全方位移动清扫机器人控制技术的研究

A Study on Control of an Omni-directional Mobile Robot for Cleaning

研制出一种全方位移动清扫机器人 ,可实现大面积区域室内地面的清扫服务。结构开放性、模块通用性和反应快速性为原则 ,设计出一种适合于机器人服务的控制系统 ,提出了一种分级并行控制结构 ,阐述了硬件结构和软件流程 ,提出了电源管理和腔路转换两种节能措施 ,最后给出了现场试验结果。

With the cooperation with Hong Kong Chinese University, an Omni-directional Mob i le Robot has been developed to clean large and even areas. Open in architecture , universal in modular design, and swift in reaction, a control system has been designed to meet the demand for robot-aided service. This paper proposes a hie r archically parallel control architecture, introduces the hardware composition an d the software architecture, and presents battery management and gas way switch as two power-saving methods.