules. Based on Z-Stack, the software program flowcharts, the corresponding software program and algorithm of each functional module are developed.Then the thesis fomulate control communication protocols and sensing communication protocol.4. The functional test of the functional modules. Firstly, the communication distance of the twocore circuit boards are tested. Secondly, the basic function of each functional module is tested with the PC monitoring system developed by LabVIEW. Test results meet the expected requirements.