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SLAM-based intelligent control system for robot

A technology of robot intelligence and control system, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as poor obstacle avoidance ability, poor robot robustness, and poor robot positioning accuracy, and achieve the effect of enhancing robustness

Inactive Publication Date: 2021-02-05
INNER MONGOLIA UNIV OF TECH
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0003] In the process of using the existing robot control system, the SLAM algorithm for laser radar and vision alone has certain defects, the positioning accuracy of the robot is poor, and the obstacle avoidance ability is poor in relatively complex environments and places with concentrated traffic , the robot's robustness is poor, which is not conducive to the control and use of the robot. Therefore, a robot intelligent control system based on SLAM technology is proposed

Method used

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Embodiment

[0025] see Figure 1-2 , the present invention provides a technical solution: a robot intelligent control system based on SLAM technology, including: MiniPC, ARM embedded main control, laser radar sensor, vision sensor, omnidirectional wheel, inertial measurement unit, ZIGBEE module, orthogonal Code disc and encoder, camera and 2D laser sensor; ARM embedded main control is interactively connected with ZIGBEE module, ARM embedded main control is interactively connected with MiniPC, omnidirectional wheel is respectively connected with laser radar sensor, ZIGBEE module, inertial measurement unit, positive The cross-code disc is connected with the encoder and the visual sensor, the lidar sensor and the visual sensor are connected with the MiniPC, the inertial measurement unit is connected with the MiniPC, the orthogonal code disc is connected with the encoder and the ARM embedded main control, and the ARM embedded main control is connected with the full to the wheel connection;

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Abstract

The invention discloses an SLAM-based intelligent control system for a robot. The SLAM-based intelligent control system for the robot comprises a MiniPC, an ARM embedded master controller, a laser radar sensor, a visual sensor, universal wheels, an inertia measurement unit, a ZIGBEE module, an orthogonal code disk and encoder, a camera and a 2D laser sensor, wherein the ARM embedded master controller is connected with the IGBEE module in an interactive manner and is connected with the MiniPC in an interactive manner, and the universal wheels are connected with the laser radar sensor, the ZIGBEE module, the inertia measurement unit, the orthogonal code disk and encoder and the visual sensor. When the SLAM-based intelligent control system is used, data of the inertia measurement unit, the laser radar sensor and the camera are integrated to complement the advantages of all the sensors, so that the mapping and positioning precision of a movable platform is improved, obstacle avoidance in acomplicated environment and in a place with a dense crowd and local dynamic obstacle avoidance are realized, and the robustness of a mobile chassis of the robot during actual operation is improved.

Description

Technical field: [0001] The invention relates to the technical field of robot control, in particular to a robot intelligent control system based on SLAM technology. Background technique: [0002] A robot is an intelligent machine capable of working semi-autonomously or fully autonomously. It can assist or even replace humans to complete dangerous, heavy, and complicated tasks, improve work efficiency and quality, serve human life, expand or extend the scope of human activities and capabilities, and with the continuous improvement of the level of intelligence of robots, it is used in family services, health It has played a more important role in health care and new media entertainment. When a mobile robot usually works in a relatively complex indoor environment, multiple sensors are required to perceive the surrounding environment and complete tasks such as map construction, positioning and autonomous navigation, that is, to realize SLAM of the mobile robot. Therefore, the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/16B25J9/161B25J9/1697B25J19/02B25J19/022B25J19/023
Inventor 范海廷杜云刚苏欣陈帅田莎琦侯培军
Owner INNER MONGOLIA UNIV OF TECH
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