本文關(guān)鍵詞：基于Android的智能小車控制及路徑規(guī)劃　出處：《廣西師范大學》2017年碩士論文　論文類型：學位論文

  更多相關(guān)文章： 掃地機器人 樹莓派 Android 攝像監(jiān)控 路徑規(guī)劃

【摘要】：目前,市場上熱賣的掃地機器人作為智能家居新概念的領(lǐng)跑者已經(jīng)走進人們的生活,不僅可以自主清掃房間,而且能通過手機設(shè)備或是電腦無線控制,實現(xiàn)人機交互,其實用性越來越強,它也越來越受人們的歡迎,然而市面上的掃地機器人有時會出現(xiàn)避障不靈活、不能完全覆蓋工作環(huán)境或是功能不全面等問題,同樣地,關(guān)于室內(nèi)安防問題也是人們一直苦惱又難以解決的問題。結(jié)合這些問題和人們的需求,本文搭建了一臺智能移動機器人——智能小車,在智能小車前方安裝兩個攝像頭,實現(xiàn)Android客戶端的無線控制及攝像監(jiān)控,并且研究掃地機器人的路徑規(guī)劃,采用柵格地圖和改進的往返式”梳”字型相結(jié)合的路徑規(guī)劃方法,同時可結(jié)合攝像頭拍攝到的圖像對室內(nèi)物體進行分類識別,做出相應的避障策略,使得智能小車能更加有效地完成作業(yè),這樣將該智能小車應用到掃地機器人上后,掃地機器人既能更加靈活地覆蓋清掃區(qū)域,又能作為“巡邏兵”,監(jiān)視室內(nèi)指定區(qū)域,增強室內(nèi)安防,更好地優(yōu)化并擴展了掃地機器人的功能。本文主要工作內(nèi)容如下:(1)智能小車的搭建:此車主要以一個樹莓派主控板為核心,再結(jié)合一個Arduino板主控板進行搭建。樹莓派主要包括自動連接WIFI、傳輸攝像頭拍攝到的視頻等功能,Arduino板主要包括返回3個方位超聲波傳感器數(shù)據(jù)、電機驅(qū)動等功能,關(guān)于智能小車的搭建已申請了實用新型專利。(2)智能控制移動攝像監(jiān)控:本文在Eclipse平臺上進行APP開發(fā),采用SurfaceView繪圖機制和多線程實現(xiàn)了視頻顯示,在不同型號的Android手機上進行測試,得出最高平均幀率達到25fps,最高幀率達到30fps;其次可無線控制智能小車方向,本文由閉環(huán)PID控制算法和霍爾傳感器相結(jié)合來控制智能小車左右電機轉(zhuǎn)速,保證左右電機同步,使得智能小車能直線行走不偏移;最后可實時獲取小車傳感器的數(shù)據(jù),作為路徑規(guī)劃的判斷依據(jù)。(3)路徑規(guī)劃研究:掃地機器人路徑規(guī)劃屬全覆蓋路徑規(guī)劃,覆蓋率是最主要的評估標準,其次是重復率,本文比較常用算法的優(yōu)缺點和目前全覆蓋路徑規(guī)劃難點,采用柵格地圖和改進的往返式”梳”字型相結(jié)合的路徑規(guī)劃,將本文方法應用在多種不同的環(huán)境中,如在十種典型常見室內(nèi)環(huán)境、覆蓋率較高文獻中的同一室內(nèi)環(huán)境或是構(gòu)建一個掃地機器人清掃時遇到的常見且難避免的障礙物情形的室內(nèi)環(huán)境中,測得覆蓋率最高能達到100.00%,進一步地完善和優(yōu)化了掃地機器人的全覆蓋路徑規(guī)劃。
[Abstract]:At present, the popular floor sweeping robot in the market as a leader in the new concept of smart home has come into people's lives, not only can clean their own rooms, but also through mobile devices or computer wireless control. The realization of man-machine interaction is more and more practical, and it is more and more popular. However, the floor sweeping robot on the market sometimes appears obstacle avoidance inflexible. Cannot completely cover the work environment or the function is not comprehensive and so on the question, similarly, regarding the indoor security question also is the question which the people has been distressed and difficult to solve, unifies these problems and the people's demand. In this paper, an intelligent mobile robot, intelligent car, is built. Two cameras are installed in front of the smart car to realize wireless control and camera monitoring of Android client. And the path planning of the floor sweeping robot is studied, which combines the grid map and the improved round-trip "comb" font. At the same time, it can be used to classify and identify the indoor objects with the images captured by the camera. Make the corresponding obstacle avoidance strategy, so that the intelligent car can complete the operation more effectively, so that after the intelligent car is applied to the floor sweeping robot, the floor sweeping robot can cover the cleaning area more flexibly. It can also act as a "patrol soldier" to monitor designated indoor areas and enhance indoor security. Better optimize and expand the function of floor sweeping robot. The main work of this paper is as follows: 1) the construction of intelligent car: this car mainly takes a raspberry pie main control board as the core. The raspberry pie mainly includes the functions of automatically connecting WiFi, transmitting the video captured by the camera, and so on. Arduino board mainly includes three azimuth ultrasonic sensor data, motor drive and other functions. About the construction of intelligent car has applied for a utility model patent. 2) Intelligent control mobile camera monitoring: this paper on the Eclipse platform for APP development. The video display is realized by using SurfaceView drawing mechanism and multithreading, and tested on different Android mobile phones. The highest average frame rate is 25fps. The maximum frame rate is 30fps. Secondly, the direction of intelligent car can be controlled wirelessly. This paper combines the closed-loop PID control algorithm and Hall sensor to control the speed of the motor around the intelligent car and to ensure the synchronization of the left and right motors. The intelligent car can walk straight line without deviation; Finally, the vehicle sensor data can be obtained in real time, as the judgment basis of path planning. Research on path planning: path planning of sweeping robot belongs to full coverage path planning, coverage is the most important evaluation criteria. Secondly, repetition rate, this paper compared the advantages and disadvantages of common algorithms and the current full coverage path planning difficulties, using raster map and the improved round-trip "comb" combination of path planning. This method is applied to many different environments, such as ten typical indoor environments. Coverage is higher than Gao Wenxian in the same indoor environment or the construction of a sweeping robot cleaning common and unavoidable obstacles in the indoor environment, the highest coverage can be measured to 100.00%. The full coverage path planning of floor sweeping robot is further improved and optimized.
【學位授予單位】：廣西師范大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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