Intelligent navigation micro-system based on ROS and control method thereof

An intelligent navigation and micro-system technology, applied in the field of navigation, can solve problems such as limitations, single function of the mobile robot platform, and reduced environmental adaptability of the navigation system

Active Publication Date: 2018-12-21
NANJING UNIV OF SCI & TECH
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Problems solved by technology

The solution has the following problems: 1. The method of using the smart camera to scan the QR code to obtain the offset and declination greatly limits the environmental adaptability of the navigation system
2. The navi

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  • Intelligent navigation micro-system based on ROS and control method thereof
  • Intelligent navigation micro-system based on ROS and control method thereof
  • Intelligent navigation micro-system based on ROS and control method thereof

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Embodiment Construction

[0026] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0027] combine figure 1 , a kind of intelligent navigation microsystem based on ROS described in the present invention, comprises CPU control calculation module, sensor module and sensor data acquisition and preprocessing module; Sensor module includes lidar, depth camera, monocular camera, infrared photoelectric switch, IMU nine-axis gyroscope, GPS and encoder; laser radar, depth camera and monocular camera directly send the collected data to the CPU control calculation module through the USB interface, the data of IMU nine-axis gyroscope, GPS, infrared photoelectric switch and The encoder is collected by the sensor data acquisition and preprocessing module for data integration and preprocessing, and the processed data is sent to the CPU control computing module through the serial port communication interface; the CPU control computing module equipped with R...

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Abstract

The invention discloses an intelligent navigation micro-system based on a ROS. The intelligent navigation micro-system based on the ROS is characterized by comprising a CPU control calculation module,a sensor module and a sensor data collecting and preprocessing module; the sensor module comprises a laser radar, a depth camera, a monocular camera, an infrared photoelectric switch, an IMU nine-axis gyroscope, a GPS and an encoder; the laser radar, the depth camera and the monocular camera directly send collected data to the CPU control calculation module through a USB interface; the data of the IMU nine-axis gyroscope, the GPS, the infrared photoelectric switch and the encoder is integrated and pre-processed after being collected by the sensor data collecting and preprocessing module, andthe processed data is sent to the CPU control calculation module through a serial communication interface; the CPU control calculation module carrying the ROS performs comprehensive analysis on the sensor carrying situation of a current navigation micro-system and the current external environment through a self-scheduling algorithm, and automatically matches an appropriate navigation algorithm.

Description

technical field [0001] The invention belongs to navigation technology, and in particular relates to a ROS-based intelligent navigation microsystem and a control method thereof. Background technique [0002] In the article "Robot Navigation System Architecture Design Based on ROS", Li Sheng proposed a ROS-based robot navigation system. The robot hardware control system is composed of main controller, ARM controller, smart camera, gyroscope, and DC motor. The encoder uses the counter interface to connect and communicate with the embedded control board. The embedded control board drives the motor to run by setting the voltage value. The smart camera obtains the robot's offset and deflection angle by scanning the QR code and processing it with a specific algorithm. The gyroscope obtains the angle information, and the two encoders can obtain the respective mileage of the two wheels of the robot. After processing, the offset and declination information can be obtained. The soft...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0242G05D1/0246G05D1/0257G05D1/0276G05D1/0278G05D2201/02
Inventor 王俊杰唐兴禹洁胡偲聪苏岩
Owner NANJING UNIV OF SCI & TECH
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