Positioning system of mobile robot and positioning method thereof
A mobile robot and positioning system technology, which is applied in the field of mobile robot positioning system, can solve the problems that the mobile robot positioning technology has not had a breakthrough development, and achieve the effect of eliminating accumulated errors
Active Publication Date: 2013-12-18
ZHEJIANG YAT ELECTRICAL APPLIANCE CO LTD +1
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Problems solved by technology
Those skilled in the art have also been trying hard to explore more practical and intelligent robots, but there has been no breakthrough in the positioning technology of mobile robots.
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[0064] refer to Figure 1-9 , the present invention provides a mobile robot positioning system, including a base station 1;
[0065] The dead reckoning positioning system installed on the mobile robot 2, the dead reckoning positioning system includes an angular velocity sensor for obtaining the angle information of the mobile robot 2 and a displacement sensor for obtaining the walking distance information of the mobile robot 2; fusion angle information and Obtain the position coordinates of the mobile robot 2 in the dead reckoning positioning system after the walking distance information;
[0066] Ultrasonic laser positioning system, the ultrasonic laser positioning system includes an ultrasonic laser emitting device installed on the base station 1, an ultrasonic laser receiving device installed on the mobile robot 2 and an information processing system, through the ultrasonic laser emitting device and the ultrasonic laser receiving device Obtain the position coordinates of t...
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The present invention discloses a mobile robot positioning system and the positioning method thereof. The positioning system includes a base station, a dead reckoning positioning system, an ultrasonic laser positioning system and a data fusion unit. The dead reckoning positioning system consists of an angular velocity sensor for acquiring the angle information of the mobile robot, and a displacement sensor for acquiring the walking distance information of the mobile robot. The ultrasonic laser positioning system consists of ultrasonic laser emitters mounted on the base station, and ultrasonic laser receivers and an information processing system installed on the mobile robot. The position coordinates of the mobile robot in the ultrasonic laser positioning system are acquired through information exchange between the ultrasonic laser emitters and the ultrasonic laser receivers. The data fusion unit is used for the fusion of the angle information and the walking distance information in the dead reckoning positioning system, and for the fusion of the two position coordinates in the dead reckoning positioning system and the ultrasonic laser positioning system. The application of the data fusion unit enables the ultrasonic laser positioning system to eliminate accumulated errors in the dead reckoning positioning system.
Description
technical field [0001] The invention belongs to the technical field of mobile positioning of intelligent machines, and in particular relates to a positioning system and a positioning method of a mobile robot. Background technique [0002] With the rapid development of computer technology, microelectronics technology, and network technology, the key technologies of mobile robots have been studied more deeply, and some of them have matured. The working environment of mobile robots is unstructured and uncertain, so the requirements for robots are also higher. The positioning technology is a very key technical issue, and global positioning is an important function of mobile robots. Without this Without this function, any autonomous movement of the robot is blind. No matter what kind of robot it is, it always has to solve three problems during its movement, namely "where is it now?", "where are we going?", and "how to go?" In order to solve the above three problems. [0003] I...
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IPC IPC(8): G01C21/12
CPCG05D1/0236G05D2201/0208G05D1/027G05D1/0255
Inventor 徐本亮朱琪雷蕾陈勇钱兴桂
Owner ZHEJIANG YAT ELECTRICAL APPLIANCE CO LTD