CN105487538A - Mobile robot navigation system based on GPS positioning - Google Patents
Mobile robot navigation system based on GPS positioning Download PDFInfo
- Publication number
- CN105487538A CN105487538A CN201510814761.5A CN201510814761A CN105487538A CN 105487538 A CN105487538 A CN 105487538A CN 201510814761 A CN201510814761 A CN 201510814761A CN 105487538 A CN105487538 A CN 105487538A
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- sensor
- mobile robot
- gps
- driving control
- dsp
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- 230000010365 information processing Effects 0.000 claims description 7
- 230000004927 fusion Effects 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 abstract 3
- 230000002457 bidirectional effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a mobile robot navigation system based on GPS positioning. The navigation system comprises a mechanical system, a driving control system, a visual system, GPS, a sensor system, a host computer system and a wireless network card, wherein the host computer system is in bidirectional connection with the driving control system, the sensor system and the wireless network card, the driving control system is connected with the mechanical system and the visual system, the visual system is connected with the host computer system in a feedback manner, and the GPS is connected with the host computer system. The mobile robot navigation system based on GPS positioning fuses data of GPS and a direction sensor by utilizing a multi-sensor self-adaptive weight fusion algorithm.
Description
Technical field
The present invention relates to the field of GPS, especially a kind of Navigation System for Mobile Robot based on GPS location.
Background technology
Mobile robot is an important branch in robot research field.The target that robot research will realize to develop the robot of task of can finishing the work in real world.Position & navigation technology occupies an important position in mobile-robot system research.Navigation is the basis of mobile robot, and location is the key of navigation.Advanced Position Fixing Navigation System is the intelligent concentrated reflection of mobile robot.
Summary of the invention
The technical problem to be solved in the present invention is: in order to overcome above-mentioned middle Problems existing, provides a kind of Navigation System for Mobile Robot based on GPS location.
The technical solution adopted for the present invention to solve the technical problems is: a kind of Navigation System for Mobile Robot based on GPS location, comprise mechanical system, driving control system, vision system, GPS, sensing system, master system and unlimited network interface card, described master system is bi-directionally connected mutually with driving control system, sensing system and unlimited network interface card respectively, driving control system is connected with vision system with mechanical system, vision system feeds back on master system, and described GPS is connected with master system.
Described driving control system comprises DSP and CPLD, cradle head controllor, ontology-driven device, DSP with CPLD is connected with cradle head controllor, ontology-driven device, and the output terminal of cradle head controllor is connected with vision system.
Described sensing system comprises aspect sensor, ultrasonic sensor, infrared sensor and DSP sensor information processing unit, and aspect sensor, ultrasonic sensor, infrared sensor are connected with DSP sensor information processing unit respectively.
The invention has the beneficial effects as follows: described a kind of Navigation System for Mobile Robot based on GPS location, utilize the adaptive weighted Fusion Estimation Algorithm of multisensor to merge the data message of GPS, aspect sensor, improve.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the one-piece construction schematic diagram of a kind of Navigation System for Mobile Robot based on GPS location of the present invention.
Accompanying drawing acceptance of the bid note is described below: 1, mechanical system, and 2, driving control system, 21, DSP and CPLD, 22, cradle head controllor, 23, ontology-driven device, 3, vision system, 4, GPS, 5, sensing system, 51, aspect sensor, 52, ultrasonic sensor, 53, infrared sensor, 54, DSP sensor information processing unit, 6, master system, 7, unlimited network interface card.
Embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
A kind of Navigation System for Mobile Robot based on GPS location as shown in Figure 1, comprises mechanical system 1, driving control system 2, vision system 3, GPS4, sensing system 5, master system 6 and unlimited network interface card 7, master system 6 respectively with driving control system 2, sensing system 5 and unlimited network interface card 7 are bi-directionally connected mutually, and driving control system 2 comprises DSP and CPLD21, cradle head controllor 22, ontology-driven device 23, DSP and CPLD21 and cradle head controllor 22, ontology-driven device 23 is connected, and the output terminal of cradle head controllor 22 is connected with vision system 3, and sensing system 5 comprises aspect sensor 51, ultrasonic sensor 52, infrared sensor 53 and DSP sensor information processing unit 54, aspect sensor 51, ultrasonic sensor 52, infrared sensor 53 is connected with DSP sensor information processing unit 54 respectively, and driving control system 2 is connected with vision system 3 with mechanical system 1, and vision system 3 feeds back on master system 6, and GPS4 is connected with master system 6.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on instructions, must determine its technical scope according to right.
