摘要本文主要研究社区安保服务机器人的导航方式。现代化社区正逐步使用机器人代替人工执行巡逻、驱赶外来者、打扫社区等任务，这使得高精度的定位导航方法对于机器人显得愈发重要。

本课题根据对不同的磁钉材料的剩磁、磁能积等特性加以分析，确定使用烧结NdFeB作为磁钉材料。根据现有的条件确定磁钉尺寸后，采用Ansys分析磁钉的轴向以及周向磁感应强度，可以确定磁钉的排布方案以及传感器的安装高度。同时，选取四块HMC5883L芯片，并设计磁场探测电路探测磁场，通过对四个传感器的探测值加以分析，确定机器人的行走偏差，并且，采用PID算法对探测值进行处理，控制机器人的两个驱动轮的转速，实现对机器人的行走方向纠正。对于PID算法，进行仿真后可确定其整定效果。而对于由地磁场等引起的干扰磁信号，采用Kalman滤波算法对探测值加以处理。84920

实验结果表明：该方案能够通过探测电路对磁钉磁场信号的探测,结合PID算法和卡尔曼滤波算法对检测数据进行一系列处理，使得安保服务机器人能够按照预定的路径行走。

毕业论文关键字：磁钉；PID算法；机器人；磁场特性；导航

Abstract This paper studies the security community navigation service robot。 Modern communities are gradually using robots instead of doing patrol, driving outsiders, community cleaning and other tasks, which makes high-precision positioning and navigation method for robot becomes increasingly important。 

This artical analyzed based on different magnetic nail remanence material, energy product characteristics were determined using sintered NdFeB as magnetic nail material。 According to existing conditions after determining magnetic nail size analysis using Ansys axial magnetic spikes and circumferential magnetic flux density, it can determine the installation height of the magnetic nail arrangement programs and sensors。 Meanwhile, four HMC5883L chip select and design the magnetic field detection circuit detects the magnetic field, to be analyzed by four sensors detected value, to determine the deviation walking robot, and the use of PID algorithm for processing the detected value, control two drives of the robot wheel speed to achieve the running direction of the robot is corrected。 For PID algorithm, after the simulation to determine its tuning effect。 As for the magnetic signal interference caused by the earth's magnetic field, using the Kalman filter algorithm to be addressed to the detected value。 

The results show that: the program through detecting circuit for detecting magnetic nail magnetic field signals, combined with PID algorithm and Kalman filter algorithm to detect a series of data processing, so that the security services, the robot can walk on a predetermined path。

Keywords: magnetic nail; PID algorithm; robot; magnetic field characteristics; navigation

目录

第一章  绪论 1

1。1课题研究背景和意义 1

1。2 国内外发展历史和研究现状 2

1。2。1 国外研究历史及现状 2

1。2。2 国内研究历史及现状 3

1。3 研究工作概要 3

1。3。1 研究目标及内容 3

1。3。2 研究方案及步骤 4

第二章  磁钉与传感器的选取及排布方案 5

2。1 导航磁钉选取原则 5

2。1。1 磁钉材料 5