一種家庭安保機器人支撐系統(tǒng)的設計.pdf

1、東南大學碩士學位論文一種家庭安保機器人支撐系統(tǒng)的設計姓名：孟田華申請學位級別：碩士專業(yè)：儀器科學與技術；測試計量技術及儀器指導教師：宋光明20120428東南大學碩士學位論文AbstractThehomesecurityrobotnotonlyneedstoworklonghoursformobilemonitoringinsidearoom，butneedstoimplementwirelesscommunication謝tIlthe

2、clientonthenetworkbycontrolinterfaceWiththedevelopmentanddeepeningoftheuseofhomesecurityrobot，peoplearepayingmoreandmoreattentiononpromotingtheperformanceofcontrolinterfaceandextendingtheworkingtimeoftherobotSo，thispaper

3、ismainlyworkingonahandheldinterfacesystemforlocomotioncontrolofrobotsandanautomaticbatteryswapsystemforchargingrobotsFirstlythehandheldcontrollerisproposedtoimplementhandmotionrecognitionandhandmotionbasedrobotcontr01Six

4、naturalhandgesturesaredefinedfornavigatingthehomerobotsA3axisaccelerometerisusedtodetectthehandmotionsoftheuserAvibrationmotorisusedtoprovidevibrotactilefeedbacktotheuserwhenanimproperoperationisperformedThen，theautomati

5、cbatteryswapsystemproposedlaterCancommunicate謝tlltherobotbyusingWirelessSensorNetwork(WSN)Apartfromhelpingtherobotreturnanddock，thebatteryswapsystemisresponsibleforreplacingtherobot’SsupplybaRerywitllasaturatedbatteryThe

6、batteryswapsystemsupportstherobotworkonthemobilemonitoringcontinuallyFinallythispaperpresentstheexperimentalplatformforthesupportsystemofthehomesecurityrobotTwoexperimentsrespectivelyforthehandheldinterfacesystemandtheba

7、tteryswapsystemhavebeendoneontheplatformTheexperimentofthehandheldinterfacesystemincludesthetestofthegesturerecognitionrateandthecomparisonbetweenhandmotioncontrolandthePCcontr01Theresultsshowtheaveragerecognitionoftheha

8、ndheldcontrolleris885％Moreoverthehandheldinterfacesystemhasfeaturesincludingflexiblecontrol、hi曲accuracyandtimesavingTheexperimentofthebatteryswapsystemincludesthesettingsofthebasicoperatingparameters，thetestoftheerrorred

9、undancyandthetestoftheworkingefficiencyofthesystemTheresultsshowthat1125degreeisthemostsuitablerotationangleofthesteeringgearforitmakestheminimuminfluenceonthesystemaccuracyAndboththehorizontalandthelongitudinalerrorredu

10、ndanciesofthesystemare75mm，howeverthedeflectionangleerrorredundancieschange誦t11thehorizontalerrorsWhenthehorizontalerrorequals7Smm，thedeflectionangleerrorredundancyis15degree；whenthehorizontalerrorequals0，thedeflectionan

11、gleerrorredundancyis21degreeTheaveragetimespentonthebatteryswapis842sTherefore，thebatteryswapsystemhasfeaturesincludinghi曲efficiencyhi曲SuccessrateandlargeerrorredundancyKeyWords：homesecurityrobot；handheldinterfacesystem；