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Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning

一种移动机器人、位姿测量的技术，应用在无线电波测量系统、非电动变量控制、测量距离等方向，能够解决现场环境要求较高、移动机器人工作区域大、坐标系全局定向步骤繁琐等问题

Active Publication Date: 2015-12-16
TIANJIN UNIV
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Problems solved by technology

However, in view of the large working area and complex tasks of the mobile robot, in order to ensure its efficient and smooth operation, it is necessary to arrange multiple transmitting base stations in the working space to ensure the measurement range, which has high requirements for the on-site environment
In addition, in the process of constructing the measurement field, the establishment of the coordinate system and the global orientation steps between different transmitting base stations are relatively cumbersome

Method used

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  • Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning
  • Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning
  • Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning

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Embodiment Construction

[0057] The photoelectric scanning-based indoor mobile robot pose measurement system and measurement method of the present invention will be described in detail below in conjunction with the embodiments and drawings.

[0058] Using a small high-speed rotating platform (transmitting station) supplemented by a certain number of guiding beacons, on the premise that the precise three-dimensional coordinates of each guiding beacon in the global coordinate system are known, by measuring the relative position of the transmitting station to each guiding beacon The space scanning angle of the target is combined with the precise internal parameters of the transmitting station to complete its own pose measurement.

[0059] In the present invention, a small high-speed rotating platform (transmitting station) capable of emitting laser signals to the whole space is fixed on the body of the mobile robot. While following the movement of the robot, it continuously emits laser light signals to th...

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Abstract

The invention provides an indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning. A laser transmitting station is arranged on a mobile robot, at least three receivers for receiving light signals emitted from a laser transmitting station are arranged around the laser transmitting station, at least one signal processor which is connected to the receivers for processing signals received by the receivers and determining accurate coordinates of the laser transmitting station within the measurement space in a coordinate system, and a terminal computer connected to the signal processor for determining a gesture angle and a position of the mobile robot by determining distances between the laser transmitting station and each receiver. Multiple emission base stations are not needed to be arranged in the space during measurement by the operator, tedious global orientation is not needed, multiple guiding beacons composed of the photoelectric receivers and a high speed laser scanning turntable fixed on the mobile robot body are used for realizing real time measurement of three-dimension positions and gestures of the indoor mobile robot.

Description

technical field [0001] The invention relates to a method for measuring the pose of an indoor mobile robot. In particular, it relates to a photoelectric scanning-based indoor mobile robot pose measurement system and measurement method. Background technique [0002] Indoor mobile robots (AGV, mobile processing platform, etc.) have been widely used in the field of large component assembly in industrial sites. During the working process, people need to measure their position and attitude in real time. At present, the three-dimensional coordinate and attitude measurement methods of mobile robots are mainly divided into two categories: dead reckoning method and absolute positioning method. Dead reckoning mainly relies on internal proprioceptive sensors such as odometers and gyroscopes to determine the robot's pose by measuring the distance and direction of the robot relative to the initial pose given the initial state; absolute positioning mainly uses guidance beacons, active or...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C1/00G01C3/00
CPCG01C1/00G01C3/00G01S5/16G05D1/0242G05D1/0282G01S5/163G01S11/12G01C21/206G01S17/06G05D1/0236G05D1/024
Inventor 邾继贵任永杰杨凌辉黄喆
Owner TIANJIN UNIV
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