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Synchronous map construction and positioning system and method applied to service robots

A service robot and map construction technology, applied in control/adjustment system, radio wave measurement system, two-dimensional position/channel control, etc., can solve the problems of small application range and high cost, and achieve low cost, simple structure and reliability sex high effect

Active Publication Date: 2019-05-07
南京硅智机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problem that the existing surrounding environment perception technology is easily affected by physical environmental factors such as light and humidity, and has a small application range and high cost; it proposes a synchronous map construction and positioning system applied to service robots and methods

Method used

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  • Synchronous map construction and positioning system and method applied to service robots
  • Synchronous map construction and positioning system and method applied to service robots
  • Synchronous map construction and positioning system and method applied to service robots

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specific Embodiment approach 1

[0027] Specific implementation mode 1. Combination Figure 1 to Figure 3 Describe this embodiment. The synchronous map construction and positioning system applied to service robots described in this embodiment includes 3D laser radar 1, 2D laser radar 2, transmission bearing 3, board card 4, rotating spindle 5, angle detection Encoder 6, gear transmission group 7, driving motor 8 and base 9;

[0028] The lower part of the base 9 is a cylinder with a hollow structure, and the upper part is a hollow truncated cone, and the truncated cone is a structure with upper and lower openings;

[0029] The gear transmission group 7 includes three gears, and the three gears are arranged on the bottom of the base 9, and the three gears are sequentially engaged, and the three gears are respectively sleeved on the outside of the rotating shaft of the driving motor 8 and on the side of the rotating main shaft 5. The outer side and the outer side of the transmission shaft fixed on the lower sid...

specific Embodiment approach 2

[0039] Embodiment 2. This embodiment is a further description of the synchronous map construction and positioning system applied to service robots described in Embodiment 1. The gear and angle detection code set on the outside of the rotating shaft of the drive motor 8 The gear ratio on the outside of the transmission shaft fixed on the lower side of the device 6 is 1:1.

specific Embodiment approach 3

[0040] Embodiment 3. This embodiment is a further description of the synchronous map construction and positioning system applied to service robots described in Embodiment 1 or 2. The 3D laser radar 1 includes a surface lens, a linear laser transmitter, and a CMOS sensor. elements and polarizers;

[0041] The surface lens is embedded in the frustum-shaped structure at the top of the base 9, and the linear laser transmitter, CMOS photosensitive element and polarizer are all arranged in the frustum-shaped structure of the base 9;

[0042] The laser signal of the linear laser transmitter is transmitted to the environment rotated by the 3D laser radar 1 through the surface lens, and the reflected light after the laser signal of the linear laser transmitter encounters an obstacle is incident on the polarizer through the surface lens again, and the reflected light After passing through a polarizer, it is incident on the photosensitive surface of the CMOS photosensitive element, and t...

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Abstract

The invention provides a synchronous map construction and location system and a method applied to a service robot and belong to the technical field of robot navigation. According to the technical scheme of the invention, the problems in the prior art that existing surrounding environment sensing techniques are easily influenced by light, humidity and other physical environment factors and are small in applicable range and high in cost can be solved. A rotating main shaft is located at the center of a base. An angle detection encoder is used for collecting the rotating speed of the rotating main shaft. A drive motor drives the rotating main shaft and the angle detection encoder to rotate through a gear set. The top end of the rotating main shaft is sleeved inside the shaft sleeve of a transmission bearing. The transmission bearing drives a 3D laser radar and a 2D laser radar to rotate simultaneously. The 2D laser radar is used for collecting the environment information of an installation plane. The 3D laser radar is used for scanning the environment information of the upwardly included angle of the installation plane itself within the range of 0-45 degrees. A board card is arranged in the base. The system and the method are applied to the robot navigation positioning technology.

Description

technical field [0001] The invention belongs to the technical field of robot navigation. Background technique [0002] Laser navigation is to use the characteristics of laser linearity, small divergence angle, and energy concentration to perform multi-point precise measurement. Through the combined operation of data, the relative position of the device is calculated to achieve positioning. There are many ways of laser navigation, but there are mainly two mature and widely used laser navigation technologies at present. One is to use a laser reflector for positioning. The laser emitted by the laser transmitter is reflected by the reflector and received by the receiver. The position of the reflector at different positions is used to determine the current position of the device, and the relevant mathematical model is used for navigation guidance, which is characterized by high precision, but it cannot perceive the surrounding environment and requires other sensors to assist in s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/89G01S17/87G01S7/48G05D1/02
CPCG01S7/48G01S17/87G01S17/89G05D1/024G05D1/0248G05D1/0257G05D1/0274
Inventor 王祎民王筠策杨一
Owner 南京硅智机器人有限公司
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