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Robot moving platform and moving sensing method thereof

A technology of moving platform and sensing method, applied in manipulators, manufacturing tools, etc., can solve problems such as error accumulation

Active Publication Date: 2007-07-04
IND TECH RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The estimation of the orientation of the mobile platform can be realized by components such as electronic compass or inertial gauge, but this method is only used for the measurement of the rotation orientation of the mobile platform
In addition, the application of accelerometers can also be used for motion sensing of the mobile platform, but to obtain position and velocity information, it must be achieved through two integrations and one integration respectively, so it is easy to cause error accumulation

Method used

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  • Robot moving platform and moving sensing method thereof
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  • Robot moving platform and moving sensing method thereof

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Embodiment Construction

[0049] Below, the features, purpose and functions of the present invention will be further described in detail in conjunction with the accompanying drawings.

[0050] Please refer to FIG. 1 and FIG. 2 , which are respectively a three-dimensional exploded view and a three-dimensional assembled view of an omnidirectional meter wheel meter module according to a preferred embodiment of the present invention. The omnidirectional meter wheel meter module 100 mainly includes an omnidirectional wheel 101 with straight rotation and lateral sliding characteristics and a rotary encoder 102, wherein the two sides of the omnidirectional wheel 101 are respectively fixed to the side support by bearings 103 and 104 Frames 105 and 106; the rotary encoder 102 is connected with the omnidirectional wheel 101 through the bearing 103. When the straight rotation side of the omnidirectional wheel 101 is in contact with the ground to rotate forward or backward, the rotary encoder 102 can be driven to ...

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Abstract

The invention discloses a robot moving platform and mobile sensing method, which is characterized by the following: adopting mutually vertical omnidirectional wheel mode and magnetic sensing mode to monitor the moving condition of mobile platform; calculating position, speed, angular position and angular speed of moving platform through signal processing device.

Description

technical field [0001] The present invention relates to a robot mobile platform and a mobile sensing method thereof, in particular to a robot mobile platform utilizing two mutually perpendicular omnidirectional meter wheel gauge modules and a magnetic sensing module and a mobile sensing method thereof. Background technique [0002] Generally speaking, various moving information of the mobile platform is obtained through sensors, and the sensing methods used are usually: encoding, light beam, orientation and acceleration, etc. [0003] The encoding sensing method is a commonly used motion sensing method for mobile platforms. The component used is a rotary encoder. The encoder must be installed on the wheel shaft of the mobile platform during application. The position and position of the mobile platform during motion can be calculated by the speed difference between the two wheels. Speed, angular position, angular velocity and other physical quantities, but because this method...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J19/02B25J19/00
Inventor 叶赐旭陈孟群曾国师杜茂枫
Owner IND TECH RES INST
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