6 research outputs found
Docking autonomous robots in passive docks withInfrared sensors and QR codes
International audienceIn this paper, we describe an inexpensive andeasy to deploy docking solution in passive charging docks forautonomous mobile robots. The objective is to achieve long-termautonomous robots within an experiment test-bed. We propose tocombine the use of QR codes as landmarks and Infrared distancesensors. The relative size of the lateral edges of the visual patternis used to position the robot in relation with the dock. Infrareddistance sensors are then used to perform different approachingstrategies depending on the distance. Experiments show that theproposed solution is fully operational and robust. Not to relyexclusively on visual pattern recognition avoids potential errorsinduced by camera calibration. Additionally, as a positive sideeffect, the use of Infrared sensors allows the robot to avoidobstacles while docking. The finality of such an approach isto integrate these robots into the FIT IoT Lab experimentaltestbed which allows any experimenter to book wireless resourcessuch as wireless sensors remotely and to test their own code.Wifibots holding wireless sensors will be integrated as additionalreservable resources of the platform to enlarge the set of possibleexperimentations with mobile entities
ΠΠ΅ΡΠΎΠ΄ ΠΎΡΠ΅Π½ΠΊΠΈ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³Π΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ ΡΠ΅ΡΡΡΡΠΎΠ² ΠΌΠ΅ΠΆΠ΄Ρ Π΄Π²ΡΠΌΡ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ
ΠΠ½Π΅ΡΠ³ΠΎΠ΅ΠΌΠΊΠΎΡΡΡ Π°ΠΊΠΊΡΠΌΡΠ»ΡΡΠΎΡΠΎΠ², ΠΏΡΠΈΠΌΠ΅Π½ΡΠ΅ΠΌΡΡ
Π² ΠΊΠ°ΡΠ΅ΡΡΠ²Π΅ ΠΎΡΠ½ΠΎΠ²Π½ΠΎΠ³ΠΎ ΠΈΡΡΠΎΡΠ½ΠΈΠΊΠ° ΠΏΠΈΡΠ°Π½ΠΈΡ Π² ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΡΡ
ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΡΠ΅Π΄ΡΡΠ²Π°Ρ
, ΠΎΠΏΡΠ΅Π΄Π΅Π»ΡΠ΅Ρ Π²ΡΠ΅ΠΌΡ Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΠΎΠΉ ΡΠ°Π±ΠΎΡΡ ΡΠΎΠ±ΠΎΡΠ°. ΠΠ»Ρ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π²ΡΠΏΠΎΠ»Π½Π΅Π½ΠΈΡ Π³ΡΡΠΏΠΏΠΎΠΉ ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΡΠ΅Π΄ΡΡΠ² Π·Π°Π΄Π°Ρ Ρ ΡΠΎΡΠΊΠΈ Π·ΡΠ΅Π½ΠΈΡ Π·Π°ΡΡΠ°Ρ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ Π°ΠΊΡΡΠ°Π»ΡΠ½ΠΎ ΡΡΠΈΡΡΠ²Π°ΡΡ Π²ΡΠ΅ΠΌΡ, Π² ΡΠ΅ΡΠ΅Π½ΠΈΠ΅ ΠΊΠΎΡΠΎΡΠΎΠ³ΠΎ Π·Π°ΡΡΠΆΠ°Π΅ΡΡΡ Π°ΠΊΠΊΡΠΌΡΠ»ΡΡΠΎΡ ΠΊΠ°ΠΆΠ΄ΠΎΠ³ΠΎ ΠΎΡΠ΄Π΅Π»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ°. ΠΡΠΈ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΈ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ ΡΡΠΎ Π²ΡΠ΅ΠΌΡ Π·Π°Π²ΠΈΡΠΈΡ ΠΎΡ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΠΈ ΡΠΈΡΡΠ΅ΠΌΡ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ, Π° ΡΠ°ΠΊΠΆΠ΅ ΠΎΡ ΠΌΠΎΡΠ½ΠΎΡΡΠΈ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΡΠ΅ΠΉ ΡΠ°ΡΡΠΈ ΡΠΈΡΡΠ΅ΠΌΡ, Π½Π΅ΠΎΠ±Ρ
