面粉厂吸尘机器人方轮式全方位行走机构及定位纠偏设计  

Design of omni-directional walking mechanism and correcting position of quartet-wheel for mobile robots

作　　者：李光玲[1,2] 周宏雷[1,2] 张周新 

机构地区：[1]江苏省信息融合软件工程技术研发中心,江苏江阴214405 [2]江阴职业技术学院,江苏江阴214405

出　　处：《食品与机械》2014年第5期118-121,共4页Food and Machinery

基　　金：江苏省自然基金项目(编号:BK2012128);江苏省信息融合软件工程技术研究开发中心开放基金项目(编号:SR-2011-03)

摘　　要：针对目前面粉厂吸尘机器人全方位行走机构成本高、能耗高、效率低等问题,提出方轮式行走机构的设计方案,结合四肢跨步能确定步长和圆轮滚动能定向行走的特点。以行走轮、纠偏轮和辅助行走轮的设计和配合,实现全方位行走。通过多套光电移动检测传感器,解决未知环境中移动过程中定位纠偏问题;通过海绵接触型传感器高效地感知前进过程中的障碍物,解决行走中的碰撞问题。该全方位行走机构用于面粉厂吸尘机器人的设计,可实现粉尘的全面清扫并可降低成本,高效节能。The omni-direetional walking mechanism of mobile robot is high cost, high energy consumption, low efficiency. The design scheme of quartet-wheel running mechanism was proposed, which combines the characteristics of limbs-stride determining the step size and round wheels determining the direction. Omni directional walk ing was realized by the combination design of walking wheel, correc- ting wheel and auxiliary wheel problem of correcting position can be solved by multiple sets of photoelectric moving detective sensor in the unknown process of movement. The forward obstacles can be effi- ciently perceived by sponge-contact type sensor. The omni-direction al walking mechanism was used in mobile robots, which can not only realize omni-walking, but also have the advantages of low costs, high efficiency, energy saving and flexibility.

关 键 词：机器人 方轮 行走机构 定位纠偏 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]