Mobile robot track plotting correcting system based on straight-running intersection and mobile robot track plotting correcting method

A mobile robot and dead reckoning technology, applied in surveying and navigation, navigation through speed/acceleration measurement, instruments, etc., can solve problems such as calibration errors, poor contact between wheels and the ground

Active Publication Date: 2015-12-23
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
View PDF4 Cites 24 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the commonly used compensation method is to use dead reckoning, but it is easily affected by factors such as calibration error, poor contact between the wheel and the ground, drift, etc., and the error will increase with time. Therefore, a new, reliable and accurate Advanced navigation and positioning technology

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Mobile robot track plotting correcting system based on straight-running intersection and mobile robot track plotting correcting method
  • Mobile robot track plotting correcting system based on straight-running intersection and mobile robot track plotting correcting method
  • Mobile robot track plotting correcting system based on straight-running intersection and mobile robot track plotting correcting method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0054] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0055] figure 1 It shows the structural principle diagram of the mobile robot dead reckoning correction system of the present invention, and the system includes a mobile robot dead reckoning unit and a dead reckoning correction unit.

[0056] The dead reckoning unit of the mobile robot includes an odometer, an inertial navigation sensor and a dead reckoning module installed on the robot; the odometer is used to collect the travel distance of the mobile robot, and the inertial navigation sensor outputs the inertial navigation of the robot in real time In the direction, the dead reckoning module is used to calculate the driving trajectory and positioning point of the mobile robot. The odometer is composed of left and right wheel speed sensors, which are respectively installed on the left and right hubs of the rear wheels of the robot, and the w...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a mobile robot track plotting correcting system based on straight-running intersection and a mobile robot track plotting correcting method. The method is simple and the accuracy rate is high. The system comprises a mobile robot track plotting unit and a track plotting correcting unit, wherein the mobile robot track plotting unit comprises a speedometer, an inertial navigation sensor and a track plotting module installed on the robot; the track plotting correcting unit comprises a camera, an intersection detection module and a correcting module installed on the robot. Firstly, the mobile robot is subjected to track plotting by the speedometer and inertial data to obtain an initial positioning position, and then the track plotting position is corrected through the combination of data acquired based on the zebra crossing detection of the intersection and the data of an electronic map, so that the relatively accurate positioning position of the mobile robot can be acquired.

Description

technical field [0001] The invention relates to the technical field of positioning of a mobile robot, in particular to a dead reckoning correction system and method for a mobile robot based on straight road intersection detection. Background technique [0002] With the continuous development of information technology, the application of robots has become more and more extensive, and has penetrated into almost all fields, among which mobile robots are an important branch of robotics. As early as the 1960s, research on mobile robots had already begun. Mobile robots include indoor mobile robots and outdoor mobile robots in terms of working environment. Robots based on mobile driving in outdoor environments have been applied to intelligent transportation systems and military combat systems. In intelligent transportation systems, mobile robots can significantly improve the driving performance of vehicles. Security, in the military combat system, mobile robots are playing an incr...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 祝辉董林余彪梁华为李碧春樊俊杰
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap