Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device

A mobile robot and laser radar technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problem of low success rate of map construction and achieve strong adaptability

Inactive Publication Date: 2017-01-11
GUILIN UNIV OF ELECTRONIC TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the existing mobile robot has a low success rate of map construction in a vibration and bumpy environment, this invention proposes an outdoor autonomous mobile robot with a laser radar with an automatic stabilization device, which can make the laser The attitude of the radar remains stable

Method used

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  • Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device
  • Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device
  • Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device

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Embodiment Construction

[0022] Such as figure 1 As stated, the present invention has an outdoor autonomous mobile robot with a laser radar with an automatic stabilizing device, consisting of a crawler-type mobile robot chassis without a shock absorber, a four-degree-of-freedom mechanical arm, an inertial measurement unit and a laser radar fixed at the end of the mechanical arm . in:

[0023] The crawler-type mobile robot chassis without damping device is made up of robot chassis controller 12, radio frequency antenna 13, mobile robot body 14, right crawler unit 15, and left crawler unit 16. Wherein the robot chassis controller 12 includes a robot controller and an inertial measurement unit for measuring the attitude of the robot body; the mobile robot body 14 includes the parts of a general mobile robot, including metal structural parts, drive motors, motor drivers, lithium batteries, etc. Make the track move normally. The right side crawler unit 15 and the left side crawler unit 16 respectively c...

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Abstract

The invention discloses a laser radar type outdoor autonomously mobile robot provided with an automatic stabilization device. The laser radar type outdoor autonomously mobile robot is characterized by comprising a crawler type mobile robot chassis without a damping device, a four-DOF (degree of freedom) mechanical arm arranged on the chassis as well as an inertial measurement unit and laser radar which are fixed at the tail end of the four-DOF mechanical arm. The outdoor autonomous mobile robot adopting the structure can keep the posture of the laser radar stable when the posture of the robot changes, so that real-time positioning and map establishing are performed when the robot moves outdoors, and autonomous movement of the robot in an outdoor environment is realized.

Description

technical field [0001] The invention relates to outdoor autonomous mobile robot technology, in particular to an outdoor autonomous mobile robot with a laser radar with an automatic stabilizing device. Background technique [0002] Real-time positioning and map construction are the key to the autonomous movement of mobile robots. The existing technology basically solves the real-time positioning and map construction of robots on indoor flat ground. Due to the flat indoor ground, lidar interferes in real-time positioning and map construction. It is small and has a high success rate of map construction, realizing the autonomous operation of mobile robots indoors. [0003] However, in the outdoor environment, due to the complex ground environment, the mobile robot will produce large bumps and vibrations when it is running outdoors. When using lidar for real-time positioning and map construction, large changes in the attitude of the lidar will lead to map construction. Fail, the...

Claims

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Application Information

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IPC IPC(8): B25J5/00B25J9/16
CPCB25J5/005B25J9/1664
Inventor 伍锡如王方党选举刘金霞张向文
Owner GUILIN UNIV OF ELECTRONIC TECH
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