Multi-sensor-based trackless omnidirectional mobile robot system and control method thereof

A robot system and mobile robot technology, which is applied in the field of trackless omnidirectional mobile robot system and its control, can solve the problems of inertial navigation sensor accumulation error, inaccurate positioning, inaccurate odometer distance measurement, etc., and achieve pose correction The effect of precise positioning, improving fault tolerance, and eliminating accumulated errors

Active Publication Date: 2019-03-19
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0003] Aiming at the defects of the prior art, the object of the present invention is to provide a multi-sensor-based trackless omnidirectional mobile robot system and its co

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  • Multi-sensor-based trackless omnidirectional mobile robot system and control method thereof

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[0026] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0027] The invention provides a multi-sensor-based trackless omnidirectional mobile robot system and its control method are mainly applied to the material or goods transportation of manufacturing enterprises or logistics enterprises; it can further improve the positioning accuracy of mobile robots in a mixed environment of man and machine , Control real-time, steering flexibility, and environmental adaptability.

[0028] The invention provides a multi-sensor-based trackless omnidirectional mobile robot system, including: a control board, a PC for transmitting control signals to the control boar...

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Abstract

The invention discloses a multi-sensor-based trackless omnidirectional mobile robot system and a control method thereof. The system comprises a control panel, a PC (personal computer), an inertial navigation sensor, a two-dimensional code recognizer, a laser sensor, an odometer, a motor driver and an omnidirectional moving chassis connected with the motor driver, wherein the PC is used for transmitting control signals to the control panel, and the inertial navigation sensor, the two-dimensional code recognizer, the laser sensor, the odometer and the motor driver are connected to the control panel separately. The control board reads the data information of the inertial navigation sensor, two-dimensional code recognizer, laser sensor and odometer and obtains a corresponding control signal after control calculation and processing in order to control a motor to drive a mobile robot to run along a designated path. The control method achieves accurate locating by combining the odometer witha two-dimensional code on the basis of an inertial navigation algorithm. The method achieves position state correction and accurate locating of the trackless omnidirectional mobile robot and improvesthe adaptability and stability of the trackless omnidirectional mobile robot in a man-machine hybrid environment.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a multi-sensor-based trackless omnidirectional mobile robot system and a control method thereof. Background technique [0002] With the continuous improvement of industrial automation, mobile robot technology has developed rapidly and has been widely used in many industries such as logistics distribution, grass industry, pharmaceuticals, automobile manufacturing, machine fine chemicals, railways and military industries. In some logistics fields where humans and machines are mixed, in the process of carrying goods by mobile robots, due to the inaccurate range measurement of the odometer and the cumulative error in the measurement of the inertial navigation sensor, the positioning is inaccurate, and the adaptability to the mixed environment of humans and machines is not high. , steering flexibility also needs to be further improved. Contents of the invention [00...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0229G05D1/024G05D1/027G05D2201/0216
Inventor 彭刚陈善良王志濠
Owner HUAZHONG UNIV OF SCI & TECH
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