Design And Implementation Of Following Mobile Platform Based On Ultrasonic Positioning

In recent years,with the rapid development of robot technology and artificial intelligence industry,the application of move robot is more and more extensive.As an important branch of mobile robot,the following mobile platform has a huge market prospect and commercial value.It can not only help carry luggage and heavy objects in factories,supermarkets,airports and other environments,but also help the elderly to free their hands and live conveniently.Therefore,the research on the following mobile platform have an important practical significance.This paper designs and implements an intelligent following mobile platform based on ultrasonic sensor.The platform can effectively avoid obstacles and cross steps in indoor environment,and can follow the moving target in real time.It can adapt to the terrain with a certain slope in outdoor conditions,with good stability and safety.The main research work of this paper includes:(1)Design of ultrasonic positioning system.Based on the principle of ultrasonic distance measurement,the ultrasonic positioning method is determined.Combined with the array characteristics of ultrasonic sensor and the trilateral positioning algorithm,the ultrasonic positioning and tracking system is designed and built.The experimental results show that the ultrasonic positioning system can meet the needs of positioning and following functions of mobile platform.(2)Follow mobile chassis design.Combined with the terrain characteristics and test requirements of Hilly and mountainous areas,the design requirements of mobile chassis are put forward.Based on the reference of komodo-02 chassis,the design scheme of mobile chassis is determined.According to the design index,the structure design and type selection calculation of the walking device,power system and overall layout of the mobile chassis are carried out,and the strength analysis of the key bearing parts is carried out,and the bearing capacity is tested.On this basis,the trial production of mobile chassis is completed,which provides a prototype for the subsequent test.(3)Follow mobile platform.Based on the ultrasonic positioning system and mobile chassis,a follow-up mobile platform prototype is built.The communication between the mobile platform and the mobile target and the upper computer is realized by Bluetooth communication mode and UART serial port respectively.On this basis,the design of the control system of the following mobile platform is completed,and the speed control of the mobile platform is realized by using PID control method.Aiming at the security of the mobile platform and move target,the obstacle avoidance system is developed,and the safe distance is set to effectively prevent the collision.(4)Test verification.The following test of mobile platform is carried out in different indoor and outdoor environments.The results show that the design scheme of the following mobile platform is feasible.When the following distance is less than 250 cm,the following process is stable and the deviation error is within the allowable range;when the following distance is 400 cm,it is close to the detection limit of the sensor,and the deviation of the mobile platform in the X direction is kept at 20 cm The following error in Y direction is within 30 °.