Detection method and device for heading angle of mobile robot and computer readable storage medium

A mobile robot and detection method technology, applied in the field of robotics, can solve problems such as the failure of magnetic sensor detection methods, and achieve the effects of wide coverage area, stable performance, and low privacy intrusion

Active Publication Date: 2018-05-29
安徽有巢信息科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the magnetic interference in the working environment of the mobile robot changes with time and space and is unpredictable, for the indoor environment, if there is a large amount of ferromagnetic and electromagnetic interference, the detection method based on the magnetic sensor may fail.

Method used

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  • Detection method and device for heading angle of mobile robot and computer readable storage medium
  • Detection method and device for heading angle of mobile robot and computer readable storage medium
  • Detection method and device for heading angle of mobile robot and computer readable storage medium

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Embodiment Construction

[0020] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] Before the implementation of the present invention, it is necessary to configure auxiliary lines on the ground of the robot work area, as follows:

[0022] On the ground of the working area of ​​the robot, there are N A Each parallel line group contains several parallel lines with the same color at different intervals; the line width is appropriately set according to the environment; the counterclockwise rotation angle of the parallel line group relative to the zero-degree reference line is called the parallel line The angle of the auxiliary line of the line group, the zero-degree reference line can be selected arbitrarily, and generally the geographical eastward coordinate axis can be selected as the zero-degree reference line; the angl...

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Abstract

The invention discloses a detection method and device for a heading angle of a mobile robot and a computer readable storage medium. The detection method for the heading angle comprises the following steps: detecting process initialization, collecting sensor data, carrying out priori estimation on the heading angle, extracting a set of ground vision heading angle detection values and carrying out posteriori estimation on the heading angle. The detection device of the heading angle comprises a robot yaw rate detection unit, a ground image acquisition unit and a data processing unit. The computerreadable storage medium is used for storing a detection procedure of the heading angle. Compared with the prior art, the mobile robot with the detection device for the heading angle disclosed by theinvention has the advantages of low cost, high accuracy, stable performances, short detection period, wide coverage area, multiple application scenarios, high system reliability, low privacy intrusionand the like. Because no magnetic sensor is involved, the mobile robot can be applied to an environment richer in ferromagnetic interference and electromagnetic interference.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method, a device and a computer-readable storage medium for detecting a course angle of a mobile robot. Background technique [0002] Mobile robots have a wide range of application scenarios in the fields of factory automation, construction, agriculture, and services. In order to achieve precise control of mobile robots, accurate heading angle detection is an important prerequisite. The traditional detection method of the heading angle of a wheeled robot generally needs to involve a magnetic sensor. Since ferromagnetic interference and electromagnetic interference often exist around the working environment of the robot, it needs to be corrected in advance, as shown in the papers (DOI: 10.1109 / TGRS.2291839, 10.1109 / TMAG.2013.2259842, 10.1088 / 0957-0233 / 24 / 7 / 075102) . For the uneven or time-varying distribution of magnetic interference in the environment, a common practic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/18G01C21/16
CPCG01C21/165G01C21/18G01C21/20
Inventor 吕文君李泽瑞李鲲
Owner 安徽有巢信息科技有限公司
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