CN202471081U - iRobot mobile robot localization platform - Google Patents
iRobot mobile robot localization platform Download PDFInfo
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- CN202471081U CN202471081U CN201220045441XU CN201220045441U CN202471081U CN 202471081 U CN202471081 U CN 202471081U CN 201220045441X U CN201220045441X U CN 201220045441XU CN 201220045441 U CN201220045441 U CN 201220045441U CN 202471081 U CN202471081 U CN 202471081U
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Abstract
The utility model relates to an iRobot mobile robot localization platform. The device mainly comprises a URG-04LX laser ranging device (1), a mobile robot car iRobotCreate (6), microcomputers Fitpc2 (11) and a Joystick (39), wherein the microcomputers Fitpc2 (11) operate a robot operating system (ROS); an external computer (40) operates the ROS as well and uses the Joystick (39) to control the mobile robot to move in a specific environment via a wireless local area network (41); the mobile robot estimate the location by virtue of speedometers (21); meanwhile, the microcomputers Fitpc2 (11) continuously send the barrier information acquired by the laser ranging device (1) to the external computer (40) via the wireless local area network (41); and the external computer (40) processes the data by an iterative feedback loop algorithm to finally obtain the accurate coordinate location of the mobile robot and then continuously sends the results and commands after processing to the microcomputers Fitpc2 (11) via the wireless local area network (41).
Description
Technical field
This utility model relates to a kind of iRobot localization for Mobile Robot platform, belongs to fields such as electronic technology, sensing technology and computer technology.
Background technology
In recent years, all kinds of mobile robot's of being used for synchronized positioning occur and built figure (Simultaneous Localization and Mapping, SLAM) locating platform of research.Though these platforms differ from one another, they can't satisfy the requirement of extensibility, portability and cheap property etc.Some platforms are that the simple and easy mobile robot by resource-constrained builds.Therefore computing power is all relatively poor with sensor performance, can't realize accurately synchronized positioning and build figure.These platforms comprise robots such as MicaBot, CotsBot; Some platforms are based on the business machine people of a complete set, and they have unique software and hardware structure, and computing power is strong, and sensor performance is good, but portable difference and single mobile robot cost an arm and a leg.Typical case's representative of this robotlike is a Pioneer mobile robot family.Therefore from the reason of each side, the locating platform of intelligent mobile robot SLAM research is difficult to popularize in general scientific research institution or laboratory.
Summary of the invention
To the shortcoming of prior art, the purpose of the utility model be propose that a kind of cost is relatively low, computing power strong, software and hardware portable and the good iRobot localization for Mobile Robot platform of sensor performance.This localization for Mobile Robot platform comprises hardware structure and software systems.
A kind of iRobot localization for Mobile Robot platform hardware part mainly comprises Hokuyo LRF URG-04LX laser range finder (1), upper strata organic glass baffle plate (2), right bracing frame (3), middle level baffle plate (4), lower floor's baffle plate (5), mobile apparatus car iRobot Create (6), right wheel (7), Fitpc2 power supply (8), left wheel (9), cooling fan (10), microcomputer Fitpc2 (11), left bracing frame (12).Two bracing frames (12) (3) about mobile apparatus car iRobot Create (6) is provided with, they vertically are connected upper strata glass baffle plate (2), middle level glass baffle plate (4) and lower floor's glass baffle plate (5) and are fixed on the mobile apparatus car iRobot Create (6).Being fixed on the upper strata organic glass baffle plate (2) is Hokuyo LRF URG-04LX laser range finder (1), its measurement range at 20mm between the 4094mm, sweep limit 240
0, sweep speed 100 ms/scan, apart from degree of accuracy ± 3%, angular resolution is 0.36
0Be fixed between middle level organic glass baffle plate (4) and the lower floor's glass baffle plate (5), between lower floor's glass baffle plate (5) and the mobile apparatus car iRobot Create (6) is two microcomputer Fitpc2 (11).This is a kind of light and handy computing machine, can move two kinds of operating systems of Windows and Linux.Because microcomputer Fitpc2 (11) inside does not have radiator fan, can't dispel the heat.Therefore for it is equipped with a cooling fan (10), it can be worked long hours.Cooling fan (10) is fixed on the mobile apparatus car iRobot Create (6); Mobile apparatus car iRobot Create (6) is a business-like mobile platform.Serial ports through it can be read sensing data, and can use iRobot Roomba open interface agreement to send the control command to motor.
(Robot Operating System ROS) constitutes a kind of iRobot localization for Mobile Robot platform software part by the robot manipulation system.This is a kind of metaoperating system of increasing income, and the service that it provides comprises information transmission and the software package management between hardware abstraction, low side devices control, common mathematical function realization, the process.
