| Mobile robot is more and more widely used on rough terrain than ever before, in order to better adapt to the complex environment of working conditions, the robot need to have a good awareness of environmental factors, especially the ground type and terrain characteristics,which has a great influence on the movement of the mobile robot. Generally, in order to acquire the environment information, robot need to carry some sensors to perceive the near terrain,those data which reflects terrain features is called "near terrain perception data",therefore, how to store 、 manage and analysis those data is vital important for the control and independent movement of mobile robot. Focusing on the problem above,those will be done as following:First of all, the thesis researches a wheeled mobile robot with ground adaptive ability,then design the wireless data acquisition system. The mobile robot is equipped with PC 104 as the main control unit、 IMU inertial measurement unit, laser scanning sensor, accelerometer,pressure sensor, binocular cameras, XBee wireless communication module etc. And then complete the development of software to achieve the wireless data transmission between mobile robot and the database.Secondly, study the method of mobile robot wheel-ground contact angle measurement on rough terrain. Establish the robot platform kinematics model,and analyze the related characteristics based on the homogeneous coordinate transformation method. In the condition that terrain function is known, simulate the contact angle based on the kinematics model according to kinematics modeling; then proposes an contact angle measurement method based on laser scanning sensor, which can be used on rigid ground and soft ground, and then derive the formula of wheel-ground contact angle measurement.Thirdly,complete the development of data management system based on network for mobile robot. The data management system adopts B/S structure and a waterfall model as the development model, MySQL as the database system, Apache as the Web server. According to the data type from the robot, design corresponding database structure, and complete the connection between wireless data acquisition system and data management system, at last, use PHP scripting language to accomplish the good interactive interface development.Finally, Test the reliability and stability of wireless data transmission system and mobile robot data management system through experiment. In addition, verify whether the wheel-ground contact angle measurement method is feasible through experiment conducted on a variety of terrain. |
