| Under the social reality that aging population becoming more of a problem,in our country,some social problems and economic problems caused by the shortage of social labor force can be alleviated by powerful small indoor mobile robots.The autonomous motion system of mobile robot is the basis of its other functions.Therefore,autonomous positioning,motion control,remote monitoring and other issues in the autonomous motion system of small indoor mobile robots are studied deeply,and a small indoor mobile robot autonomous motion system platform suitable for the indoor environment is designed.Specifically:(1)In order to overcome the adverse effects of indoor illumination change and algorithm complexity on robot visual positioning,based on indoor fixed self-luminescent features,combined with the idea of feature matching by database,a visual positioning algorithm is proposed.It is insensitive to indoor illumination change and has a relatively fast positioning speed.(2)According to the characteristics of the image of indoor spontaneous light feature and the requirements of this visual positioning algorithm,an image processing and a feature extraction algorithm are designed.(3)A double crawler motion test platform is designed.It can adapt to the complex structure,narrow space,more corners of the indoor environment.In addition,the obstacle avoidance algorithm and the navigation thought which are suitable for the test platform and indoor environment are proposed(4)The motion control architecture which can be expressed as "platform controller/PC client/PC server" is designed.Combined with bi-directional answering SPI communication and real-time operating system,the problem that high processing pressure of the existing robot microcontroller controller is solved,and its data processing ability and control real-time are improved.In addition,the closed-loop speed control of the brushed DC motor is completed.(5)Real-time high concurrency communication between a single server and multiple robotic clients is achieved based on IOCP(Input/Output Completion Port).On this basis,real-time image transmission and display are realized,and a C/S mode Multi-platform Cluster monitoring system is designed.After testing,the motion test platform of the autonomous motion prototype system of small mobile robot can move normally in the laboratory environment,the vision positioning algorithm has certain feasibility,and the multi-platform cluster C/S monitoring system can run stably,which can meet the basic monitoring needs.The above work can provide some reference value for the subsequent research of small autonomous mobile robot motion system. |
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