ΠΎΠ΄ΠΈΠΌΠΎΠΉ Π΄Π»Ρ ΠΏΠΎΠΏΠΎΠ»Π½Π΅Π½ΠΈΡ ΡΠ½Π΅ΡΠ³ΠΎΠ΅ΠΌΠΊΠΎΡΡΠΈ. Π Π½Π°ΡΡΠΎΡΡΠ΅ΠΉ ΡΠ°Π±ΠΎΡΠ΅ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΡΡΡ ΠΌΠ΅ΡΠΎΠ΄ ΠΎΡΠ΅Π½ΠΊΠΈ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³Π΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΠ΅ΡΡΡΡΠΎΠ² ΠΌΠ΅ΠΆΠ΄Ρ Π΄Π²ΡΠΌΡ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ Ρ ΡΡΠ΅ΡΠΎΠΌ Π΄Π°Π½Π½ΡΡ
ΠΏΠ°ΡΠ°ΠΌΠ΅ΡΡΠΎΠ². ΠΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΡΠΉ ΠΌΠ΅ΡΠΎΠ΄ ΡΡΠΈΡΡΠ²Π°Π΅Ρ ΠΏΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΠ΅ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° ΠΊΠΎΠ½Π΅ΡΠ½ΠΎΠ³ΠΎ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΎΠ², ΠΎΡΠ΅Π½ΠΊΡ Π»ΠΈΠ½Π΅ΠΉΠ½ΡΡ
ΡΠΌΠ΅ΡΠ΅Π½ΠΈΠΉ ΠΌΠ΅ΠΆΠ΄Ρ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ, Π²ΠΊΠ»ΡΡΠ°Π΅Ρ Π²ΡΡΠΈΡΠ»Π΅Π½ΠΈΠ΅ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΠΈ, Π° ΡΠ°ΠΊΠΆΠ΅ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΠ΅ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ ΠΏΠΎΠ΄Π·Π°ΡΡΠ΄ΠΊΠΈ Ρ ΡΡΠ΅ΡΠΎΠΌ ΠΏΠ°ΡΠ°ΠΌΠ΅ΡΡΠΎΠ², ΠΏΠΎΠ»ΡΡΠ΅Π½Π½ΡΡ
Π½Π° ΠΏΡΠ΅Π΄ΡΠ΄ΡΡΠΈΡ
ΡΡΠ°ΠΏΠ°Ρ
ΠΌΠ΅ΡΠΎΠ΄Π°. ΠΠ»Π³ΠΎΡΠΈΡΠΌ ΠΊΠΎΠ½Π΅ΡΠ½ΠΎΠ³ΠΎ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΎΠ² ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠ΅Ρ Π°Π»Π³ΠΎΡΠΈΡΠΌΡ ΠΎΠ±ΡΠ°Π±ΠΎΡΠΊΠΈ Π΄Π°Π½Π½ΡΡ
ΡΠΈΡΡΠ΅ΠΌΡ ΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ Π·ΡΠ΅Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠ° Π΄Π»Ρ ΠΏΠΎΠΈΡΠΊΠ° ΡΠ΅ΠΏΠ΅ΡΠ½ΡΡ
ΠΌΠ°ΡΠΊΠ΅ΡΠΎΠ² ΠΈ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ ΠΈΡ
ΠΏΡΠΎΡΡΡΠ°Π½ΡΡΠ²Π΅Π½Π½ΡΡ
Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊ Π΄Π»Ρ ΠΎΠ±Π΅ΡΠΏΠ΅ΡΠ΅Π½ΠΈΡ ΠΊΠΎΠ½Π΅ΡΠ½ΠΎΠ³ΠΎ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΡΡ
ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΏΠ»Π°ΡΡΠΎΡΠΌ. ΠΠ°Π½Π½ΡΠ΅ Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊΠΈ ΡΠ°ΠΊΠΆΠ΅ ΠΏΡΠΈΠΌΠ΅Π½ΡΡΡΡΡ Π΄Π»Ρ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ Π»ΠΈΠ½Π΅ΠΉΠ½ΡΡ
ΡΠΌΠ΅ΡΠ΅Π½ΠΈΠΉ ΠΌΠ΅ΠΆΠ΄Ρ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ, ΠΎΡ ΠΊΠΎΡΠΎΡΡΡ
