Pose sensing system and method for mobile robot

A mobile robot and sensing system technology, applied in the field of position and attitude sensing systems, can solve the problems of inability to estimate the robot attitude, cannot determine the robot attitude, and difficult to ensure real-time performance, so as to reduce the difficulty of development and maintenance and fast calculation speed , the effect of avoiding errors

CN100478142CInactive Publication Date: 2009-04-15INST OF AUTOMATION CHINESE ACAD OF SCI
8 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2009-04-15
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

A position-posture sensing system of movable robot is composed of a photoelectric sensor for detecting the change of position and posture and converting the change to digital signals, an elastic pressing unit for ensuring the proper distance between said photoelectric sensor and ground, and a controlling-processing circuit consisting of a single-chip microprocessor, a communication interface chip, and the firmed programs. Its method is also disclosed.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the technical field of robots, in particular to a pose sensing system and method of a mobile robot. Background technique

[0002] With the development of computer technology and automatic control theory, robots have been more and more widely used in national defense, industry, agriculture and service industries. The problem of mobile robot pose estimation is one of the most basic problems in robotics. Specifically, it is the problem of determining the position and posture of the robot itself by obtaining environmental information through the internal and external sensors assembled by the robot itself. Robot pose estimation is the premise for the robot to reconstruct the environment map, plan the running path and track the track. Therefore, the pose estimation of the robot is a very important problem. According to public literature, before the present invention, most of the pose estimation methods used by mobile robots were bas...

Examples

Embodiment Construction

[0022] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] figure 1 Middle: positioning screw 1, positioning nut 2, robot body 3, control processing circuit 4, sensor pressing mechanism 5, positioning spring 6, photoelectric sensor 7, universal ball 8, robot driving wheel 9.

[0024] like figure 1 As shown, the entire sensor spring pressing mechanism 5 can be fixed on the bottom of the robot by a positioning screw 1, a positioning nut 2, and a positioning spring 6, wherein one positioning screw 1 is installed on the motion center of the robot, and one is installed on the positive direction of the robot's motion. We can adjust the positioning nut 2 according to the actual situation to realize the adjustment of the length of the positioning screw 1 to ensure that the photoelectric sensor is basically parallel to the ground and within an effective distance. The main function of ...