ROS has two basic parts; A part is the core of ROS; Its basic function is to carry out radio communication with a computer that has radio communication function (like the Wi-Fi function) and move ROS operating system, and can utilize external belt to have the computer long distance remote control mobile robot of radio communication function to move.The routine package of another part is the shared code of increasing income of whole ROS community.ROS community refers to all and uses individual, research institution and the scientific research institutions of ROS operating system can code be published in the online ROS community.And these codes can be downloaded easily and be transplanted on other mobile robot platforms or sensor platform that use ROS operating system.Utilize these codes of increasing income just can on this platform, realize target detection, target tracking, Target Recognition, synchronized positioning and build figure and function such as self-navigation.
The network structure of ROS comprises outer computer (40), radio communication (41) and mobile robot's truck-mounted computer (11).Connect through WLAN between outer computer (40) and the mobile robot's truck-mounted computer (11).Outer computer (40) has powerful computing ability, can handle the very big task of all kinds of calculated amount, like location, target detection, Flame Image Process etc.
For any mobile robot's application, at first all must know the position of mobile robot in working environment, so just need the map of concrete working environment.Yet map possibly not be ready-made.Therefore, many times need robot oneself in working environment, to build figure.Like this mobile robot's synchronized positioning with build the figure problem and just produced.Synchronized positioning is in the environment an of the unknown with the definition of building diagram technology, and the mobile robot sets up the map of a circumstances not known, locatees it simultaneously from the position in map.
Internal sensor that can be through robot and external sensor carry out environment and build figure.The internal sensor of robot also is called odometer.Mobile robot's odometer all has cumulative errors usually owing to reasons such as wheel-slips.Therefore in order to obtain robot location accurately, need accomplish synchronized positioning together and build the figure task by external other sensors.Use a kind of iterative feedback round-robin algorithm to come further to improve the accuracy of location in addition.
The usefulness of this device is a kind of modular low cost of design and portable strong localization for Mobile Robot platform, and has used a kind of simple and effective relatively iterative feedback round-robin algorithm to come further to improve the accuracy of location.This platform also is that mobile robot's self-navigation research provides a kind of new research platform after accurately locating simultaneously.
Description of drawings
Below in conjunction with accompanying drawing the utility model is done and to be further described.
Fig. 1 iRobot localization for Mobile Robot platform structure figure; Fig. 2 mobile apparatus car iRobot Create structural drawing vertical view and bottom plan view; The front view of Fig. 3 microcomputer Fitpc2 and the front view at the back side; The left view of Fig. 4 Hokuyo laser range finder; Fig. 5 mobile robot operating rod Joystick left view; Fig. 6 mobile robot truck-mounted computer and outer computer radio communication synoptic diagram; Fig. 7 localization for Mobile Robot algorithm synoptic diagram; Fig. 8 iRobot localization for Mobile Robot platform front view in kind.
Among the figure: the 1st, Hokuyo LRF URG-04LX laser range finder, the 2nd, upper strata baffle plate, the 3rd, right bracing frame, the 4th, middle level baffle plate, the 5th, lower floor's baffle plate, the 6th, mobile apparatus car iRobot Create; The 7th, right wheel, the 8th, Fitpc2 power supply, the 9th, left wheel, the 10th, cooling fan, the 11st, microcomputer Fitpc2, the 12nd, left bracing frame; The 13rd, omnirange infrared remote receiver, the 14th, control panel, the 15th, screw hole, the 16th, serial port, the 17th, charging socket, the 18th, load compartment connector; The 19th, load compartment, the 20th, baffle plate, the 21st, edge sensor port, the 22nd, ground contact point, the 23rd, left and right wheels, the 24th, battery; The 25th, trailing wheel, the 26th, power switch, the 27th, SD storage card draw-in groove, the 28th, RS232 interface, the 29th, micro USB interface, the 30th, power supply; The 31st, wireless lan (wlan), the 32nd, phonetic entry, the 33rd, network interface, the 34th, phonetic entry, the 35th, USB mouth, the 36th, reset button; The 37th, Digital Video System, the 38th, USB interface, the 39th, operating rod, the 40th, outer computer, the 41st, wireless network, the 42nd, USB serial port connecting line; The 43rd, the USB connecting line, the 44th, internal sensor (odometer), the 45th, predicted position, the 46th, location estimation, the 47th, estimate, the 48th, coupling; The 49th, mate predicted value with True Data, the 50th, whether mate, the 51st, process sensor data, the 52nd, external sensor (concept of reality measured value), the 53rd, the observed reading that predicts.
