| The miniature mobile self-reconfigurable robot consists of several same unit robots. Each unit robot not only can dispersedly and independently perform tasks, for the exploration of the environment, but also can constitute of a communication node, expanding the scope communications, and form a whole robot by docking with each other. Self-reconfigurable robot system has the advantages of large movement range, various functions, strong adaptive ability and excellent flexibility, especially applicable to complicated tasks which cannot be completed by fixed-configuration robot and the occasion of variable environment and complex tasks. Mobile self-reconfigurable robot system has a wide application prospects in environment exploration, disaster rescue, as well as education and services fields. With the support of the national natural science fund, positioning method, docking method, the control system and experimental are researched based on unit robot noumenon. The specific research content as follows.Firstly, the positioning system of the unit robot has an important influence to docking efficiency of self-reconfiguration robot system. According to the characteristics of the unit robot, a positioning method based on infrared signal intensity has been prensented. According to the characteristics of infrared signal intensity attenuation with the increase of propagation distance and launching angle, the positioning system composed of 16 infrared transmitters and 8 infrared receivers is designed. Distance and angle of unit robots can be got by the positioning system. The positioning system has characteristics of small volume and fast calculation, which lays a foundation to aggregation and docking of robot system.Secondly, docking method of self-reconfiguration robot has been prensented. According to different status of the unit robots in different tasks, communication types were classified and information contents and formats were compiled. On the basis, docking method and docking process of the unit robot based on infrared signal intensity positioning was prensented.Then, the control system of the unit robot has been designed, including main control chip, motor module, docking module, communication module and camera module. Control system and mechanical structure of the unit robot were combined in order to get the complete unit robot.Finally, we planned the robot system experiments based on perfect function unit robot, verifying the mobility and trafficability of both the unit robot and the integrated robot, in which major verification experiments subjected on the docking of two unit robot and the self-organized aggregation and autonomous docking of the robot system. The experimental result proved that the design of unit robot is reasonable and that autonomous docking method of the robot system is correct. |
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