Real-time Acquisition Method of Heading Angle of Ground Robot Based on Laser Tracking Total Station

Abstract

The invention discloses a real-time acquisition method of the course angle of a ground robot based on a laser tracking total station, comprising the following steps: establishing the Cartesian coordinates of the total station, aligning the total station with a prism, and tracking the rotation of the prism; measuring The angle α between the laser emitted by the total station and the X axis; use an industrial camera to take an image of the laser emitted by the laser transmitter, and transmit the image to the controller; use the controller to analyze the position of the laser luminous point in the image The offset is calculated by PID to obtain the angular velocity w of the turntable and transmitted to the driver of the turntable to adjust the angle β of the electric turntable; to obtain the real-time heading angle θ of the robot. Through the above solution, the present invention has the advantages of accurate measurement, less calculation workload, etc., and has high practical value and popularization value in the technical field of airport pavement detection.

Description

technical field [0001] The invention relates to the technical field of airport pavement detection, in particular to a method for real-time acquisition of the course angle of a ground robot based on a laser tracking total station. Background technique [0002] At present, the basis for autonomous movement of traditional ground robots is to store a map and know the position and attitude (ie heading angle) of the ground robot in the map. For a translational robot, its position is the coordinate in the plane coordinate system. The traditional method of obtaining the pose of ground robots mainly includes lidar and GPS positioning; specifically, for indoor robots, it uses lidar detection and combines Slam technology to obtain its real-time pose. For ground robots in outdoor open areas, the short range of lidar can no longer meet the actual requirements. Therefore, outdoor ground robots often use GPS positioning to obtain their poses. In general, a robot with a GPS module instal...

AI Technical Summary

Problems solved by technology

However, the GPS signal is easily interfered by many factors, such as high-rise buildings in the urban area, bridges erected with steel bars, dense trees, etc. The GPS signal in these places is very poor, and the position of the antenna cannot be obtained, and the pose of the robot cannot be calculated.

At present, there are already methods to accurately position the robot in an outdoor environment without GPS (such as a total station with target tracking), but there is no good way to obtain the heading angle. The direction of the earth's magnetic field can be obtained by adding a magnetic compass. However, magnetic induction is more affected by the external environment, and it is basically impossible to use it in practice.

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