Specific embodiments
Referring to accompanying drawing, comprise Hokuyo LRF URG-04LX laser range finder (1); Mobile apparatus car iRobot Create (6) comprises omnirange infrared remote receiver (13), control panel (14), serial port (16) and edge sensor port (21); Microcomputer Fitpc2 (11) comprises micro USB interface (29), wireless lan (wlan) (31) and USB mouth (35); Hokuyo LRF URG-04LX laser range finder (13) comprises USB interface (38); Start microcomputer Fitpc2 (11), start mobile apparatus car iRobot Create (6), open Hokuyo laser range finder (1).Microcomputer Fitpc2 (11) will move the ROS of robot manipulation system, and can control the motion of mobile apparatus car iRobot Create (6); Hokuyo laser range finder (1) through the USB mouth links to each other with microcomputer Fitpc2 (11) can be worked in the ROS system.Microcomputer Fitpc2 (11) has the Wi-Fi function, communicates by letter with outer computer through the Ad-hoc WLAN.Outer computer equally also moves the ROS of robot manipulation system, and it uses operating rod Joystick (39) to control the mobile robot through the Ad-hoc WLAN and in concrete environment, moves.The mobile robot uses odometer (21) estimated position.Use the position of Hokuyo laser range finder (1) detecting obstacles thing simultaneously, and according to the location positioning mobile robot's of barrier position itself.The obstacle information that microcomputer Fitpc2 (11) on the while mobile robot constantly obtains Hokuyo laser range finder (1) through wireless network sends to outer computer (40).Outer computer (40) is handled these data that obtain according to the iterative feedback round-robin algorithm, draws mobile robot's accurate coordinate position at last.To handle later result then and constantly send to microcomputer Fitpc2 (11) through WLAN again with instruction.Along with mobile robot's motion, the position of self just can constantly confirmed and upgrade to the location coordinate information that microcomputer Fitpc2 (11) constantly sends according to outer computer.
In the present embodiment, upper strata baffle plate (2), middle level baffle plate (4), lower floor's baffle plate (5) are organic glass and process, and have firm and light and handy characteristics.Can constantly increase the quantity of baffle plate as required in addition, so that place more hardware device.
In the present embodiment, the Hokuyo LRF URG-04LX that laser range finder (13) adopts Hokuyo company to produce adopts the USB power supply.
In the present embodiment, the Fitpc2 microcomputer that microcomputer (11) adopts CompuLab company to produce, this type calculate function operation Windows and Linux two type operating systems.Here used Fitpc2 microcomputer (11) the operation robot manipulation ROS of system of linux version.In addition, Fitpc2 microcomputer (11) adopts the 12V DC power supply.
Claims (2)
1. an iRobot localization for Mobile Robot platform is characterized in that this device comprises URG-04LX laser range finder (1), mobile apparatus car iRobot Create (6) and microcomputer Fitpc2 (11); Two bracing frames (12,3) about mobile apparatus car iRobot Create (6) is provided with, they vertically are connected upper strata glass baffle plate (2), middle level glass baffle plate (4) and lower floor's glass baffle plate (5) and are fixed on the mobile apparatus car iRobot Create (6).
2. the described a kind of iRobot localization for Mobile Robot platform of claim 1 is characterized in that microcomputer Fitpc2 (11) has the Wi-Fi function, communicates by letter with outer computer through the Ad-hoc WLAN; Outer computer uses operating rod (39) to control the mobile robot through the Ad-hoc WLAN and in concrete environment, moves; The mobile robot uses odometer (21) estimated position; Use the position of laser range finder (1) detecting obstacles thing simultaneously, and according to the location positioning mobile robot's of barrier position itself; The obstacle information that microcomputer Fitpc2 (11) on the while mobile robot constantly obtains laser range finder (1) through wireless network sends to outer computer (40); The position of self just can constantly confirmed and upgrade to the location coordinate information that microcomputer Fitpc2 (11) constantly sends according to outer computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220045441XU CN202471081U (en) | 2012-02-14 | 2012-02-14 | iRobot mobile robot localization platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220045441XU CN202471081U (en) | 2012-02-14 | 2012-02-14 | iRobot mobile robot localization platform |
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| CN202471081U true CN202471081U (en) | 2012-10-03 |
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| CN201220045441XU Expired - Fee Related CN202471081U (en) | 2012-02-14 | 2012-02-14 | iRobot mobile robot localization platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676848A (en) * | 2016-03-11 | 2016-06-15 | 湖南人工智能科技有限公司 | Robot autonomous navigation method based on ROS operating system |
| CN106737684A (en) * | 2017-01-12 | 2017-05-31 | 北京航空航天大学 | A kind of control system for modular robot based on LAN |
-
2012
- 2012-02-14 CN CN201220045441XU patent/CN202471081U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676848A (en) * | 2016-03-11 | 2016-06-15 | 湖南人工智能科技有限公司 | Robot autonomous navigation method based on ROS operating system |
| CN106737684A (en) * | 2017-01-12 | 2017-05-31 | 北京航空航天大学 | A kind of control system for modular robot based on LAN |
| CN106737684B (en) * | 2017-01-12 | 2019-03-22 | 北京航空航天大学 | A kind of control system for modular robot based on local area network |
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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: 20121003 Termination date: 20130214 |