CN202433774U - Multi-sensor fusion based robot locating system - Google Patents
Multi-sensor fusion based robot locating system Download PDFInfo
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- CN202433774U CN202433774U CN2011205781875U CN201120578187U CN202433774U CN 202433774 U CN202433774 U CN 202433774U CN 2011205781875 U CN2011205781875 U CN 2011205781875U CN 201120578187 U CN201120578187 U CN 201120578187U CN 202433774 U CN202433774 U CN 202433774U
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Abstract
The utility model discloses a multi-sensor fusion based robot locating system. The multi-sensor fusion based robot locating system comprises a power source management module for providing a steady power source, a controller for carrying out centralized processing, a man-machine interface module for carrying out state display and interface operation, a walking drive module for moving freely, a barrier detecting system for detecting environmental barriers and a task performing system relevant to a specific task, wherein the man-machine interface module, the walking drive module, the barrier detecting system and the task performing system are connected with the controller; the multi-sensor fusion based robot locating system further comprises a dual-coder locating system for carrying out self-locating in a small range; the dual-coder locating system is connected with the controller; the multi-sensor fusion based robot locating system further comprises a single-shaft electronic gyroscope for calculating a rotating angle; the single-shaft electronic gyroscope is connected with the controller; and the multi-sensor fusion based robot locating system further comprises a geomagnetic sensor for carrying out angle correction; and the geomagnetic sensor is connected with the controller.
Description
Technical field
The utility model relates to a kind of robot positioning system based on Multi-sensor Fusion, belongs to the mobile robot technology field.
Background technology
Robotics obtains development at full speed and application at present.For industrial robot, such as welding robot, assembly robot, spraying robots etc. have all reached gratifying degree in technology with using.But for service robot, particularly the mobile robot also lags far behind the development of industrial robot, suffers from a plurality of technical barriers, almost also is in laboratory stage.Wherein, the self-align problem of robot is particularly outstanding.
The self-align of robot is meant that robot passes through alignment sensor and confirms no matter be outdoor environment or indoor environment from position and direction in working environment, robot all need solve self-align problem in order to carry out the task of setting.Though it is with low cost that traditional dual coding device localization method has, the advantage of technology maturation, the cumulative errors that can't eliminate, and if the situation that driving wheel skids, positioning error will worsen rapidly, cause data not use.And present state-of-the-art global position system GPS, though there is not the puzzlement of cumulative errors, the GPS locator data is except also there is the positioning error about 10 meters in self, maximum defective is can't be in indoor use.In addition, also has localization method based on vision.This method needs sensitive imageing sensor and powerful image-capable, and therefore the real-time of location can not reach application request.And ambient light is too big to the vision positioning system influence, and crossing bright or dark excessively ambient brightness all can influence the quality of IMAQ and then make framing thrashing.
Summary of the invention
In order to overcome the deficiency of prior art; The utility model provides a kind of robot positioning system based on Multi-sensor Fusion; Comprise dual coding device positioning system, single shaft electronic gyroscope and geomagnetic sensor, correction error realizes more stable positioning performance each other.
The utility model solves the technical scheme that its technical matters adopted:
Based on the robot positioning system of Multi-sensor Fusion, comprise the power management module that stabilized power source is provided, the controller that focuses on; Carry out the human-computer interface module of state demonstration and interface operation; The travel driving system that moves freely carries out the obstacle detection system and the task execution system relevant with specific tasks of environment detection of obstacles, described human-computer interface module; Travel driving system; Obstacle detection system is connected with described controller with task execution system, also comprises carrying out self-align among a small circle dual coding device positioning system, and described dual coding device positioning system is connected with described controller; Also comprise the single shaft electronic gyroscope that is rotated angle calculation, described single shaft electronic gyroscope is connected with described controller; Also comprise the geomagnetic sensor that carries out angularity correction, described geomagnetic sensor is connected with described controller.
Described travel driving system is controlled the sense of rotation and the rotational speed of left drive motor and right drive motor, and left scrambler is installed on the described left drive motor, and right scrambler is installed on the described right drive motor.
Described dual coding device positioning system connects described left scrambler and right scrambler.
