| 机器人自动回程充电路径分析研究 |
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| 引用本文： | 吴冀川,孙昊,朱嘉伟. 机器人自动回程充电路径分析研究[J]. 上海电力学院学报, 2019, 35(4): 395-398 |
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| 作者姓名： | 吴冀川 孙昊 朱嘉伟 |
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| 作者单位： | 中国工程物理研究院 流体物理研究所,上海电力学院 能源与机械工程学院,上海电力学院 能源与机械工程学院 |
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| 摘 要： | 对清洁机器人自动回程充电路径规划进行了研究，使机器人可以依照设计要求避开障碍物，并在最短的时间内实现充电。研究了清洁机器人的自动回程充电的路径规划，机器人与充电器距离较远时，采用可视图法路径规划以生成自动回程充电的最短路径；机器人与充电器距离较近时，通过充电器上的红外线引导机器人与充电器完全对接。实验结果显示，可视图法可以选择最短路径进行充电，红外线引导法可以使机器人和电源完全接触。
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| 关 键 词： | 清洁机器人 路径规划 自动充电 可视图法 |
| 收稿时间： | 2019-05-29 |
Analysis and Research on the Automatic Return Path of Cleaning Robot |
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| WU Jichuan,SUN Hao and ZHU Jiawei. Analysis and Research on the Automatic Return Path of Cleaning Robot[J]. Journal of Shanghai University of Electric Power, 2019, 35(4): 395-398 |
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| Authors: | WU Jichuan SUN Hao ZHU Jiawei |
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| Affiliation: | Institute of Fluid Physics, China Academy of Engineering Physics, Mianyang 621900, China,School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China and School of Energy and Mechanical Engineering, Shanghai University of Electric Power, Shanghai 200090, China |
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| Abstract: | Through the research of path planning of cleaning robot,the robot can avoid obstacles according to the design requirements and realize charging in the shortest time.The path planning of automatic return charging for cleaning robot is studied,and visibility view method is taken as the path planning of automatic return charging to generate the shortest path in the case of long distance between the robot and the charger.Then the robot is fully docked with the charger through infrared guidance on the charger in the case of short distance between the robot and the charger.The simulation results show that the shortest path can be selected by visibility view method for charging,and the infrared guidance method can make the robot and the power in full contact. |
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| Keywords: | cleaning robot path planning automatic charge visibility view method |
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