Indoor localization system for mobile robot and calculation method thereof

A mobile robot, indoor positioning technology, applied in the direction of navigation calculation tools, instruments, measuring devices, etc., can solve the problems of other signal interference, high energy consumption of the locator, affecting the accuracy and so on

Active Publication Date: 2017-01-25
UNIV OF SHANGHAI FOR SCI & TECH
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AI Technical Summary

Problems solved by technology

However, whether it is used for indoor or outdoor positioning, the Wi-Fi transceiver can only cover an area within a radius of 90 meters, and is easily interfered by other signals, thereby affecting its accuracy, and the energy consumption of the locator is also high

Method used

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  • Indoor localization system for mobile robot and calculation method thereof
  • Indoor localization system for mobile robot and calculation method thereof
  • Indoor localization system for mobile robot and calculation method thereof

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Embodiment Construction

[0067] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the following embodiments will specifically elaborate the mobile robot indoor positioning system based on ultra-wideband (UWB) technology and its positioning calculation method in conjunction with the accompanying drawings. .

[0068] figure 1 It is a hardware architecture diagram of an indoor mobile robot according to an embodiment of the present invention.

[0069] Such as figure 1 As shown, the indoor positioning system of this embodiment uses a mobile robot with three omnidirectional wheels, and its main controller is myRIO produced by National Instruments (National Instruments, Inc., NI for short). Others include an electronic compass (heading angle sensor) and a DWM 1000 module installed on the mobile robot. In addition, there are two DWM1000 modules placed in the active space of the mobile robot of this embodiment.

[0070] A DWM100...

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Abstract

The invention discloses an indoor localization system for a mobile robot. The indoor localization system for the mobile robot, which improves localization accuracy, is designed on the basis of UWB (ultra wide band) technology combined with information of a motor encoder. A localization calculation method provided in the invention is a localization calculation method for the indoor mobile robot, and includes five steps: 1, confirming an origin of coordinates, starting a base station and the indoor mobile robot, and using a pose 2 of the indoor mobile robot, measured when starting the indoor mobile robot, as an initial pose; 2, obtaining an instant pose 1 of the mobile robot at moment t through the motor encoder; 3, receiving a high frequency electromagnetic pulse transmitted by the base station through a label, and confirming the self position of the mobile robot through a calculation method; 4, using a course angle measured by an electronic compass for augmenting the position of the mobile robot, obtained in the step 3, and obtaining an initial pose 2 at the moment t; 5, using the calculation method to fuse the initial pose 1 and the initial pose 2, obtaining pose estimation of the moment t, and saving the pose estimation and returning to the step 2.

Description

technical field [0001] The invention relates to an indoor positioning system of a mobile robot and a calculation method thereof, in particular to an indoor positioning system of a mobile robot based on ultra-wideband (UWB) technology and motor encoder information and a positioning calculation method thereof. Background technique [0002] Robots use sensors to perceive the surrounding environment to determine their own positioning technology in the environment. It is the premise for robots to complete complex tasks such as path planning and autonomous navigation. Mobile robots obtain their own status and surrounding environment information through their own sensors. , so as to achieve autonomous positioning. [0003] At present, commonly used sensors include sensors such as odometer, gyroscope, and accelerometer, and commonly used positioning systems include GPS and Beidou navigation and positioning system. Because the odometer, gyroscope and accelerometer sensors have error...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/00G01C21/206
Inventor 王永雄张彬邵翔丁德锐张孙杰
Owner UNIV OF SHANGHAI FOR SCI & TECH
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