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工程设计学报  2022, Vol. 29 Issue (2): 247-253    DOI: 10.3785/j.issn.1006-754X.2022.00.020
整机和系统设计     
基于环形红外阵列的移动机器人自动跟随系统
徐胜1(),邢强1(),王浩2
1.南通大学 机械工程学院,江苏 南通 226019
2.南京航空航天大学 机电学院,江苏 南京 210026
Automatic following system of mobile robot based on annular infrared array
Sheng XU1(),Qiang XING1(),Hao WANG2
1.School of Mechanical Engineering,Nantong University,Nantong 226019,China
2.College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210026,China
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摘要:

为了实现在室内空旷环境中跟随机器人对移动目标物的定位和动态跟踪,设计了一种基于环形红外阵列的移动机器人自动跟随系统。利用具有主动式环形大视场的测距罗盘作为环境感知传感器。测距罗盘由数个红外测距传感器组成周向阵列,实现对360°环向10~80 cm范围内移动目标物的二维定位,使跟随机器人可以快速确定其与移动目标物之间的距离和偏航角,实现对目标物的精准定位。依据目标物的位置信息并利用PD (proportion-differentiation,比例-微分)控制器控制跟随机器人的移动,使跟随机器人保持与目标物的相对距离和相对角度,实现对移动目标物的自动跟随。在上位机操作界面可以实时显示跟随机器人的运动轨迹及其对周围未知环境的探测情况。通过实验证明了测距罗盘可以有效定位目标,满足机器人跟随移动目标物的设计要求。测距罗盘和自动跟随系统的可靠性较高,可以为机器人集群编队提供装置保障。

关键词: 自动跟随环形阵列运动计算目标跟踪    
Abstract:

In order to realize the positioning and dynamic tracking of moving target in indoor open environment, an automatic following system of mobile robot based on annular infrared array was designed. The ranging compass with active annular large field of view was used as the environmental sensing sensor, which consisted of several infrared ranging sensors to form a circumferential array to realize the two-dimensional positioning of the moving target within the range of 10-80 cm in 360°annular direction, so that the following robot could quickly determine the distance and yaw angle between it and the moving target, so as to realize the accurate positioning of the mobile target. According to the position information of the target and using PD (proportion-differentiation) controller to control the movement of the following robot, the following robot maintained the relative distance and angle with the target, and realized the automatic following of the moving target. The mobile trajectory of the following robot and its detection of the surrounding unknown environment could be displayed in real time on the upper computer operation interface. It was proved that the ranging compass could effectively locate the target and meet the design requirements of robot following moving object. The reliability of ranging compass and automatic following system is relatively high, which can provide device support for robot cluster formation.

Key words: automatic following    annular array    motion calculation    target tracking
收稿日期: 2021-02-20 出版日期: 2022-05-06
CLC:  TP 311  
基金资助: 国家自然科学基金资助项目(61973159)
通讯作者: 邢强     E-mail: 1910310011@stmail.ntu.edu.cn;meexq@ntu.edu.cn
作者简介: 徐 胜(1996—),男,江苏盐城人,硕士生,从事机器人路径规划研究,E-mail:1910310011@stmail.ntu.edu.cnhttps://orcid.org/0000-0001-8268-6154
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引用本文:

徐胜,邢强,王浩. 基于环形红外阵列的移动机器人自动跟随系统[J]. 工程设计学报, 2022, 29(2): 247-253.

Sheng XU,Qiang XING,Hao WANG. Automatic following system of mobile robot based on annular infrared array[J]. Chinese Journal of Engineering Design, 2022, 29(2): 247-253.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2022.00.020        https://www.zjujournals.com/gcsjxb/CN/Y2022/V29/I2/247

图1  移动机器人自动跟随系统的结构框图
图2  基于传感器阵列的测距模块
图3  红外测量和采集模块设计示意
图4  实测距离与电压值的拟合曲线
图5  定位模型示意
图6  跟随机器人PD控制原理示意
图7  测距罗盘数据和机器人跟随路径的显示界面
图8  跟随机器人
图9  移动机器人自动跟随效果
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