ROS-based robot environment sensing and positioning system

By integrating multi-sensor data fusion of lidar, industrial cameras and inertial sensors, combined with a Mecanum wheeled chassis, the problem of insufficient robot positioning and mapping accuracy is solved, and high-precision environmental perception and autonomous navigation are achieved, making it suitable for applications such as cleaning, food delivery and express delivery robots.

CN120668148APending Publication Date: 2025-09-19LISHUI RES INST OF HANGZHOU UNIV OF ELECTRONIC SCI & TECH +1
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Patent Information

Application Number
CN202511010842.X
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-07-22
Publication Date
2025-09-19

AI Technical Summary

Technical Problem

The robot positioning and mapping based on the Mecanum wheeled chassis is not accurate enough, and positioning and mapping in complex scenes fail.

Method used

It uses lidar, industrial cameras, and inertial sensors as the main sensor data sources, communicates through the ROS architecture, and combines Mecanum wheels to achieve omnidirectional movement. It builds a positioning and navigation robot chassis framework system, and combines it with different application scenarios to become a universal solution for cleaning robots, food delivery robots, express delivery robots, etc.

Benefits of technology

It achieves efficient synchronization and fusion of multi-sensor data, improves the robot's positioning and mapping accuracy in complex environments, supports long-term autonomous operation, and is suitable for robot systems in various application scenarios.

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Abstract

The invention discloses a robot environment sensing and positioning system based on an ROS. Effective data of multiple sensors can be efficiently processed, and the timestamps are unified for data fusion. According to the invention, an NUC11 industrial personal computer receives sensor data of an inertial sensor, a laser radar and an industrial camera and transmits the sensor data to a corresponding algorithm module for processing; a grid map is established after the surrounding environment is sensed; the speed and the direction are sent to the STM32 single-chip microcomputer through serial port communication, the STM32 single-chip microcomputer calculates the speed and the direction and then converts the speed and the direction into current values, current value data are sent to the motor through CAN communication, the Mecanum wheels are driven to move in all directions, and the navigation robot capable of achieving self-positioning and omni-directional movement is achieved. According to the omni-directional moving efficient wheeled robot, Mecanum wheels are innovatively combined to achieve omni-directional moving, a universal positioning and navigation robot chassis frame system is constructed, and the omni-directional moving efficient wheeled robot can become a universal solution for a cleaning robot, a meal delivery robot, an express delivery robot and the like in combination with different application scenes.
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