Π·Π°Π²ΠΈΡΠΈΡ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ. ΠΠ»Ρ Π΅Π΅ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ Π² ΠΌΠ΅ΡΠΎΠ΄Π΅ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠ΅ΡΡΡ ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠ΅ΡΠΊΠ°Ρ ΠΌΠΎΠ΄Π΅Π»Ρ ΡΠ½Π΅ΡΠ³Π΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ
Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊ ΡΠΈΡΡΠ΅ΠΌΡ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ ΠΈ ΠΏΠΎΠ»ΡΡΠ΅Π½Π½ΡΠ΅ Π»ΠΈΠ½Π΅ΠΉΠ½ΡΠ΅ ΡΠΌΠ΅ΡΠ΅Π½ΠΈΡ. ΠΠ° ΠΏΠΎΡΠ»Π΅Π΄Π½Π΅ΠΌ ΡΡΠ°ΠΏΠ΅ ΠΌΠ΅ΡΠΎΠ΄Π° Π²ΡΡΠΈΡΠ»ΡΠ΅ΡΡΡ Π²ΡΠ΅ΠΌΡ ΠΏΠΎΠ΄Π·Π°ΡΡΠ΄ΠΊΠΈ Π°ΠΊΠΊΡΠΌΡΠ»ΡΡΠΎΡΠ° ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ° Ρ ΡΡΠ΅ΡΠΎΠΌ Π΄Π°Π½Π½ΡΡ
Ρ ΠΏΡΠ΅Π΄ΡΠ΄ΡΡΠΈΡ
ΡΡΠ°ΠΏΠΎΠ². ΠΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΠ΅ ΠΏΡΠ΅Π΄Π»ΠΎΠΆΠ΅Π½Π½ΠΎΠ³ΠΎ ΠΌΠ΅ΡΠΎΠ΄Π° Π΄Π»Ρ ΠΌΠΎΠ΄Π΅Π»ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΎΠ² Π² Π½Π΅ΠΊΠΎΡΠΎΡΠΎΠΌ Π½Π°Π±ΠΎΡΠ΅ ΡΠΎΡΠ΅ΠΊ ΡΠ°Π±ΠΎΡΠ΅Π³ΠΎ ΠΏΡΠΎΡΡΡΠ°Π½ΡΡΠ²Π° ΠΏΠΎΠ·Π²ΠΎΠ»ΠΈΡ ΡΠΌΠ΅Π½ΡΡΠΈΡΡ Π²ΡΠ΅ΠΌΠ΅Π½Π½ΡΠ΅ Π·Π°ΡΡΠ°ΡΡ Π½Π° Π·Π°ΡΡΠ΄ΠΊΡ Π°ΠΊΠΊΡΠΌΡΠ»ΡΡΠΎΡΠ° ΡΠΎΠ±ΠΎΡΠ° ΠΏΡΠΈ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΈ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ. Π ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΠ΅ ΠΌΠΎΠ΄Π΅Π»ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π±ΡΠ»ΠΎ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΎ, ΡΡΠΎ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠ° ΡΠ½Π΅ΡΠ³Π΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΠ΅ΡΡΡΡΠΎΠ² ΠΌΠ΅ΠΆΠ΄Ρ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ ΠΏΡΠΎΠΈΡΡ
ΠΎΠ΄ΠΈΠ»ΠΎ Ρ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡΡ Π² Π΄ΠΈΠ°ΠΏΠ°Π·ΠΎΠ½Π΅ ΠΎΡ 58,11% Π΄ΠΎ 68,22%, Π° ΡΠ°ΠΊΠΆΠ΅ ΠΈΠ· 14 ΡΠΎΡΠ΅ΠΊ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π±ΡΠ»ΠΈ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½Ρ 3 Ρ Π½Π°ΠΈΠΌΠ΅Π½ΡΡΠΈΠΌ Π²ΡΠ΅ΠΌΠ΅Π½Π΅ΠΌ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ
ΠΠ΅ΡΠΎΠ΄ ΠΎΡΠ΅Π½ΠΊΠΈ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³Π΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ ΡΠ΅ΡΡΡΡΠΎΠ² ΠΌΠ΅ΠΆΠ΄Ρ Π΄Π²ΡΠΌΡ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ
The energy capacity of the batteries used as the main power source in mobile robotic devices determines the autonomous operation of the robot. To plan the execution of tasks by a group of robotic tools in terms of time consumption, it is important to take into account the time during which the battery of each individual robot is charged. When using wireless power transfer, this time