| The duration capability is a critical specification for autonomous robots, and is relied on the onboard power supply. When the battery is exhaust, the robot needs energy supply. Autonomous energy-continuousness is an important side of intelligent robot. At last, the study on autonomous energy-continuousness is mainly focus on autonomous batteries recharging. A autonomous battery exchanging and charging systems is designed in this paper.First, varies detection methods have been verified. Model analysis and experimental study of 6 DOF method using IR LED and the measurement system based on infrared PSD. Model analysis and experimental study of illumination effect on hue of a target. Robustness of color detection has been enhanced with this model.Secondly, the vision-based target search and location method and path tracking strategy are mentioned. Spatial multi-scale target searching strategy improves searching efficiency. In accordance with D-S evidential theory, pose reliability based on odometer and vision reduces the location error. Proposed path planning strategy based on Bezier curve and a faster Bezier curve path tracking method. A PID controller of Bezier curve path tracking method is designed.Finally, a mechanical framework is also established based on the experimental results. And the electrical system, controlling software and simulation platform is also designed. The feasibility of control procedure is verified via simulation platform.This topic designs a system of mobile-robot autonomous energy-continuousness. The system can improve duration capability of robots. This paper provides pre-exploration for follow-up study on autonomous robot. |
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