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Laser-navigation-based omnibearing motion mechanism control system

A control system, laser navigation technology, applied in control/adjustment systems, non-electric variable control, two-dimensional position/channel control and other directions, can solve problems such as inability to adapt to narrow environments, achieve flexible obstacle avoidance, and improve motion accuracy Effect

Pending Publication Date: 2017-05-10
ZHEJIANG UNIV OF TECH
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AI Technical Summary

Problems solved by technology

Since traditional AGV mobile robots have a certain turning radius and cannot adapt to narrow environments, omni-directional mobile robots have appeared. This robot is flexible in movement and can achieve lateral movement, oblique movement and Rotational movement around its own axis, so as to adapt to the narrow space environment

Method used

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Examples

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Embodiment Construction

[0023] refer to Figure 1 to Figure 3 , an omnidirectional motion control system based on laser navigation, including an omnidirectional movement module based on ROS four-axis control system 3 and a navigation module based on RPLIDAR lidar 4; among them,

[0024] The ROS four-axis control system 3 feeds back position information in real time through the RPLIDAR lidar 4, controls the rotation speed and steering of the detection robot 10 through the driver 2, and realizes the lateral movement, oblique movement and in-situ rotation around its own axis of the detection robot 10. , to ensure that the detection robot walks along the predetermined path;

[0025] The RPLIDAR laser radar 4 can carry out the 360° omnidirectional scanning and ranging task of the set radius range and is connected to the PC 8 through a supporting USB cable, and the PC 8 realizes the detection by the RPLIDAR laser radar 4 Map construction and path planning of the robot 10, and store the planned path inform...

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Abstract

The invention discloses a laser-navigation-based omnibearing motion mechanism control system. The system comprises an omnibearing movement module based on an ROS four-axis control system and an RPLIDAR-laser-radar-based navigation module. The ROS four-axis control system feeds back location information in real time by the RPLIDAR laser radar; and a rotating speed and a turning direction of a detection robot are controlled by a driver to realize traverse movement, oblique movement, and in-situ rotation movement around the axis of the detection robort, so that the detection robot can walk along a predetermined path. The RPLIDAR laser radar is connected with a PC machine by a matched USB connecting wire; the PC machine uses the RPLIDAR laser radar to realize map building and path planning of the detection robot and stores the planned path information into the omnibearing movement module; the RPLIDAR laser radar carries out navigation positioning on the detection robot in real time and transmits the collected location information to the omnibearing movement module; and on the basis of the feedback location information, the ROS four-axis control system adjusts the omnibearing movement module continuously to enable the detection robot to walk along a predetermined track.

Description

technical field [0001] The invention relates to a control system of omnidirectional motion mechanism based on laser navigation. Background technique [0002] With the development of science and technology, mobile robot technology has developed rapidly, especially AGV mobile robots, which are more and more widely used in factory workshops and warehousing logistics. Since traditional AGV mobile robots have a certain turning radius and cannot adapt to narrow environments, omnidirectional mobile robots have appeared. This robot is flexible in movement and can achieve lateral movement, oblique movement and Rotational movement around its own axis, so as to adapt to the narrow space environment. For some special working environments, it is required to be able to walk along a fixed path when running long distances while adapting to a narrow environment. [0003] At present, path planning is a key part of mobile robot technology, and navigation technology is a prerequisite for the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/0257
Inventor 曾晰潘烨计时鸣苏林杰张书豹
Owner ZHEJIANG UNIV OF TECH
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