Orthogonal planar mobile robot pose detection device and method

A mobile robot and planar movement technology, which is applied in directions such as navigation through velocity/acceleration measurement, can solve problems such as limiting the range and practicability of robot movement, affecting the accuracy of robot pose detection, and large pose detection, achieving light weight , accurate measurement and strong applicability
CN110793513APending Publication Date: 2020-02-14NORTHEASTERN UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
NORTHEASTERN UNIV
Publication Date
2020-02-14

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Abstract

The invention provides an orthogonal planar mobile robot pose detection device and method. The device comprises an overall fixed block, a supporting frame, and four driven wheel sets. The overall fixed block is arranged on the supporting frame; each driven wheel set comprises a driven wheel support, an omnibearing driven wheel, a connecting mechanism, a sliding mechanism and a linear speed acquisition module, and the driven wheel sets can rotate around the wheel shaft of the driven wheel sets, can slide in the vertical direction perpendicular to the shaft of the omnibearing driven wheels and are kept in contact with the ground all the time, and the position and posture of a mobile robot can be calculated without referring to the position of an object or other known reference information.
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Description

technical field

[0001] The invention relates to the technical field of pose detection of mobile robots, in particular to an orthogonal planar mobile robot pose detection device and detection method. Background technique

[0002] Mobile robots are more and more widely used in human production and life, such as various competition robots, workshop handling robots, cleaning robots and various service robots. The chassis types of mobile robots mainly include: crawler type, differential wheel type, omnidirectional wheel type, etc. For mobile robots, pose detection technology is very important. The so-called pose detection is to determine the real-time pose of the robot in the environment. If the mobile robot has no pose detection function, any autonomous movement of the robot is blind. The three key questions in the process of mobile robot movement are: where is now? where to go how to go?

[0003] In the field of industrial robots, there are mainly two pose detection method...

Claims

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