| China is a big industrial nation; the degree of industrial automation has direct influence on the level of development of productive forces. Intelligent level of the factory mobile delivery equipment, autonomy and flexibility directly affect the production efficiency. Since the advent of omnidirectional mobile robots, it has been paid more and more attention, and it has important practical engineering application value for the performance and navigation research of the most flexible Mecanum round omnidirectional mobile robot.In order to meet the requirements of the industrial omnidirectional mobile robot, this paper designs a Mecanum wheel omnidirectional mobile robot, including its driving system, floating mechanism and body structure. The kinematics model of omnidirectional mobile robot is established, and the influence of Mecanum gear train layout on the motion stability of mobile robot is studied and simulated. On this basis, the Adams dynamic model of the omnidirectional mobile robot is established. Through the motion simulation, the vibration of the mobile robotcaused by the contact deformation of the Mecanum wheel and the ground is analyzed. It is also proposed to reduce the robot stiffness by changing the spring stiffness of the floating mechanism Vibration measures, and carried out simulation verification.Considering the process of production practice, the road marking lines or landmarks may be blurred due to abrasion, artificial landmarks are sheltered by other objects, navigation becomes impossible; complete scene navigation, image processing has heavy workload,navigation lag. According to the characteristics of the factory or warehouse has a lamp structured environment, this paper puts forward the binocular vision navigation algorithm based on indoor lighting, to detect the pose of mobile robot using lighting image algorithm. The light in the room as a marker, that has a relative position of the fixed and high, will not be blocked by other objects. At the same time, the roof empty background, the relative fixed distance between the lamp and the floor, relatively simple algorithm in the visual image processing, can significantly improve the processing efficiency. Based on the principle of Mecanum wheel motion control and the visual navigation algorithm of illumination lamp, this paper designs the control system of the robot speed and position of the double closed-loop, realizes the speed control of PLC lower computer, gives the idea of double closed-loop control method, and tests the accuracy of detection algorithm for robot pose experiment, and it is proved that the visual navigation based on the indoor lighting is feasible. |
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