Design And Energy Consumption Analysis Of Maze Robot Based On Magnetic Encoder

As a wheeled robot that moves autonomously,the maze robot can search and memorize the path of the maze in an unknown maze,use the recorded maze information to plan the optimal path from the start to the end of the maze,and realize the best movement from the start to the end.This paper focuses on the design method and energy consumption model of the labyrinth robot system based on the magnetic encoder.The main contents are as follows:1.Research on the positioning method of the external magnetic encoder of the labyrinth robot.Aiming at the high cost of the traditional labyrinth robot motor,a magnetic encoder with an external motor is designed.The magnetic encoder is composed of a permanent magnet and a magnetic sensor chip.Through the theoretical analysis of the magnetic field of a single-pole permanent magnet magnetized in the radial direction,and an Ansoft Maxwell is used to simulate the magnetic field signal around the permanent magnet.According to the distribution of magnetic induction intensity at different spatial positions,the optimal distance between the permanent magnet and the mounting position of the magnetic sensor chip is determined.2.The energy consumption model of the labyrinth robot is established and energy consumption analysis.In order to extend the working time of the labyrinth robot,the energy consumption of the labyrinth robot is studied.First,a kinematic model of the labyrinth robot is established based on the Lagrangian principle,and the multi-source energy consumption of the motor,controller,power supply,and suction cup fan of the labyrinth robot is analyzed,and a mathematical model of the total energy consumption of the motion system is established.3.Research on the realization of labyrinth robot system based on magnetic encoder.According to the magnetic encoder theory and simulation results,the mechanical structure of the magnetic encoder is designed.For the labyrinth robot,software and hardware are designed.The hardware design includes the main controller,sensor,drive circuit and power supply circuit;the software program includes the bottom-level motor control and the top-level main program control,and finally completes the entire physical design.4.Research on the realization of energy consumption detection system and detection platform of labyrinth robot.Firstly,a voltage stabilizing module is designed using a DC-DC switching power supply,and the battery voltage is monitored using an LM393 comparator.For the collection of the energy consumption of the labyrinth robot,the corresponding current detection module is designed,and the main controller is used to collect the data in real time and send it to the host computer system via Bluetooth.5.Experimental research on labyrinth robot based on magnetic encoder.Using the built experimental platform,the labyrinth robot was tested for the speed of the magnetic encoder and the motion energy consumption.The results show that the designed magnetic encoder can accurately complete the closed-loop control of the motor.At the same time,the theoretical value of the motion energy consumption model is consistent with the experimental results,which proves The accuracy of the model.