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Reliable indoor mobile robot precise navigation positioning system and method

A mobile robot, navigation and positioning technology, applied in the field of positioning and navigation systems for indoor mobile robots, can solve the problems that the positioning technology of mobile robots has not yet achieved satisfactory results, and achieve the effect of improving accuracy

Active Publication Date: 2015-12-02
NANJING UNIV
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AI Technical Summary

Problems solved by technology

Generally speaking, the positioning technology of mobile robots has not yet achieved satisfactory results, especially in practice, it needs further optimization

Method used

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  • Reliable indoor mobile robot precise navigation positioning system and method
  • Reliable indoor mobile robot precise navigation positioning system and method
  • Reliable indoor mobile robot precise navigation positioning system and method

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Embodiment Construction

[0023] Such as Figure 1-3 As shown, a reliable indoor mobile robot precise navigation and positioning system of the present invention includes: RFID topological point layout and positioning subsystem, ultrasonic ranging guidance subsystem and laser positioning subsystem.

[0024] Among them, the RFID topological point distribution and positioning subsystem consists of smart labels arranged according to the topological map and a label reader installed at the bottom of the robot; the ultrasonic ranging guidance subsystem consists of ultrasonic ranging sensors installed on the left and right sides of the robot, and installed on the The encoder on the moving wheel of the robot and the navigation execution processor; the laser positioning subsystem includes a laser scanner and a positioning processor installed on the top of the robot; the coded signal corresponding to the topological position information and the local environment information is stored in the smart label; The tag r...

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Abstract

The invention provides a reliable indoor mobile robot precise navigation positioning system and a method, wherein the reliable indoor mobile robot precise navigation positioning system comprises a radio frequency identification device (RFID) topology point, an ultrasonic distance measurement guidance subsystem and a laser positioning subsystem. The method comprises steps: a topological map is built, smart labels are distributed, the distances between a real-time detection robot and a left and a right wall surfaces are kept on a Voronoi side to move, and are accurately positioned through the RFID topology point, the positioning subsystem, the ultrasonic distance measurement guidance subsystem and the laser positioning subsystem and determine direction angles. The reliable indoor mobile robot precise navigation positioning system and the method can effectively improve precision of positioning of the robot and the direction angles, are accurate in whole positioning results, have strong self-correcting capability, are prevented from entering an irreversible error status during the woke process, and have market application prospect.

Description

technical field [0001] The invention relates to a positioning and navigation system and method, in particular to a positioning and navigation system and method applied to an indoor mobile robot. Background technique [0002] Mobile robots are widely used in various applications in modern society, and can replace manpower to complete various tasks efficiently and reliably. Robot positioning technology is the basis for mobile robots to realize various functions. The most commonly used positioning technologies for mobile robots are dead reckoning, positioning technology based on wireless sensor networks (arrival time or angle algorithm, signal strength attenuation algorithm, etc.), global positioning system, map matching, beacon navigation, etc. The defect of the dead reckoning method is that the cumulative error is large, and it has inevitable random errors, such as wheel slippage; the general defect of the positioning algorithm based on the wireless sensor network is that th...

Claims

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/005
Inventor 陈春林朱张青辛博武涵胡建潘虎磊崇月赵勇皓
Owner NANJING UNIV
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