| The autonomous charging technology of mobile robots is a key technology to ensure that the robot can run autonomously for a long time.The mobile robot motion control system based on brushless DC motor design and the short-range docking technology based on infrared information can reliably connect the robot to the charging pile.The main research contents of this topic include ARM-based mobile robot bottom movement control system,mobile robot charging pile hardware system design,robot and charging pile docking process design,mobile robot experimental platform construction and related experimental research.Firstly,the hardware circuit of mobile robot's bottom motion control system was designed,and completes the physical production of the PCB circuit.According to the working principle and working conditions of the brushless DC motor inside the mobile robot,a mathematical model was established,and a variable universe fuzzy PI control algorithm was designed based on the working conditions to adjust the control parameters in real time.The brushless DC motor simulation model and the variable universe fuzzy PI controller model were built in SIMULINK.The simulation compares with ordinary PI algorithm to verify the superiority of the variable domain fuzzy PI control algorithm.Secondly,the relevant hardware of the autonomous charging system was designed.Developed the shell of the charging pile and the hardware circuit of the autonomous charging system,including the wireless charging module,the infrared guiding module and the robot internal charging control module,and made the PCB circuit board to complete the installation of the charging pile.During the design of the charging pile,it is considered that 220 V mains should be connected,and air switches and safety devices are installed to ensure personnel safety.Then,the docking algorithm between robot and charging pile was studied.The process of artificially assisting the remote search of charging piles through QT human-computer interaction interface and TCP/IP network communication was designed,which greatly improves the efficiency of robots searching for charging piles.Focusing on the robot positioning algorithm in the charging docking process,the infrared information was integrated into the algorithm.According to the characteristics of infrared sensors,the close docking process of robots and charging piles based on infrared information was designed.Finally,a mobile robot experimental platform was built to verify the mobile robot motion control system and autonomous charging system designed in this paper.The reliability of each subsystem in the motion control system was tested,and the motor speed curve was obtained through a QT interface programmed by the upper computer.It was verified that the motion control system designed in this paper is superior in stability,accuracy,and response speed.The positioning error data was obtained through the static positioning experiment and the dynamic positioning experiment,and the reliability of the positioning algorithm was verified.Through the multiple docking of the robot and the charging pile,the reliability of the charging docking system was verified.The experimental results show that the mobile robot motion control system and autonomous charging system designed in this paper are reliable and have excellent performance. |
PDF Full Text Request