基于电磁感应的割草机器人边界技术研究  

Boundary technique of mowing robot based on electromagnetic induction

作　　者：杨金龙[1] 赵旭[1] 邬杨波[1] 蓝艇[1] 

机构地区：[1]宁波大学信息科学与工程学院,浙江宁波315211

出　　处：《机电工程》2015年第11期1443-1447,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(61271137);宁波市自然科学基金资助项目(2013A610120)

摘　　要：针对割草机器人在固定工作区域内移动时所涉及到的边界识别问题,开展了基于电磁感应的边界识别技术的研究。介绍了割草机器人的硬件架构,分析了涡流检测的基本原理,在此基础上对基于电磁感应的边界识别方法进行了理论分析,由此提出了基于电磁感应的割草机器人边界技术。在室外草坪中围建的工作区域内,对所提出的割草机器人边界识别技术进行了实验测试,通过对实验数据分布特性图的分析结果证实了所提出方法的可行性。提出了基于电磁感应的边界识别算法,并在割草机器人平台下验证了其有效性。研究结果表明,电磁感应式识别方式可应用于割草机器人的边界检测,该方式具有适应性好、成本低、易维护等特点。Aiming at the problem of the boundary recognition for mowing robot moving in a fixed workspace,the method of the boundary recognition based on the electromagnetic induction was investigated. The hardware structure of mowing robot and the principle of eddy current were introduced. Then recognition method was analyzed by the principle of eddy current and the eddy current testing technique based on the electromagnetic induction was applied to boundary recognition. The feasibility of the proposed method was verified according to the distribution characteristics of the datum from the experimental results under the mowing robot platform. A recognition algorithm using electromagnetic induction boundary was presented and verified. The experimental results indicate that the proposed recognition method of boundary based on the electromagnetic induction is valid for mowing robot application. In addition,the proposed method has good adaptability,low-cost,easy maintenance,etc.

关 键 词：割草机器人 边界识别 涡流 电磁感应 

分 类 号：TH6[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]