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Local flexibility virtual stem turning control system suitable for independent automatic tracking

A technology of turning control and automatic tracking, applied in two-dimensional position/channel control and other directions, it can solve the problems of lost target, deviation, and unable to track the target's trajectory, and achieve the effect of ensuring driving safety.

Inactive Publication Date: 2013-07-03
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems such as the inability to fully reproduce the trajectory of the target in the independent automatic tracking system and the tracking deviation and loss of the target when turning, the present invention provides a partially flexible virtual stick turning control system suitable for independent automatic tracking

Method used

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  • Local flexibility virtual stem turning control system suitable for independent automatic tracking
  • Local flexibility virtual stem turning control system suitable for independent automatic tracking
  • Local flexibility virtual stem turning control system suitable for independent automatic tracking

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Embodiment Construction

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0031] In the present invention, the local flexible virtual pole turning control system is set on the main controller of the existing intelligent mobile robot. The central processor of the main controller adopts the S3C2440 chip produced by Samsung, and applies Qt on the S3C2440 chip. / embedded-4.4.3 software development platform, set up a local flexible virtual rod turning control system that can realize the autonomous following robot to completely reproduce the movement trajectory of the target robot, and accurately turn when turning. The local flexible virtual rod turning control system is loaded in the main controller of the intelligent mobile robot. The independent automatic tracking involved in the present invention refers to autonomously following the intelligent mobile robot to reproduce the forward trajectory of the target intelligent mobile robot.

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Abstract

The invention discloses a local flexible virtual stem turning control system suitable appropriate for independent automatic tracking. The system comprises a laser distance meter, a GPS (global position system) navigation device, a three-axis gyro, a coded disc, a camera, a first motion state detection unit, a second motion state detection unit and a local flexible virtual stem autonomous trackingsystem. The system is characterized in that firstly, a target robot is detected by a laser radar so as to obtain the distance, pose and position of the target robot relative to an autonomous following robot; then, the position coordinate of the target robot in a world coordinate system is obtained by using the self-positioning information of the autonomous following robot; and finally, according to the current and historical points of the target robot, the motion curve of the target robot can be obtained just through a local flexible virtual-stem model, and then the inflection point of a rigid section and a flexible section is learned. By using the system disclosed by the invention, the motion locus of the target robot can be reiterated more accurately by using the autonomous following robot.

Description

technical field [0001] The invention relates to an autonomous control applicable to an intelligent mobile robot, more particularly, to a partially flexible virtual rod turning control system applicable to independent automatic tracking. Background technique [0002] In the publication number CN101947788A, the publication date is January 19, 2011, which is called "an intelligent robot", which includes a human-machine interface module, a main controller, an environmental monitoring module, a robot positioning module, a motor drive module, a visual Module, voice module, data storage module, wireless data transmission module and power management module; the human-machine interface module interacts with the user on human-computer information, and transmits the received data to the main controller; the environmental monitoring module inputs the detected information into the main controller The robot positioning module transmits external information to the main controller; the moto...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 陈伟海王迪臻吴星明王建华
Owner BEIHANG UNIV
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