Claims (3)
1. the Navigation System for Mobile Robot based on GPS location, it is characterized in that: comprise mechanical system (1), driving control system (2), vision system (3), GPS (4), sensing system (5), master system (6) and unlimited network interface card (7), described master system (6) respectively with driving control system (2), sensing system (5) and unlimited network interface card (7) are bi-directionally connected mutually, driving control system (2) is connected with vision system (3) with mechanical system (1), vision system (3) feeds back on master system (6), described GPS (4) is connected with master system (6).
2. a kind of Navigation System for Mobile Robot based on GPS location according to claim 1, it is characterized in that: described driving control system (2) comprises DSP and CPLD (21), cradle head controllor (22), ontology-driven device (23), DSP with CPLD (21) is connected with cradle head controllor (22), ontology-driven device (23), and the output terminal of cradle head controllor (22) is connected with vision system (3).
3. a kind of Navigation System for Mobile Robot based on GPS location according to claim 1, it is characterized in that: described sensing system (5) comprises aspect sensor (51), ultrasonic sensor (52), infrared sensor (53) and DSP sensor information processing unit (54), aspect sensor (51), ultrasonic sensor (52), infrared sensor (53) are connected with DSP sensor information processing unit (54) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510814761.5A CN105487538A (en) | 2015-11-21 | 2015-11-21 | Mobile robot navigation system based on GPS positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510814761.5A CN105487538A (en) | 2015-11-21 | 2015-11-21 | Mobile robot navigation system based on GPS positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105487538A true CN105487538A (en) | 2016-04-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510814761.5A Pending CN105487538A (en) | 2015-11-21 | 2015-11-21 | Mobile robot navigation system based on GPS positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105487538A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109568034A (en) * | 2018-11-21 | 2019-04-05 | 河海大学常州校区 | A kind of intelligent wheel chair and its application method based on ROS |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1172336A (en) * | 1997-08-29 | 1999-03-16 | Hitachi Ltd | Position-measuring device of traveling machine |
| CN101751038A (en) * | 2008-12-05 | 2010-06-23 | 沈阳新松机器人自动化股份有限公司 | Navigation control device of mobile robot |
| CN202120123U (en) * | 2011-06-24 | 2012-01-18 | 石家庄环祥科技有限公司 | Automatic wireless remote-control sampling monitoring boat |
| WO2012021192A2 (en) * | 2010-05-12 | 2012-02-16 | Irobot Corporation | Remote vehicle control system and method |
| CN104460675A (en) * | 2014-12-12 | 2015-03-25 | 南京林业大学 | Control system of stacking transfer robot |
-
2015
- 2015-11-21 CN CN201510814761.5A patent/CN105487538A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1172336A (en) * | 1997-08-29 | 1999-03-16 | Hitachi Ltd | Position-measuring device of traveling machine |
| CN101751038A (en) * | 2008-12-05 | 2010-06-23 | 沈阳新松机器人自动化股份有限公司 | Navigation control device of mobile robot |
| WO2012021192A2 (en) * | 2010-05-12 | 2012-02-16 | Irobot Corporation | Remote vehicle control system and method |
| CN202120123U (en) * | 2011-06-24 | 2012-01-18 | 石家庄环祥科技有限公司 | Automatic wireless remote-control sampling monitoring boat |
| CN104460675A (en) * | 2014-12-12 | 2015-03-25 | 南京林业大学 | Control system of stacking transfer robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109568034A (en) * | 2018-11-21 | 2019-04-05 | 河海大学常州校区 | A kind of intelligent wheel chair and its application method based on ROS |
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Application publication date: 20160413 |