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

Inactive Publication Date: 2007-10-10
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

The disadvantages of this patented technology are: ①Using a general platform, high cost and low reliability; ②Using a visual pose estimation method, the calculation amount is large, and it is difficult to ensure real-time performance; ③This pose estimation based on feature point recognition The error of the method is relatively large, and the visual sensor is very sensitive to environmental color difference, light intensity and other factors
[0004] This patented technology is applied in the field of football robots, but it can only determin

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  • Pose sensing system and method for mobile robot
  • Pose sensing system and method for mobile robot
  • Pose sensing system and method for mobile robot

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

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

[0024] As shown in Figure 1, the entire sensor elastic mechanism 5 can be fixed on the bottom of the robot by positioning screw 1, positioning nut 2, and positioning spring 3. One positioning screw 1 is installed in the center of movement of the robot, and the other is installed in the movement of the robot. Positive direction. We can adjust the length of the positioning screw 1 by adjusting the positioning nut 2 according to the actual situation. Ensure that the photoelectric sensor is basically parallel to the ground and within the effective distance. The main function of the positioning spring 3 is to ensure the stability of t...

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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.

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...

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Application Information

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IPC IPC(8): B25J19/00G05B19/02
Inventor 谭湘敏易建强赵冬斌
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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