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1、南京理工大學(xué)碩士學(xué)位論文自主移動(dòng)機(jī)器人磁化路徑導(dǎo)航信息生成理論與系統(tǒng)的研究摘要導(dǎo)航定位技術(shù)是自主移動(dòng)機(jī)器人的關(guān)鍵技術(shù)。本文提出了一種原創(chuàng)性導(dǎo)航定位概念一磁化路徑磁跡導(dǎo)航技術(shù),即機(jī)器人在運(yùn)行過程中,磁化裝置磁化路徑并在地面生成一條磁跡,通過磁傳感器檢測(cè)磁跡信標(biāo)作為自主導(dǎo)航信息,這一導(dǎo)航技術(shù)對(duì)全區(qū)域覆蓋移動(dòng)機(jī)器人導(dǎo)航特別有效。文中首先應(yīng)用電磁場(chǎng)和土壤磁化理論,對(duì)磁化路徑的磁遮生成進(jìn)行理論分析,探索對(duì)地面±壤磁化的機(jī)理及±壤磁化的特性,通過分析發(fā)現(xiàn)土壤在外磁場(chǎng)作用下其磁性明顯增強(qiáng),并且土壤所獲得的剩磁(磁跡)可以保持相當(dāng)長(zhǎng)的時(shí)間,鑷出磁化士壤生成磁化路徑,獲得移動(dòng)機(jī)器人導(dǎo)航磁透信
2、標(biāo)是可行的。同時(shí)在分析士壤磁化特性理論的基礎(chǔ)上,得到磁化路徑磁跡的磁場(chǎng)強(qiáng)度及土壤磁化要求,根據(jù)這些指標(biāo),設(shè)計(jì)了基于RC脈沖充磁理論的磁化裝置,并詳細(xì)介紹了該裝置的結(jié)構(gòu)、硬件電路、功率優(yōu)化等設(shè)計(jì),還應(yīng)用有限元法計(jì)算出磁化裝置空間磁場(chǎng)的分布及大小,最后完成了整個(gè)裝置的硬件及軟件設(shè)計(jì)。通過系統(tǒng)調(diào)試與實(shí)驗(yàn),獲得了較為滿意的結(jié)果,這~研究結(jié)果驗(yàn)證了應(yīng)用本文所提出的磁化路徑磁跡導(dǎo)航技術(shù),實(shí)現(xiàn)機(jī)器人自主導(dǎo)航的有效性,具有良好的工程應(yīng)用前景,關(guān)鍵詞:自主移動(dòng)機(jī)器人全區(qū)域覆蓋脈沖充磁磁化路徑磁化裝置Abstmet碩士論文AbstractThetechnologyofnavigationand
3、orientationisoneofthevitaltechnologiesforautonomousmobilerobot.Inthispaper,anewconceptofnavigationandorientationisproposed,itisnamedaftermagnetizedpathnavigation.Usingthisnavigationtechnique,thespecialmagnetizationdevicemagnetizessoilduringthecourseofrobot’smovingontheground,andthenastripo
4、fmagneticvestigewillbecreatedinthesurfacelayerofground.Navigationwillcometrueforrobotbymagneticsensors’detectingthismagnetbeaconingandregardingitasself-determinationnavigation’sinformation.Thistechnologyofnavigationisveryeffectiveonmobilerobotsofwholeregion-coverage.Atthebeginningofthisthe
5、sis,thetheoryofcreatmgmaglaeticvestigeisanalyzedbyusingthetheoryofelectromagneticfieldandsoilmagnefization.Theprinciplesandthegenericcharacteristicsofsoilmagnetizationa托discussed.Thenwediscoverthattheintensityofsoil’smagnetismwillincreasedistinctlyontheeffectofexternalmagneticfield,andther
6、esidualmagnetism(magneticvestige)earlbereservedforalongtime.Basedonthisfactabove.weconsider血eprocessthatmagnetizationsoilandcreatingmagneticvestigeisfeasibleforrobots’navigation,Atthesametime,onthebasisofcharacteristicsofsoilmagnetization,italsogettheintensityofm黽g,neticvestigeandthenecess
7、ityofsoilmagnetization.Accordingtotheseneed,wedevisethemagnetizationdevicebasedonthetheoryofRcpulsemagnetization,andpresentt}1edevicesize,h盯dwarecircuitandpoweroptimizationindetail.Atlast,wefinishthedesignofthehardwareandthesoftwarefortheentiremagnetizationdev