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

Pending Publication Date: 2020-02-14
NORTHEASTERN UNIV
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Problems solved by technology

However, this type of positioning method has great limitations: since the encoder is installed on the driving wheel to measure the angle of rotation of the driving wheel, when the robot encounters excessive resistance, rough or inclined ground, it will cause a certain wheel to hang in the air Or slipping, causing a large pose detection error, seriously affecting the accuracy of robot pose detection
However, this method greatly limits the moving range and practicability of the robot, which is far from enough in actual industrial production. People hope to achieve multi-directional high-precision pose detection

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  • Orthogonal planar mobile robot pose detection device and method
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  • Orthogonal planar mobile robot pose detection device and method

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[0051] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0052] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. EXAMPLE LIMITATIONS.

[0053] Refer below Figure 1 to Figure 7 Describe the pose detection device and detection method of the orthogonal planar mobile robot according to some embodiments of the present invention.

[005...

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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.

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...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/10
CPCG01C21/10
Inventor 陆志国王儒超吴任穷刘冲王雨浓王世雄
Owner NORTHEASTERN UNIV
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