| 一种基于地图构建与角度传感器的扫地机器人自动回充方法 |
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| 引用本文： | 肖奇军,郑健聪,陈斯鹏,谢经顺,柯天进,林彦佑. 一种基于地图构建与角度传感器的扫地机器人自动回充方法[J]. 机械与电子, 2019, 37(2): 78-80 |
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| 作者姓名： | 肖奇军 郑健聪 陈斯鹏 谢经顺 柯天进 林彦佑 |
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| 作者单位： | 肇庆学院电子与电气工程学院,广东 肇庆,526061;肇庆学院电子与电气工程学院,广东 肇庆,526061;肇庆学院电子与电气工程学院,广东 肇庆,526061;肇庆学院电子与电气工程学院,广东 肇庆,526061;肇庆学院电子与电气工程学院,广东 肇庆,526061;肇庆学院电子与电气工程学院,广东 肇庆,526061 |
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| 基金项目： | 大学生创新创业训练计划项目;广东省自然科学基金;广东省教育厅特色创新项目 |
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| 摘 要： | 对一种扫地机器人自动回充方法进行研究,采用激光雷达传感器采集的障碍物信息构建出室内电子地图,在此基础上对扫地机进行清扫路径规划,在自动回充过程中,采用安装在扫地机机器人上的角度传感器实时检测扫地机器人当前的角度信息,配合航位推算方法推算出扫地机器人当前的位置信息,并通过传统的红外定位方式进行检验校正,实现扫地机充电插头和充电桩之间的对准,达到高精度、高效率的自动回充。
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| 关 键 词： | 扫地机器人 路径规划 地图构建 激光雷达 角度传感器 |
An Automatic Recharge Method of Sweeping Robot Based on Map Construction and Angle Sensor |
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| XIAO Qijun,ZHENG Jiancong,CHEN Sipeng,XIE Jingshun,KE Tianjin,LIN Yanyou. An Automatic Recharge Method of Sweeping Robot Based on Map Construction and Angle Sensor[J]. Machinery & Electronics, 2019, 37(2): 78-80 |
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| Authors: | XIAO Qijun ZHENG Jiancong CHEN Sipeng XIE Jingshun KE Tianjin LIN Yanyou |
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| Affiliation: | (School of Electronic and Electrical Engineering,Zhaoqing University,Zhaoqing 526061,China) |
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| Abstract: | An automatic recharge method of sweeping robot was studied.The obstruction information collected by laser radar sensors was used to build indoor electronic map.Based on this,the sweeping path planning of the sweeping robot was carried out.During automatic recharge procedure,the angle information was detected in real-time by angle sensor installed on the sweeping robot,coupled with sweeping robot navigation position calculation method to calculate the current location information of the sweeping robot.The traditional way of infrared positioning test correction as used to realize the alignment between the robot charging plug and charging pile in high precision to achieve high efficiency of automatic recharge. |
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| Keywords: | sweeping robot path planning map-building laser sensor angle sensor |
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