The beneficial effect of the utility model mainly shows: 1, dual coding device, single shaft electronic gyroscope and geomagnetic sensor can both work alone; 2, dual coding device, single shaft electronic gyroscope and geomagnetic sensor correction error each other.
Description of drawings
Fig. 1 is based on the robot positioning system's of Multi-sensor Fusion system chart.
Embodiment
Below in conjunction with accompanying drawing the utility model is further described.
With reference to Fig. 1; Based on the robot positioning system of Multi-sensor Fusion, comprise the power management module 2 that stabilized power source is provided, the controller 1 that focuses on; Carry out the human-computer interface module 3 of state demonstration and interface operation; The travel driving system 4 that moves freely carries out the obstacle detection system 6 of environment detection of obstacles and the task execution system 5 relevant with specific tasks, described human-computer interface module 3; Travel driving system 4, obstacle detection system 6 is connected with described controller 1 with task execution system 5.
Described power management module 2 also is responsible for carrying out Charge Management for system provides voltage-stabilized source, promptly detects cell voltage in real time, if undertension charges immediately; In the charging process, the control of charging of described power management module 2 is responsible for the control charging current and is finished to judge with charging.
Described human-computer interface module 3 is responsible for carrying out the input of state demonstration and user instruction.
Described travel driving system 4 is used to control the sense of rotation and the rotational speed of left drive motor and right drive motor.Described left drive motor and right drive motor drive two driving wheel rotations, thereby the drive machines people moves with any track.Left scrambler is installed on the described left drive motor, right scrambler is installed on the described right drive motor.
Described task execution system 5 is provided with the corresponding device of executing the task with robot.For dust-collecting robot, vacuum cleaning chamber and dust sucting motor then are set, round brush and round brush motor; For grass-removing robot, mowing knife saw and knife saw motor are set then.
Described obstacle detection system 6 is responsible for the barrier situation of testing environment, is used for the path planning of robot and keeps away barrier.Can adopt ultrasonic sensor, infrared distance sensor, vision sensor, laser radar sensor, perhaps wherein combination in any.
Also comprise and carry out self-align among a small circle dual coding device positioning system 7, described dual coding device positioning system 7 is connected with described controller 1.Described dual coding device positioning system 7 connects described left scrambler and right scrambler, signal input.
In order to remedy the cumulative errors and the error of skidding and causing of described dual coding device positioning system 7 self, also comprise the single shaft electronic gyroscope 8 that is rotated angle calculation, described single shaft electronic gyroscope 8 is connected with described controller 1.Described single shaft electronic gyroscope 8 cumulative calculation machine people's the anglec of rotation, the error of the described dual coding device of recoverable positioning system 7.
Because described single shaft electronic gyroscope 8 self also has cumulative errors, therefore the geomagnetic sensor 9 that carries out angularity correction is set, described geomagnetic sensor 9 is connected with described controller 1.The direction that described geomagnetic sensor 9 detects the earth south poles magnetic line of force is confirmed the direction of robot, can effectively proofread and correct the cumulative errors that described dual coding device positioning system 7 and single shaft electronic gyroscope 8 are produced.But, near the influence in magnetic field described geomagnetic sensor 9 also can receive.
In sum; A kind of robot positioning system based on Multi-sensor Fusion is provided; Comprise dual coding device positioning system, single shaft electronic gyroscope and geomagnetic sensor, every kind of detection method all has certain limitation, but mutual correction error; Data merge each other, can realize more stable positioning performance.
Claims (3)
1. based on the robot positioning system of Multi-sensor Fusion, comprise the power management module that stabilized power source is provided, the controller that focuses on; Carry out the human-computer interface module of state demonstration and interface operation; The travel driving system that moves freely carries out the obstacle detection system and the task execution system relevant with specific tasks of environment detection of obstacles, described human-computer interface module; Travel driving system; Obstacle detection system is connected with described controller with task execution system, it is characterized in that: also comprise and carry out self-align among a small circle dual coding device positioning system, described dual coding device positioning system is connected with described controller; Also comprise the single shaft electronic gyroscope that is rotated angle calculation, described single shaft electronic gyroscope is connected with described controller; Also comprise the geomagnetic sensor that carries out angularity correction, described geomagnetic sensor is connected with described controller.
