一种基于红外测距原理的清洁机器人定位新方法  

A New-type Location Method of Cleaning Robot based on the Theory of Infrared Measurement

作　　者：单文松 周风余[1] 徐法格[1] 朱瑞[1] 

机构地区：[1]山东大学控制科学与工程学院

出　　处：《可编程控制器与工厂自动化（PLC FA）》2015年第8期69-73,共5页Programmable controller & Factory Automation(PLC & FA)

摘　　要：在概述目前清洁机器人定位导航方法的基础上,提出了一种基于红外测距原理的新型清洁机器人定位方法。清洁机器人本体采用红外一体接收头VS0038接收定位基准模块发射的调制红外信号,机器人本体上的主控芯片STM32单片机根据红外相位测距原理得到机器人本身与定位基准模块之间的距离,便可以以定位基准模块为中心粗略的构建室内环境的地图,这样机器人能够根据地图确定本身所在位置,并且知晓要去的位置,从而实现机器人的精确导航与高效率清扫功能。系统实验证明了该定位方法的有效性,具有一定的推广价值。On the basis of summarizing the cleaning robot positioning and navigation methods, this paper presents a novel cleaning robot localization method based on the principle of infrared distance measurement. Integrative infrared remote control receiver module VS0038 is applied to the cleaning robot to receive modulated infrared signals emitted by the location datum module. The robot uses STM32 as main chip to obtain the distance between the robot itself and the location datum module according to the principle of infrared phase distance measurement so that it can build indoor environment map roughly centered at the location datum module. Therefore, the robot can determine its location and know where to go by the map in order to achieve the functions of accurate navigation and efficient cleaning. Experimental results prove the effectiveness of this location method and huge value to popularize.

关 键 词：清洁机器人 定位 红外相位测距 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]