Navigation and positioning method for indoor mobile robot

A mobile robot, navigation and positioning technology, applied in the field of navigation, can solve the problems of high system stability performance requirements, complex wireless sensor response network system, etc.

Active Publication Date: 2016-02-03
HARBIN ENG UNIV
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Problems solved by technology

The wireless sensor response network system of this method is relatively complex, and has high requirements on the stability of the system.

Method used

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  • Navigation and positioning method for indoor mobile robot
  • Navigation and positioning method for indoor mobile robot
  • Navigation and positioning method for indoor mobile robot

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Embodiment Construction

[0044] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0045] to combine Figure 1-7 , the technical solution of the present invention is: a positioning method for an indoor mobile robot based on a positioning code disc and a single-axis fiber optic gyroscope, including an omnidirectional mobile robot, two encoder axes that are not parallel and are distributed at any angle. and a single-axis fiber optic gyroscope.

[0046] The present invention provides a positioning method for an indoor mobile robot based on a positioning code disc and a gyroscope. The specific implementation steps are as follows:

[0047] The passive omnidirectional wheel 6 is installed on the encoder 1, and the passive omnidirectional wheel 7 is installed on the encoder 2, both of which are installed on the code disc mounting frame. The specific assembly relationship is as follows: Figure 4 As shown, and the installation position of the position...

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Abstract

The invention aims to provide a navigation and positioning method for an indoor mobile robot. Two positioning encoding disks of which encoder axes are not parallel and which are distributed at any angle and an uniaxial optical fiber gyroscope are used for positioning, the positioning encoding disks are installed on the indoor mobile robot, positioning data are directly transmitted to a control system in time, and the data which are fed back by encoders are processed by the control system through a positioning algorithm, so that coordinates of the robot can be positioned. According to the navigation and positioning method, on the basis of the positioning encoding disks and the uniaxial optical fiber gyroscope, i.e. two optical encoders provided with omnidirectional wheels are vertically distributed, the indoor mobile robot belongs to a mechanical device, compared with a wireless sensing response network system, a GPS (Global Position System) navigation and positioning system and the like based on electronic components, a measuring device provided by the invention is simple, the implementation is convenient, and the mechanical device has high stability; the positioning accuracy of the robot can be controlled within 0.5% through experimental debugging for about five times, and high positioning accuracy is obtained.

Description

technical field [0001] The invention relates to a navigation method, in particular to a robot navigation method. Background technique [0002] At present, the research on the navigation and positioning methods of mobile robots are all based on inertial navigation, visual navigation, satellite navigation and other methods for navigation and positioning, and their navigation and positioning systems all rely on navigation and positioning electronic packaging modules. For mobile robots, positioning technology is very important, if the mobile robot has no positioning function, any autonomous movement of the robot will be blind. The three key questions in the process of mobile robot movement are: where is now? where to go how to go? [0003] Chinese patent (CN1945351A) discloses a new system and method for navigating and positioning a robot based on a wireless sensor response network. The wireless sensor response network system of this method is relatively complex, and has hig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 王茁李宁王涛张波黄新禹单雪王大欢傅质斌蔡明智谢敏燕李文琦
Owner HARBIN ENG UNIV
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