depends on the efficiency of the power transfer system, on the power of the transferring part of the system, as well as on the level of charge required to recharge. In this paper, we propose a method for estimating the time of transfer of energy resources between two robots, taking into account these parameters. The proposed method takes into account the application of the algorithm for the final positioning of robots, the assessment of linear offsets between robots, includes the calculation of efficiency, as well as the determination of the battery charge time, taking into account the parameters obtained at the previous stages of the method. The final positioning algorithm for robots uses algorithms for processing data from a robot vision system to search for fiducial markers and determine their spatial characteristics to ensure the final positioning of mobile robotic platforms. These characteristics are also used to determine the linear offsets between robots, on which the efficiency of energy transfer depends. To determine it, the method uses a mathematical model of the energy characteristics of the wireless power transfer system and the obtained linear offsets. At the last stage of the method, the time for charging the battery of the mobile robot is calculated, taking into account the data from the previous stages. Application of the proposed method to simulate the positioning of robots in a certain set of points in the working space will reduce the time spent on charging the robot battery when using wireless power transfer. As a result of the simulation, it was determined that the transfer of energy resources between robots took place with an efficiency in the range from 58.11% to 68.22%, and out of 14 positioning points, 3 were identified with the shortest energy transfer time.ΠΠ½Π΅ΡΠ³ΠΎΠ΅ΠΌΠΊΠΎΡΡΡ Π°ΠΊΠΊΡΠΌΡΠ»ΡΡΠΎΡΠΎΠ², ΠΏΡΠΈΠΌΠ΅Π½ΡΠ΅ΠΌΡΡ
Π² ΠΊΠ°ΡΠ΅ΡΡΠ²Π΅ ΠΎΡΠ½ΠΎΠ²Π½ΠΎΠ³ΠΎ ΠΈΡΡΠΎΡΠ½ΠΈΠΊΠ° ΠΏΠΈΡΠ°Π½ΠΈΡ Π² ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΡΡ
ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΡΠ΅Π΄ΡΡΠ²Π°Ρ
, ΠΎΠΏΡΠ΅Π΄Π΅Π»ΡΠ΅Ρ Π²ΡΠ΅ΠΌΡ Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΠΎΠΉ ΡΠ°Π±ΠΎΡΡ ΡΠΎΠ±ΠΎΡΠ°. ΠΠ»Ρ ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π²ΡΠΏΠΎΠ»Π½Π΅Π½ΠΈΡ Π³ΡΡΠΏΠΏΠΎΠΉ ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΡΠ΅Π΄ΡΡΠ² Π·Π°Π΄Π°Ρ Ρ ΡΠΎΡΠΊΠΈ Π·ΡΠ΅Π½ΠΈΡ Π·Π°ΡΡΠ°Ρ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ Π°ΠΊΡΡΠ°Π»ΡΠ½ΠΎ ΡΡΠΈΡΡΠ²Π°ΡΡ Π²ΡΠ΅ΠΌΡ, Π² ΡΠ΅ΡΠ΅Π½ΠΈΠ΅ ΠΊΠΎΡΠΎΡΠΎΠ³ΠΎ Π·Π°ΡΡΠΆΠ°Π΅ΡΡΡ Π°ΠΊΠΊΡΠΌΡΠ»ΡΡΠΎΡ ΠΊΠ°ΠΆΠ΄ΠΎΠ³ΠΎ ΠΎΡΠ΄Π΅Π»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ°. ΠΡΠΈ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΈ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ ΡΡΠΎ Π²ΡΠ΅ΠΌΡ Π·Π°Π²ΠΈΡΠΈΡ ΠΎΡ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΠΈ ΡΠΈΡΡΠ΅ΠΌΡ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ, Π° ΡΠ°ΠΊΠΆΠ΅ ΠΎΡ ΠΌΠΎΡΠ½ΠΎΡΡΠΈ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΡΠ΅ΠΉ ΡΠ°ΡΡΠΈ ΡΠΈΡΡΠ΅ΠΌΡ, Π½Π΅ΠΎΠ±Ρ
ΠΎΠ΄ΠΈΠΌΠΎΠΉ Π΄Π»Ρ ΠΏΠΎΠΏΠΎΠ»Π½Π΅Π½ΠΈΡ ΡΠ½Π΅ΡΠ³ΠΎΠ΅ΠΌΠΊΠΎΡΡΠΈ. Π Π½Π°ΡΡΠΎΡΡΠ΅ΠΉ ΡΠ°Π±ΠΎΡΠ΅ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΡΡΡ ΠΌΠ΅ΡΠΎΠ΄ ΠΎΡΠ΅Π½ΠΊΠΈ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³Π΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΠ΅ΡΡΡΡΠΎΠ² ΠΌΠ΅ΠΆΠ΄Ρ Π΄Π²ΡΠΌΡ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ Ρ ΡΡΠ΅ΡΠΎΠΌ Π΄Π°Π½Π½ΡΡ
ΠΏΠ°ΡΠ°ΠΌΠ΅ΡΡΠΎΠ². ΠΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΡΠΉ ΠΌΠ΅ΡΠΎΠ΄ ΡΡΠΈΡΡΠ²Π°Π΅Ρ ΠΏΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΠ΅ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° ΠΊΠΎΠ½Π΅ΡΠ½ΠΎΠ³ΠΎ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΎΠ², ΠΎΡΠ΅Π½ΠΊΡ Π»ΠΈΠ½Π΅ΠΉΠ½ΡΡ
ΡΠΌΠ΅ΡΠ΅Π½ΠΈΠΉ ΠΌΠ΅ΠΆΠ΄Ρ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ, Π²ΠΊΠ»ΡΡΠ°Π΅Ρ Π²ΡΡΠΈΡΠ»Π΅Π½ΠΈΠ΅ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΠΈ, Π° ΡΠ°ΠΊΠΆΠ΅ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΠ΅ Π²ΡΠ΅ΠΌΠ΅Π½ΠΈ ΠΏΠΎΠ΄Π·Π°ΡΡΠ΄ΠΊΠΈ Ρ ΡΡΠ΅ΡΠΎΠΌ ΠΏΠ°ΡΠ°ΠΌΠ΅ΡΡΠΎΠ², ΠΏΠΎΠ»ΡΡΠ΅Π½Π½ΡΡ
Π½Π° ΠΏΡΠ΅Π΄ΡΠ΄ΡΡΠΈΡ
ΡΡΠ°ΠΏΠ°Ρ
ΠΌΠ΅ΡΠΎΠ΄Π°. ΠΠ»Π³ΠΎΡΠΈΡΠΌ ΠΊΠΎΠ½Π΅ΡΠ½ΠΎΠ³ΠΎ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΎΠ² ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠ΅Ρ Π°Π»Π³ΠΎΡΠΈΡΠΌΡ ΠΎΠ±ΡΠ°Π±ΠΎΡΠΊΠΈ Π΄Π°Π½Π½ΡΡ
ΡΠΈΡΡΠ΅ΠΌΡ ΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ Π·ΡΠ΅Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠ° Π΄Π»Ρ ΠΏΠΎΠΈΡΠΊΠ° ΡΠ΅ΠΏΠ΅ΡΠ½ΡΡ
ΠΌΠ°ΡΠΊΠ΅ΡΠΎΠ² ΠΈ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ ΠΈΡ
ΠΏΡΠΎΡΡΡΠ°Π½ΡΡΠ²Π΅Π½Π½ΡΡ
Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊ Π΄Π»Ρ ΠΎΠ±Π΅ΡΠΏΠ΅ΡΠ΅Π½ΠΈΡ ΠΊΠΎΠ½Π΅ΡΠ½ΠΎΠ³ΠΎ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΡΡ
ΡΠΎΠ±ΠΎΡΠΎΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΏΠ»Π°ΡΡΠΎΡΠΌ. ΠΠ°Π½Π½ΡΠ΅ Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊΠΈ ΡΠ°ΠΊΠΆΠ΅ ΠΏΡΠΈΠΌΠ΅Π½ΡΡΡΡΡ Π΄Π»Ρ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ Π»ΠΈΠ½Π΅ΠΉΠ½ΡΡ
