基于光电传感器的学前儿童机器人室内自动定位方法

Indoor Automatic Positioning Method of Preschool Children Robot based on Photoelectric Sensor Simulation

针对学前儿童机器人在与儿童的互动和个性化的陪伴方面,机器人仍不能满足人们的需要。为了提高机器人与儿童的互动性,需要使机器人具备室内自动定位的功能,本文基于光电传感器对学前儿童机器人进行设计。机器人的任务系统按照功能层次可以分为人机交互层、控制层、任务组织层和任务执行层。通过改进机器人定位方式,采用光电图像传感器进行距离测量以提高行进过程中定位精度,实现机器人的自动定位。根据室内障碍物较多的特点,对人工势场算法改进,对机器人的路径进行规划算法,从而设计了机器人的避障规则。为验证该学前儿童机器人的性能,对机器人进行自动定位和路径规划试验。试验结果表明:机器人的自动定位结果准确,定位偏差均小于5%,且可进行路径规划和避障。

For preschool children robot in interaction with children and personalized companionship,the robot still could not meet the needs of people.To improve the interaction between the robot and children,the robot needs to have the function of indoor automatic positioning.The preschool children’s robot based on the photoelectric sensor was designed.The robot task system could be divided into man-machine interaction layer,control layer,task organization layer and task execution layer according to function level.The robot used the photoelectric image sensor to measure the distance.By improving the positioning accuracy of each time in the process of robot moving,the positioning error was reduced and the automatic positioning of the robot was realized.Considering the characteristics of many indoor obstacles,the artificial potential field algorithm was used to plan the robot’s path and design the obstacle avoidance rules.To verify the performance of the preschool children’s robot,the robot automatic positioning test and path planning test were carried out.The experimental results show that the automatic positioning of the robot was accurate,the positioning deviation is less than 5%.and the path planning and obstacle avoidance could be carried out.