| Visiting exhibitions is an activity that we often need to engage in in our life nowadays,and the holding of a large exhibition requires a lot of hard work from the guides.Whether the exhibition is lively,interesting and attractive to a visitor depends to a certain extent on the way the guide guides.So the guide is very important for the success of the exhibition.With the development of robotics technology,in recent years,a small number of guided robots have appeared in various exhibition sites.Compared with human guidance,guided robot can not only reduce the pressure of guides,improve visitors' perception experience,but also be more scientific and technological.Therefore,for the exhibition industry,the application of guided robot is very necessary.But now the function and quantity of guided robots can not meet the development needs of the exhibition industry.In view of this situation,In view of this situation,a guided robot is designed and developed to complete the guided work of the exhibition hall.The robot has the functions of autonomous obstacle avoidance,navigation,voice communication and guidance.Through the study of these functions of the guided robot,the following work has been accomplished:(1)The motion mechanism of the guided robot is designed.It includes chassis,lifting platform and other internal and external structures of the robot to support obstacle avoidance,walking and guidance of the robot.(2)The control system of the guided robot is designed.Through the control system as the upper computer,the control and integration of the motor drive system,obstacle avoidance system and navigation system of the guide robot are realized,and the task planning of the whole guide robot is carried out.(3)Aiming at the obstacle avoidance problem faced by the guided robot,an obstacle avoidance system based on ultrasonic sensor is designed.The obstacle information is collected and processed by the obstacle avoidance system,and the control system controls the movement of the robot.The obstacle detection and obstacle avoidance around the guided robot are realized.In this paper,a fuzzy CMAC obstacle avoidance control algorithm for robots is proposed.(4)Aiming at the navigation problem of the robot,the navigation system of the navigation robot is designed and completed.The hardware design and navigation algorithm of the navigation system are studied.Navigation system is based on ultrasonic ranging,using multi-sensor cooperation,through distance comparison and solving space geometric coordinates two algorithms to achieve different situations of positioning and path planning.For the first time,the robot coordinate system is used as the navigation coordinate system,and a new solution to the indoor navigation problem is found.The design of the ultrasonic ear used in the system has obtained the national patent protection.The guided robot developed in this paper belongs to the key subject of Beijing Vocational College of Information Technology.In the process of development,it has received the financial support of Beijing Information Technology College.The applied technology includes the design technology of motion mechanism,single chip computer technology,obstacle avoidance technology,navigation technology,ultrasonic sensing technology and so on. |
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