ΡΠΌΠ΅ΡΠ΅Π½ΠΈΠΉ ΠΌΠ΅ΠΆΠ΄Ρ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ, ΠΎΡ ΠΊΠΎΡΠΎΡΡΡ
Π·Π°Π²ΠΈΡΠΈΡ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ. ΠΠ»Ρ Π΅Π΅ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΈΡ Π² ΠΌΠ΅ΡΠΎΠ΄Π΅ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠ΅ΡΡΡ ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠ΅ΡΠΊΠ°Ρ ΠΌΠΎΠ΄Π΅Π»Ρ ΡΠ½Π΅ΡΠ³Π΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ
Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊ ΡΠΈΡΡΠ΅ΠΌΡ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ ΠΈ ΠΏΠΎΠ»ΡΡΠ΅Π½Π½ΡΠ΅ Π»ΠΈΠ½Π΅ΠΉΠ½ΡΠ΅ ΡΠΌΠ΅ΡΠ΅Π½ΠΈΡ. ΠΠ° ΠΏΠΎΡΠ»Π΅Π΄Π½Π΅ΠΌ ΡΡΠ°ΠΏΠ΅ ΠΌΠ΅ΡΠΎΠ΄Π° Π²ΡΡΠΈΡΠ»ΡΠ΅ΡΡΡ Π²ΡΠ΅ΠΌΡ ΠΏΠΎΠ΄Π·Π°ΡΡΠ΄ΠΊΠΈ Π°ΠΊΠΊΡΠΌΡΠ»ΡΡΠΎΡΠ° ΠΌΠΎΠ±ΠΈΠ»ΡΠ½ΠΎΠ³ΠΎ ΡΠΎΠ±ΠΎΡΠ° Ρ ΡΡΠ΅ΡΠΎΠΌ Π΄Π°Π½Π½ΡΡ
Ρ ΠΏΡΠ΅Π΄ΡΠ΄ΡΡΠΈΡ
ΡΡΠ°ΠΏΠΎΠ². ΠΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΠ΅ ΠΏΡΠ΅Π΄Π»ΠΎΠΆΠ΅Π½Π½ΠΎΠ³ΠΎ ΠΌΠ΅ΡΠΎΠ΄Π° Π΄Π»Ρ ΠΌΠΎΠ΄Π΅Π»ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΎΠ² Π² Π½Π΅ΠΊΠΎΡΠΎΡΠΎΠΌ Π½Π°Π±ΠΎΡΠ΅ ΡΠΎΡΠ΅ΠΊ ΡΠ°Π±ΠΎΡΠ΅Π³ΠΎ ΠΏΡΠΎΡΡΡΠ°Π½ΡΡΠ²Π° ΠΏΠΎΠ·Π²ΠΎΠ»ΠΈΡ ΡΠΌΠ΅Π½ΡΡΠΈΡΡ Π²ΡΠ΅ΠΌΠ΅Π½Π½ΡΠ΅ Π·Π°ΡΡΠ°ΡΡ Π½Π° Π·Π°ΡΡΠ΄ΠΊΡ Π°ΠΊΠΊΡΠΌΡΠ»ΡΡΠΎΡΠ° ΡΠΎΠ±ΠΎΡΠ° ΠΏΡΠΈ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΈ Π±Π΅ΡΠΏΡΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ. Π ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΠ΅ ΠΌΠΎΠ΄Π΅Π»ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π±ΡΠ»ΠΎ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½ΠΎ, ΡΡΠΎ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠ° ΡΠ½Π΅ΡΠ³Π΅ΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΡΠ΅ΡΡΡΡΠΎΠ² ΠΌΠ΅ΠΆΠ΄Ρ ΡΠΎΠ±ΠΎΡΠ°ΠΌΠΈ ΠΏΡΠΎΠΈΡΡ
ΠΎΠ΄ΠΈΠ»ΠΎ Ρ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡΡ Π² Π΄ΠΈΠ°ΠΏΠ°Π·ΠΎΠ½Π΅ ΠΎΡ 58,11% Π΄ΠΎ 68,22%, Π° ΡΠ°ΠΊΠΆΠ΅ ΠΈΠ· 14 ΡΠΎΡΠ΅ΠΊ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π±ΡΠ»ΠΈ ΠΎΠΏΡΠ΅Π΄Π΅Π»Π΅Π½Ρ 3 Ρ Π½Π°ΠΈΠΌΠ΅Π½ΡΡΠΈΠΌ Π²ΡΠ΅ΠΌΠ΅Π½Π΅ΠΌ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ ΡΠ½Π΅ΡΠ³ΠΈΠΈ
Overview of Battery Monitoring and Recharging of Autonomous Mobile Robot
Mobile robots should be capable of operating with a great degree of autonomy to operate in real social environments. Mobile robotic systems draw power from batteries which have a limited power life. This poses a greater challenge for an autonomous robot. Monitoring the status of the battery power in the robot is therefore important for autonomous robotic