CN202548331U - Precise positioning system of outdoor mobile robot - Google Patents
Precise positioning system of outdoor mobile robot Download PDFInfo
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- CN202548331U CN202548331U CN2012200696527U CN201220069652U CN202548331U CN 202548331 U CN202548331 U CN 202548331U CN 2012200696527 U CN2012200696527 U CN 2012200696527U CN 201220069652 U CN201220069652 U CN 201220069652U CN 202548331 U CN202548331 U CN 202548331U
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Abstract
The utility model discloses a precise positioning system of an outdoor mobile robot. The precise positioning system comprises a base station for providing a charging port for the mobile robot, wherein the base station is provided with a base station electronic control device; the base station electronic control device comprises a first power supply module for providing steady power, a first microcontroller for centralized processing, a charging module for controlling the charging process, a first GPS (Global Positioning System) module for obtaining base station positioning data, and a first wireless serial communication module for data transmission; the mobile robot is provided with a robot electronic control device; and the robot electronic control device is provided with a second power supply module for providing steady power, a second microcontroller for centralized processing, a second GPS module for obtaining the robot positioning data, a second wireless serial communication module for data transmission, a human-computer interface for state display and interface operation, a walk module for executing walk driving, an environment sensing module for detecting environment and barriers, and a task execution module related to specific tasks.
Description
Technical field
The utility model relates to a kind of Precise Position System of outdoor mobile robot, belongs to the localization for Mobile Robot technical field.
Background technology
Robotics obtains development at full speed and application at present.For industrial robot, such as welding robot, assembly robot; Spraying robot etc.; Bringing into play more and more important effect at the commercial production scene, developing into unmanned workshop from automatic production line, industrial robot has all reached gratifying degree in technology with using.But for service robot, also lag far behind the development of industrial robot, almost also be in laboratory stage.The good news is that wherein a kind of robot-family's dust-collecting robot has been come into average family and used, and has formed industry size.Even like this, the technology of family's dust-collecting robot does not reach gratifying degree, and wherein maximum difficult point is exactly the location technology of robot.No matter be industrial community, or academia is all making great efforts to capture this difficult problem.
Also face such difficult problem for outdoor mobile robot.Patent US6445983 discloses a kind of autonomous navigation system, and the robot system that can between vision guided navigation pattern and GPS navigation pattern, switch has disclosed gps system, gyroscope system, the integrated use of vision system.Patent US7840352 discloses a kind of automated navigation system, discloses and protected GPS navigation, the system ensemble of inertial navigation and vision guided navigation.In these two patents, all use the GPS location technology, but all attempt from the data of GPS device output, to obtain accurate in locating information.But the GPS locator data has comprised the error that is difficult to avoid, comprising systematic error, and such as the time clock correction of satellite and receiver, ephemeris error, ionosphere and tropospheric delay error etc. also comprise with the relevant error immediately of receiver itself.Therefore, can only reach the bearing accuracy more than 10 meters based on the separate GPS locator data, so just reason, automated navigation system must comprise that all other location navigation mode remedies the inaccurate of GPS locator data.
Summary of the invention
The purpose of the utility model is in order to solve the self-align problem of outdoor mobile robot; Based on the principle of differential GPS, the GPS module is set respectively on base station and mobile robot, the line data of going forward side by side merges; To eliminate system's positioning error, reach pinpoint purpose.
The utility model solves the technical scheme that its technical matters adopted:
The Precise Position System of outdoor mobile robot; Being included as the mobile robot provides the base station of charging inlet; Described base station is provided with the base station electronic-controlled installation; Described base station electronic-controlled installation comprises first power module that stabilized power source is provided, the charging module of first micro controller that focuses on and control charging process; Described mobile robot is provided with the robot electronic-controlled installation; The electronic-controlled installation setting of described robot provides the second source module of stabilized power source; Second micro controller that focuses on; Carry out state and show the man-machine interface with interface operation, the walking module of the driving of walking is carried out the environment sensing module and the task execution module relevant with specific tasks of environment detection of obstacles; It is characterized in that: described base station electronic-controlled installation also comprises a GPS module of obtaining the base station locator data, carries out the first wireless serial communication module of data transmission; Described robot electronic-controlled installation also is provided with the 2nd GPS module of obtaining the robot locator data, carries out the second wireless serial communication module of data transmission.
A described GPS module is connected with described first micro controller, and described first micro controller is connected with the described first wireless serial communication module; A described GPS module obtains the base station locator data, and exports to described first micro controller, and described first micro controller sends to the described second wireless serial communication module through the described first wireless serial communication module.
Described the 2nd GPS module is connected with described second micro controller, and described second micro controller is connected with the described second wireless serial communication module; Described the 2nd GPS module obtains the robot locator data, and exports to described second micro controller; Simultaneously, the described second wireless serial communication module sends the base station locator data that receives to described second micro controller.
The described first wireless serial communication module setting and the identical parameter of the described second wireless serial communication module can be carried out data transmission with the described second wireless serial communication module.
Description of drawings
Fig. 1 is a system schematic;
Fig. 2 is the theory diagram of base station electronic-controlled installation;
Fig. 3 is the theory diagram of robot electronic-controlled installation.
