Develop a Power Detection and Diagnosis Modular for Mobile Robot

Autonomous mobile robot will be very flexibility to move in real world. But it is limited on power supply. The power of the mobile robot can provide a few hours of peak usage before the power is lack. So the power detection function is an important issue in the autonomous mobile robot. In the paper, we want to design a power detection and diagnosis modular to measure the power condition for the mobile robot. First, we use four current sensors to measure the power variety of the mobile robot. We use redundant management method to detect and diagnosis current sensor status, and isolate faulty sensor to improve the power status to be exact. Then, we use computer simulation to implement the proposed method to be adequate. We design the power detection and diagnosis modular using HOLTEK microchip. The modular select maximum and minimum current value and detection range, and transmits the detection status to the main controller (industry personal computer, IPC) of the mobile robot using series interface. Finally, we implement some experimental scenario using the modular in the mobile robot, and can take some nice results for some variety condition.