搜索
密级桂林电子科技大学硕士学位论文题目基于嵌入式的多功能清洁机器人系统研究（英文）ResearchofMulti-functionCleaningRobotSystemBasedonEmbedded研究生学号:112011220研究生姓名:史剑清指导教师姓名、职务:何少佳研究员申请学位门类:工学学科、专业名称:机械电子工程提交论文日期:2014年4月论文答辩日期:2014年6月摘要I摘要随着科技的发展，人们对生活质量的要求逐步增高，清洁机器人慢慢进入了人们的视野。本文立足于家用清洁机器人系统的研究，重点讨论了清洁机器人路径规划问题；同时由于人们对自身、家庭的安全防范意识的增强以及对病人、老人、儿童的视频监控看护的需求增大，本文将视频监控技术与清洁机器人有机结合起来，使清洁机器人能更好的为生活服务。本文首先阐述了清洁机器人的发展现状以及未来发展趋势。在此基础上，作者认为现阶段清洁机器人主要存在路径规划不完善、昀优路径质量较低等问题，这些问题在一定程度上制约了清洁机器人的发展。针对这些问题，本文对清洁机器人的全遍历路径规划和点对点路径规划进行了分析。在全遍历路径规划方面，使用栅格法建立环境地图，将往复式和回旋式的遍历方式结合起来，实现对房间的全遍历。在点对点路径规划方面，提出了一种改进蚁群粒子群算法，首先利用粒子群算法快速得到蚁群算法初始信息素，然后进行蚁群算法路径规划，并对得到的路径采用惯性优化，减少路径转折次数。仿真实验表明，该方法与传统蚁群算法及相关改进算法相比，能有效减少迭代次数，提高搜索效率，减少转弯次数，缩短路径长度，有效提高路径质量。在远程视频监控方面，本文采用了基于ARM11内核的S3C6410微处理器作为控制器核心，USB摄像头作为采集端，利用Video4Linux2（V4L2）提供的应用函数完成视频采集，使用X264软件，把采集到的视频数据编码压缩为H.264格式，采用WIFI无线网络，依靠RTP/RTCP协议和TCP协议实现视频数据和控制指令的远程传输。昀后，设计搭建了一款小车样机，用以模拟测试清洁机器人功能。样机采用两级处理方式：一级处理器选用ARM，实现了在arm-linux嵌入式操作系统下的视频采集、压缩、发送；二级处理器选用高速单片机，主要用于管理部分传感器及电机驱动装置。通过测试，样机基本实现视频监控功能，为下一步完全实现本文的设想打下了良好基础。关键词：清洁机器人路径规划蚁群算法粒子群算法视频监控嵌入式AbstractIIAbstractWiththeincreasingdevelopmentofthetechnologyandthemoreandmoreneedofpeople'slifequality,cleaningrobotscomeintoourlife.Thispaperismainlyaboutthecontrolsystemofindoorcleaningrobot,focusingonhowtoplanthecleaningpathoftherobots.Additionally,becauseofthehigherneedofpeople’ssafetyawarenesstothemselvesandtheirfamily,especiallyforthevulnerablegroupsuchasthechildrenandtheold,thissubjectcombinesthevideomonitoringtechnologywithcleaningrobottoservethepeopleforabetterlife.Firstly,itistoldaboutthecurrentsituationandthetrendofthecleaningrobotinourcountry.Theauthorconsidersthattheinadequacyofpathplanningandpoorqualityoftheoptimalpatharethetwomainproblemsofthecleaningrobotatpresent,whichrestrictthedevelopmentofthecleaningrobot.Correspondingly,thispaperanalysesboththecompletecoverageplanningpathandthepoint-to-pointplanningpathofthecleaningrobot.Intermsofcompletecoveragepathplanning,buildingtherastermapcreationmethod,combiningthereciprocationwalkingwaywiththerotarywalkingwayaimtocoveraroom.Asfarasthepoint-to-pointplanningpathisconcerned,thispaperpresentsanimprovedantcolonyandparticleswarmoptimizationalgorithm.First,particleswarmoptimizationisusedtogettheinitialpheromoneofantcolonyalgorithm.Second,theoptimalpathissearchedbyusingantcolonyalgorithm.Thentheinertiaprincipleisusedtooptimizethepathinordertoreducethepathtwists.Thesimulationresultsshowthatthismethodisbetterthanthetraditionalantcolonyalgorithmanditsrelatingalgorithms.Thismethodcanreducetheratioofiterationsandtheerrorsofturningfromthenormaltrack,improvethesearchefficiency,shortpathlengthandimprovethequalityofthepatheffectively.Asforremotevideomonitoring,S3C6410microprocessorwhichbasedonARM11coreischoosedasthekernelcontroller.USBcameraisregardedascaptureterminal.ApplicationfunctionwhichprovidedbyVideo4Linux2isusedtocapturevideo.X264softwareisusedtoencodeanddecodethevideo.AndtransferingthevideodataandcontrolinstructionrelyonRTP/RTCPprotocolandTCPprotocolthroughWIFIwirelessnetwork.Finally,aprototypeisproducedtosimulatethefunctionofcleaningrobot.Theprototypehastwoprocessingcores.Thefirst-classcoreselectsARMprocessor.Multi-AbstractIIIprocessorarchitecturewithalargenumberofsensorsmakesvideocapturing,compressingandsendingcometrueinarm-linuxembeddedoperatingsystem.Thesecond-classcoreselectshigh-speedmicrocontroller.Itismainlyusedtomanagethepartialsensorandthedrivingmotor.Aftertestingtheprototype,thevideomonitoringfunctionisbasicallyrealized.Thislaysagoodfoundationofthissystemforthefurtherstudyofthisconceivingsystem.Keywords:CleaningRobot;PlanningPath;AntColonyAlgorithm;ParticleSwarmOptimization;VideoMonitoring;Embedded目录Ⅳ目录摘要....................................................................................................................................I Abstract.................................................................................................................................II 第一章绪论.........................................................................................................................1 §1.1课题研究的背景及意义........................................................................................1 §1.2国内外研究现状...................................................................................................2 §1.3清洁机器人的发展趋势.......................................................................................5 §1.4本文的组织与结构...............................................................................................6 第二章清洁机器人的总体设计方案.................................................................................8 §2.1清洁机器人硬件部分...........................................................................................8 §2.2软件部分.............................................................................................................10 §2.2.1路径规划....................................................................................................10 §2.2.2远程视频监控.......................................................................