Embodiment
Below in conjunction with accompanying drawing the utility model is further described.
With reference to Fig. 1-3; The Precise Position System of outdoor mobile robot is included as the base station 14 that mobile robot 15 provides charging inlet, and described base station 14 is provided with the base station electronic-controlled installation; Described base station electronic-controlled installation comprises first power module 1 that stabilized power source is provided; First micro controller 2 that focuses on and the charging module 5 of control charging process also comprise a GPS module 3 of obtaining the base station locator data, carry out the first wireless serial communication module 4 of data transmission.
Described mobile robot 15 is provided with the robot electronic-controlled installation; The electronic-controlled installation setting of described robot provides the second source module 6 of stabilized power source; Second micro controller 7 that focuses on is carried out state and is shown the man-machine interface 13 with interface operation, the walking module 11 of the driving of walking; Carry out the environment sensing module 12 of environment detection of obstacles and the task execution module 10 relevant with specific tasks; The 2nd GPS module 8 of obtaining the robot locator data also is set, carries out the second wireless serial communication module 9 of data transmission, described second micro controller 7 is provided with the difference location algorithm.Described task execution module 10, walking module 11, environment sensing module 12 is connected with described second micro controller 7 with man-machine interface 13, carries out centralized control.
The described first wireless serial communication module 4 is provided with the parameter identical with the described second wireless serial communication module 9, can carry out data transmission with the described second wireless serial communication module 9.
A described GPS module 3 is connected with described first micro controller 2, and described first micro controller 2 is connected with the described first wireless serial communication module 4; A described GPS module 3 acquisition base station locator datas; And export to described first micro controller 2; Described first micro controller 2 sends to the described second wireless serial communication module 9 through the described first wireless serial communication module 4; The described second wireless serial communication module 9 sends the base station locator data that receives to described second micro controller 7.
Described the 2nd GPS module 8 is connected with described second micro controller 7, and described second micro controller 7 is connected with the described second wireless serial communication module 9; Described the 2nd GPS module 8 obtains the robot locator data, and exports to described second micro controller 7.
In sum; The GPS module is set respectively on base station and mobile robot, and the line data of going forward side by side merges, to eliminate system's positioning error; Only kept the very stochastic error of fraction; Reach pinpoint purpose, for the location and the navigation of outdoor mobile robot provides accurate position data, the map that further can realize working environment is set up and based on the work planning of task.
Claims (4)
1. the Precise Position System of outdoor mobile robot; Being included as the mobile robot provides the base station of charging inlet; Described base station is provided with the base station electronic-controlled installation; Described base station electronic-controlled installation comprises first power module that stabilized power source is provided, the charging module of first micro controller that focuses on and control charging process; Described mobile robot is provided with the robot electronic-controlled installation; The electronic-controlled installation setting of described robot provides the second source module of stabilized power source; Second micro controller that focuses on; Carry out state and show the man-machine interface with interface operation, the walking module of the driving of walking is carried out the environment sensing module and the task execution module relevant with specific tasks of environment detection of obstacles; It is characterized in that: described base station electronic-controlled installation also comprises a GPS module of obtaining the base station locator data, carries out the first wireless serial communication module of data transmission; Described robot electronic-controlled installation also is provided with the 2nd GPS module of obtaining the robot locator data, carries out the second wireless serial communication module of data transmission.
2. the Precise Position System of outdoor mobile robot as claimed in claim 1, it is characterized in that: a described GPS module is connected with described first micro controller, and described first micro controller is connected with the described first wireless serial communication module; A described GPS module obtains the base station locator data, and exports to described first micro controller, and described first micro controller sends to the described second wireless serial communication module through the described first wireless serial communication module.
3. the Precise Position System of outdoor mobile robot as claimed in claim 1, it is characterized in that: described the 2nd GPS module is connected with described second micro controller, and described second micro controller is connected with the described second wireless serial communication module; Described the 2nd GPS module obtains the robot locator data, and exports to described second micro controller; Simultaneously, the described second wireless serial communication module sends the base station locator data that receives to described second micro controller.
4. like the Precise Position System of claim 2 or 3 described outdoor mobile robot; It is characterized in that: the described first wireless serial communication module setting and the identical parameter of the described second wireless serial communication module, can carry out data transmission with the described second wireless serial communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200696527U CN202548331U (en) | 2012-02-20 | 2012-02-20 | Precise positioning system of outdoor mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200696527U CN202548331U (en) | 2012-02-20 | 2012-02-20 | Precise positioning system of outdoor mobile robot |
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| Publication Number | Publication Date |
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| CN202548331U true CN202548331U (en) | 2012-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012200696527U Expired - Fee Related CN202548331U (en) | 2012-02-20 | 2012-02-20 | Precise positioning system of outdoor mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621566A (en) * | 2012-02-20 | 2012-08-01 | 刘瑜 | Accurate positioning system for outdoor mobile robot |
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2012
- 2012-02-20 CN CN2012200696527U patent/CN202548331U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621566A (en) * | 2012-02-20 | 2012-08-01 | 刘瑜 | Accurate positioning system for outdoor mobile robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20121121 Termination date: 20130220 |