2. the robot positioning system based on Multi-sensor Fusion as claimed in claim 1; It is characterized in that: described travel driving system is controlled the sense of rotation and the rotational speed of left drive motor and right drive motor; Left scrambler is installed on the described left drive motor, right scrambler is installed on the described right drive motor.
3. the robot positioning system based on Multi-sensor Fusion as claimed in claim 1 is characterized in that: described dual coding device positioning system connects described left scrambler and right scrambler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205781875U CN202433774U (en) | 2011-12-30 | 2011-12-30 | Multi-sensor fusion based robot locating system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205781875U CN202433774U (en) | 2011-12-30 | 2011-12-30 | Multi-sensor fusion based robot locating system |
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| CN202433774U true CN202433774U (en) | 2012-09-12 |
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| CN2011205781875U Expired - Fee Related CN202433774U (en) | 2011-12-30 | 2011-12-30 | Multi-sensor fusion based robot locating system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103163885A (en) * | 2013-02-27 | 2013-06-19 | 慈溪迈思特电子科技有限公司 | Autonomous guided system of tour guide robot |
| CN103955216A (en) * | 2014-04-22 | 2014-07-30 | 华南理工大学 | Two-stage composite obstacle avoiding device of automatic guided vehicle |
| CN105300378A (en) * | 2015-09-17 | 2016-02-03 | 哈尔滨工程大学 | Navigation and positioning method for indoor mobile robot |
| CN105628024A (en) * | 2015-12-29 | 2016-06-01 | 中国电子科技集团公司第二十六研究所 | Single person positioning navigator based on multi-sensor fusion and positioning and navigating method |
| CN106708034A (en) * | 2016-11-23 | 2017-05-24 | 河池学院 | Implementation method for controlling walking path of robot on basis of mobile phone |
| CN108279688A (en) * | 2018-03-29 | 2018-07-13 | 西北农林科技大学 | A kind of agricultural robot positioning system |
| CN108490953A (en) * | 2018-04-17 | 2018-09-04 | 中国计量大学 | A kind of mower device and method based on laser radar and iBeacon |
| CN112027924A (en) * | 2020-07-16 | 2020-12-04 | 中交第二航务工程局有限公司 | Automatic gas lift soil taking centralized control system and method for open caisson sinking construction |
-
2011
- 2011-12-30 CN CN2011205781875U patent/CN202433774U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103163885A (en) * | 2013-02-27 | 2013-06-19 | 慈溪迈思特电子科技有限公司 | Autonomous guided system of tour guide robot |
| CN103955216A (en) * | 2014-04-22 | 2014-07-30 | 华南理工大学 | Two-stage composite obstacle avoiding device of automatic guided vehicle |
| CN105300378A (en) * | 2015-09-17 | 2016-02-03 | 哈尔滨工程大学 | Navigation and positioning method for indoor mobile robot |
| CN105300378B (en) * | 2015-09-17 | 2018-07-31 | 哈尔滨工程大学 | A kind of indoor mobile robot navigation locating method |
| CN105628024A (en) * | 2015-12-29 | 2016-06-01 | 中国电子科技集团公司第二十六研究所 | Single person positioning navigator based on multi-sensor fusion and positioning and navigating method |
| CN105628024B (en) * | 2015-12-29 | 2018-09-04 | 中国电子科技集团公司第二十六研究所 | Single positioning navigator based on Multi-sensor Fusion and positioning navigation method |
| CN106708034A (en) * | 2016-11-23 | 2017-05-24 | 河池学院 | Implementation method for controlling walking path of robot on basis of mobile phone |
| CN108279688A (en) * | 2018-03-29 | 2018-07-13 | 西北农林科技大学 | A kind of agricultural robot positioning system |
| CN108490953A (en) * | 2018-04-17 | 2018-09-04 | 中国计量大学 | A kind of mower device and method based on laser radar and iBeacon |
| CN112027924A (en) * | 2020-07-16 | 2020-12-04 | 中交第二航务工程局有限公司 | Automatic gas lift soil taking centralized control system and method for open caisson sinking construction |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120912 Termination date: 20121230 |