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Multi-sensor information fusion robot pose measurement method and device

A multi-sensor and measurement method technology, applied in two-dimensional position/channel control, instrument, non-electric variable control, etc., can solve the problems of large error of multi-sensor information, large operation deviation, and inability to achieve excellent practical performance , Strong degree of automation, novel design effect

Inactive Publication Date: 2018-08-14
GUANGZHOU PANYU POLYTECHNIC
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Problems solved by technology

In the non-visual sensor integrated navigation system, the position, attitude, speed and other information of the robot are obtained by using various sensors, usually ultrasonic sensors and infrared sensors are used, and there are large errors in the multi-sensor information fusion. The resulting deviation is relatively large, there are deficiencies, and it cannot meet the actual needs of the society

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  • Multi-sensor information fusion robot pose measurement method and device

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Embodiment Construction

[0016] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

[0017] A multi-sensor information fusion robot attitude measurement method, including obstacle detectors, various sensor systems, ultrasonic sensors and infrared sensors are used when the obstacle detector detects data, and the information is fused using the data fusion method of the expert system. The database is composed of the information obtained by each sensor, and then the first-level rule base is designed. This rule base judges the distribution of obstacles in the area around the robot based on the data in the database. After the robot avoids obstacles, it needs to adjust its position so that the robot’s The direction of movement returns to the direction before avoiding obstacles, such as turning left, and when there are no obstacles on th...

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Abstract

The invention discloses a multi-sensor information fusion robot pose measurement method and device. The device comprises a barrier detector and various sensor systems, the barrier detector adopts an ultrasonic sensor and an infrared sensor for detecting data, and information is fused by adopting a data fusion method of an expert system, firstly, the information obtained by sensors forms a database, then, a primary rule library is designed, and the rule library judges distribution of barriers around a robot according to data in the database. A synthetic system with integrated functions is automatically operated, the computer technology, the sensing technology, the information technology, the communication technology, the navigation and automatic control technology and the like are applied intensively, and the device is high in automatic degree, excellent in practical performance and novel in design and is a good innovation scheme.

Description

technical field [0001] The invention relates to the technical field of robot operation control, in particular to a robot attitude measurement method and device for multi-sensor information fusion. Background technique [0002] Robot navigation is an important part of mobile robotics and one of the main differences between mobile robots and stationary robots. Robot navigation is the technology of how to determine the path when the robot moves in the external environment. After the robot is equipped with a navigation device, the robot can have a target direction during the movement, and will not collide with other obstacles, and finally reach the destination. At present, there are many methods for robot navigation. According to the different hardware used to realize the navigation system, the navigation system is usually divided into a visual navigation system and a non-visual sensor navigation system. The visual system can obtain a large amount of environmental information,...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0242G05D1/0246G05D1/0255
Inventor 熊昕熊茂华
Owner GUANGZHOU PANYU POLYTECHNIC
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