Mobile robot positioning navigation system and method based on teaching multi-sensor

A mobile robot, positioning and navigation technology, applied in two-dimensional position/channel control, control/adjustment system, instrument, etc., can solve the problems of high computing cost, etc., and achieve the effect of convenient method, easy to use, and simple operation

Inactive Publication Date: 2019-07-26
NORTHEASTERN UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

Therefore, the implementation of the slam system needs to build a globally consistent map, which brings higher computing costs.

Method used

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  • Mobile robot positioning navigation system and method based on teaching multi-sensor
  • Mobile robot positioning navigation system and method based on teaching multi-sensor
  • Mobile robot positioning navigation system and method based on teaching multi-sensor

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Embodiment Construction

[0053] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments.

[0054] The overall structure of the system in this embodiment is as follows: figure 1 As shown, the model of the embedded development board is STM32, the model of the industrial computer is Jimmy gk400, the model of the TTL to USB module is CH340G, the model of the 3D laser is VLP-16, the model of the car battery is YSN-1211000, and the boost The model of the module is MKX-DC12V~19V, the model of the car battery is KEMV 12V100A, the model of the power supply is SKYRC IMAX B6, the model of the router is MERCURY MW325R, and the model of the handle is SonyPS3. In this embodiment, the connection relationship of each component is:

[0055] A multi-sensor mobile robot positioning and navigation system based on teaching: upper navigation module, lower motion control module, handle and computer;

[0056] The handle is connected to the lower control module, th...

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Abstract

The invention discloses a mobile robot positioning navigation system and method based on a teaching multi-sensor. The system comprises an upper navigation module, a lower motion control module, a handle and a computer; the handle provides an enabling effect of trolley motion control; the computer is used for monitoring and debugging a robot; the lower motion control module is used for realizing the motion control of a trolley platform, displaying trolley state information, and reading and transmitting encoder data; and the upper navigation module is used for acquiring point cloud data and speed data. The mobile robot positioning navigation system based on the teaching multi-sensor provided by the invention has the advantages that the structure is reasonable and concise, the method is convenient and fast, indoor AGV (Automated Guided Vehicle) navigation can be carried out quickly through the method, a non-specialized person is easy to use the method, the operation is simple, and the useis convenient. The calculation efficiency of the method of the system is high, and paths of any shape can be independently learned and traversed, and meanwhile, the speed and direction can be corrected according to three-dimensional laser data and position information provided by speedometer information.

Description

technical field [0001] The invention belongs to the field of industrial automation, in particular to a teaching-based multi-sensor mobile robot positioning and navigation system and method. Background technique [0002] With the increase of labor costs and the development of science and technology, robots (especially industrial robots) are more and more widely used in the field of industrial automation. Automated Guided Vehicle (Automated Guided Vehicle hereinafter referred to as AGV), also known as a handling robot, is an important link in a modern intelligent logistics system. However, the current mainstream AGV guidance technology cannot make it fully realized in the work independent. [0003] As one of the core technologies, navigation is the most important symbol of the development of AGV technology. The traditional navigation methods are represented by electromagnetic navigation and magnetic tape navigation, using physical paths, the environment is simple, and no aut...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0251G05D1/0257G05D1/0276G05D2201/02
Inventor 方正王鹏周思帆郭金迪
Owner NORTHEASTERN UNIV
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