Freedom positioning system for robot

Abstract

The invention provides a robot independent positioning system and belongs to a robot intelligent control device. The invention solves the high-precision and independent positioning problem of the robot in the underground operation. The invention comprises an installation platform, a sensor subsystem, a data processing subsystem and a voltage conversion module; the sensor subsystem, the data processing subsystem and the voltage conversion module are arranged on the installation platform; the upper part of the installation platform is a turntable carrying the sensor subsystem; a fixed base on the lower part of the installation platform has a structure of a sealed cavity; the inside of the fixed base is provided with the data processing subsystem and the voltage conversion module; the sensor subsystem comprises an inertial sensor module and a three-dimensional digital compass; the data processing subsystem comprises a central controller, a data preprocessing module, a data integration module and a dead reckoning module; the data preprocessing module, the data integration module and the dead reckoning module are arranged in the central controller. The invention can be used for the intelligent robot working in the underground environment such as coal mines, tunnels, caverns and so on; the invention can be used for the independent positioning of robots, shield machines, underground locomotives and so on; the invention provides effective pose information for intelligent robots to finish such tasks as reconnaissance, exploration and search in the underground environment.

Description

technical field [0001] The invention belongs to a robot intelligent control device, in particular to a combined autonomous positioning system based on an inertial sensor and a three-dimensional digital compass, which is used for autonomous positioning of intelligent robots in underground environments such as coal mines and tunnels. Background technique [0002] Robot positioning technology is a key technology for determining the real-time pose of the robot in the environment and guiding the robot to the target point. In actual work, when the robot wants to realize a certain expected function autonomously, the first thing is to monitor its own pose in real time, and then plan the next movement trajectory of the robot according to the difference between the current and expected pose, and Update your pose in real time. [0003] The positioning technology of the robot has gone through the process of transforming from a single positioning method to a combined positioning method....

AI Technical Summary

Problems solved by technology

[0008] The invention provides a robot autonomous positioning system, which solves the problem of high-precision autonomous positioning of robots operating in underground environments

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