High-precision navigation positioning system for mobile operation robot

Abstract

The invention discloses a high-precision navigation and positioning system for a mobile operation robot, and relates to the field of robot navigation and positioning. The system comprises a redundant IMU (Inertial Measurement Unit) and a measurement positioning unit, wherein the redundant IMU is used for providing continuous position and course angle data for a robot in a moving process according to positioning information of the measurement positioning unit; the measuring and positioning unit comprises a redundant magnetic sensor and an RFID device. The redundant magnetic sensor is combined with a magnetic nail array arranged on a site to obtain transverse and longitudinal deviation information, and pose data is obtained; and the RFID device is combined with the RFID tag to obtain global position information of the mobile operation robot. According to the method, the positioning precision is remarkably improved, the requirements for high-precision navigation and positioning of the mobile operation robot in various complex environments can be met, and meanwhile, autonomous operation path planning and accurate operation of the operation mechanical arm can be achieved in combination with high-precision positioning error information.

Description

Technical Field

[0001] The present invention relates to the field of robot navigation and positioning, and more particularly to a high-precision navigation and positioning system for a mobile working robot. Background Art

[0002] With the growing demand for mobile robots in fields such as industrial automation, logistics and medical services, the autonomous movement and high-precision positioning of robots in complex environments have become particularly important. High-precision positioning systems are the key to ensuring efficient and stable operation of robots.

[0003] At present, some mobile working robots rely on IMU and magnetic sensors for navigation and positioning. However, single sensor systems face the problems of insufficient accuracy and weak anti-interference ability. IMU is prone to cumulative errors during long-term operation, resulting in a decrease in the accuracy of position and heading angle estimation, which requires frequent correction. Existing multi-sensor fusion methods have improved positioning accuracy to a certain extent, but they usually lack a complete redundant design, making it difficult to fully guarantee data reliability. In addition, traditional magnetic sensor systems mainly consider the measurement of lateral deviations, but do not fully introduce longitudinal deviations, which limits the further improvement of position and heading solution accuracy in two-dimensional space. Summary of the invention

[0004] In view of this, the present invention provides a high-precision navigation and positioning system for mobile working robots. By adopting the layout design of redundant magnetic sensors and redundant IMUs, not only the reliability and stability of the data are enhanced, so that the system can continue to operate stably when some sensors fail or are interfered with, but also the longitudinal deviation measurement is introduced through the innovative arrangement of magnetic sensors to achieve higher-precision heading angle and position solution. This method significantly improves the positioning accuracy and can meet the needs of high-precision navigation and positioning of mobile working robots in various complex environments. At the same time, combined with high-precision positioning error information, autonomous working path planning and precise operation of the working robot arm can be realized.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A high-precision navigation and positioning system for a mobile working robot, comprising a redundant IMU unit and a measurement and positioning unit, wherein the redundant IMU unit is used to provide continuous position and heading angle data for the robot during movement according to the positioning information of the measurement and positioning unit;

[0007] The measurement and positioning unit includes a redundant magnetic sensor and an RFID device;

[0008] The redundant magnetic sensor acquires lateral and longitudinal deviation information in combination with the magnetic nail array arranged on the site to obtain position data; the RFID device acquires global position information of the mobile working robot in combination with the RFID tag.

[0009] Optionally, the redundant magnetic sensors are arranged in an orthogonal manner, and three groups of magnetic sensors are arranged at equal intervals L1 laterally along the central axis of the robot, so as to obtain the lateral deviation d1, lateral deviation d2 and lateral deviation d3 of the center point of each magnetic sensor relative to the magnetic nail; wherein the center point of the middle magnetic sensor coincides with the center point of the mobile carrier; and two groups of magnetic sensors are arranged at equal intervals L2 longitudinally on the left and right sides of the center point of the mobile carrier, so as to obtain the longitudinal deviation d4 and longitudinal deviation d5 of the center point of each magnetic sensor relative to the magnetic nail, and four groups of heading angle information are obtained by solving the redundant lateral deviations and longitudinal deviations using the tangent function, and the optimal heading angle is obtained by mean processing.

[0010] Optionally, the optimal heading angle is solved by combining each deviation data and the geometric relationship between the center point of the corresponding magnetic sensor and the center point of the vehicle body to obtain redundant center position information of the mobile carrier, and the optimal position is obtained through mean processing.

