A pose detection device and pose detection method of an omnidirectional mobile platform

Abstract

The invention provides a position and attitude detection device and a position and attitude detection method for an omnidirectional mobile platform, including an omnidirectional wheel, a transmission shaft, an encoder, a bearing, a coupling, an omnidirectional wheel seat, a connecting rod, a pin shaft, and a steering rod , top plate, lead screw, linear guide, slider, hand grip, stepper motor, main control board, steering rod, connecting rod and omnidirectional wheel seat form a two-degree-of-freedom suspension system, and the omnidirectional wheel seat can wrap around the connecting rod Free rotation, the connection between the connecting rod and the omnidirectional wheel seat is a tight fit, the connecting rod is equipped with a bearing, the connecting rod can freely rotate around the steering rod, and the connection between the connecting rod and the steering rod is a tight fit, ensuring that the connecting rod and the steering rod have no shaft There is a bearing in the connecting rod to ensure the relative smooth sliding of the connecting rod and the omnidirectional wheel base. When the uneven ground causes the support reference plane of the mobile platform to be inconsistent with the support reference plane of the omnidirectional wheel of the pose detection device , Through the adjustment of the two-degree-of-freedom suspension mechanism, the full and non-slip contact between the omnidirectional wheel and the ground can be ensured.

Description

technical field [0001] The invention relates to a posture detection device and a posture detection method of an omnidirectional mobile platform, and belongs to the technical field of posture detection of positioning devices. Background technique [0002] During the movement of the robot's mobile platform, it must detect its own posture in real time, otherwise it cannot be guaranteed that the robot's mobile platform can walk according to the planned path. At present, some mobile platforms realize the posture and posture detection by measuring the rotation speed and rotation angle of the driving wheel. However, due to the problem of slippage of the driving wheel, this method cannot achieve accurate pose detection. [0003] For the current position and attitude detection device through the driven wheel, the combination of encoder, compass and gyroscope is mostly used (invention patent publication number CN106493725A), the encoder is used to detect the translation distance of th...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the current pose detection device cannot accurately detect the pose of the omnidirectional mobile platform, especially for electromagnetic interference that has a great influence on the data accuracy of the compass and gyroscope, and the slippage between the omnidirectional wheel and the ground The encoder odometer data is inaccurate. To solve this problem, the present invention proposes a pose detection device and a pose detection method for an omnidirectional mobile platform.

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