systems. Docking and recharging are crucial abilities of autonomous mobile robot to ensure its performance. In this paper, the focus of attention is on the significance of power monitoring for long-term operation of autonomous robots and power estimation and auto-recharging. This paper attempts to brief about a literature review of complete solution for docking methods and recharging the battery of a mobile robot. Major progress is being done on both technology and exploitation of docking mechanism and recharging without any human intervention. This review paper gives the overview of related work in terms of immediate challenges for true energy autonomy in mobile robots with respect to battery technology, power estimation and auto recharging
IR Based Auto-Recharging System for Autonomous Mobile Robot
As autonomous mobile robots are progressively utilized for appropriated missions, a significant issue that should be tackled is the autonomous recharging problem. The robots can be recharged by planning and arranging effectively to maximize its working efficiency. This paper presents the implementation of automatic docking robot with docking strategy and recharging capabilities. The robot is programmed using an algorithm which will guide the robot to move around in a square path of 30 inch by 30 inch continuously. While the robot is performing its assigned task, the battery remaining voltage is monitored by voltage detection module. When the battery voltage reaches threshold value of less than 12V, the microcontroller commands the robot to go back to the docking station for recharging autonomously. This system uses IR receiver sensor in front of the robot and IR transmitter sensor near docking station. The active IR transmitter sensor which transmit infrared signal located near docking area serves as landmark in guiding robot towards docking area. The robot scans the transmitted IR signal from the sensor transmitter only when it needs to charge its battery, if detected it will take the path of charging station. Once the robot approaches the charging station with the required orientation, it connects to the supply terminals for charging. The data related to battery charging voltage is transmitted by microcontroller through Bluetooth HC-05 to PLX DAQ software tool in PC stores it in the Excel sheet as the data arrive. Once the battery is fully charged the robot moves back to continue its original task