[0011] Optionally, a single magnetic nail array is arranged on the moving path to obtain lateral deviation for solving position information and heading angle information; a magnetic nail array corresponding to the redundant magnetic sensors is arranged in the stop area to simultaneously obtain lateral deviation and longitudinal deviation.

[0012] Optionally, the installation position of the redundant IMU unit is consistent with the position of the laterally arranged magnetic sensor. When the magnetic nail array signal is detected, an unscented Kalman filtering algorithm is used to fuse the magnetic nail signal with the mean-processed redundant IMU unit information to achieve high-precision navigation and positioning.

[0013] Optionally, after the working robot obtains the position and heading angle information in the stopping area, the driving parameters of the working robot arm are calculated through kinematic inverse solution in combination with the predetermined target position and heading angle of the working robot, and the relevant motor drive quantities are accurately compensated to achieve autonomous working path planning and precise operation of the working robot arm.

[0014] Optionally, the redundant IMU unit includes a front-end IMU, a center point IMU and a back-end IMU, which independently collect acceleration and angular velocity data, solve the position and heading angle information through integration, and perform average processing on multiple groups of independent solution results, so as to obtain more stable position and heading angle data.

[0015] It can be seen from the above technical solutions that, compared with the prior art, the present invention provides a high-precision navigation and positioning system for mobile working robots, which adopts a combination design of redundant IMU and redundant magnetic sensors to improve the anti-interference ability and data reliability of the system. Even if some sensors fail, the system can still operate stably. By introducing the untraceable Kalman filter algorithm, the efficient fusion of redundant IMU and magnetic nail solution data is achieved, the cumulative error is effectively eliminated, and the navigation and positioning accuracy is significantly improved. The design of orthogonally arranged redundant magnetic sensors not only considers the lateral deviation, but also introduces the longitudinal deviation measurement, which improves the two-dimensional plane positioning accuracy. Continuous guidance and autonomous operation of multi-station tasks are realized, which can meet the needs of high-precision navigation and operation in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0017] Figure 1 is a schematic diagram of the layout of the sensors of the present invention;

[0018] Figure 2 This is a schematic diagram of the layout of the supporting magnetic nails of the present invention;

[0019] Figure 3 It is a schematic diagram of calculating the heading angle deviation of the redundant magnetic sensor system of the present invention;

[0020] Figure 4 It is a flow chart of the navigation positioning and autonomous operation planning algorithm of the present invention;

[0021] Among them, 1-front-end IMU, 2-front-end magnetic sensor, 3-mobile chassis, 4-RFID device, 5-center point IMU, 6-center point magnetic sensor, 7-right magnetic sensor, 8-rear-end IMU, 9-rear-end magnetic sensor, 10-left magnetic sensor, 11-operating robotic arm, 12-magnetic nail, 13-moving path, 14-RFID tag, 15-parking area, 16-workbench. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The embodiment of the present invention discloses a high-precision navigation and positioning system for a mobile working robot, comprising a redundant IMU unit and a measurement and positioning unit, wherein the redundant IMU unit is used to provide continuous position and heading angle data of the robot during movement according to the positioning information of the measurement and positioning unit;

[0024] The measurement and positioning unit includes a redundant magnetic sensor and an RFID device;

[0025] The redundant magnetic sensor acquires lateral and longitudinal deviation information in combination with the magnetic nail array arranged on the site, and obtains posture data through calculation; the RFID device acquires global position information of the mobile working robot in combination with the RFID tag.

[0026] like Figure 1 As shown, the mobile operation robot comprises a mobile chassis 3, on which an operating mechanical arm 11 is mounted for performing various operation tasks. The navigation and positioning system is composed of a redundant IMU system, a redundant magnetic sensor system and an RFID device 4, which work together to achieve high-precision navigation and positioning and autonomous operation.

[0027] The redundant IMU system provides continuous position and heading angle data during the robot's movement. Each IMU unit (front-end IMU1, center point IMU5, and back-end IMU8) independently collects acceleration and angular velocity data, calculates position and heading angle information through integration, and averages multiple sets of independent solution results to obtain more stable position and heading angle data, reducing the impact of single IMU errors on overall navigation.

[0028] The redundant magnetic sensor system combines the magnetic nail array arranged on the site to accurately obtain the lateral and longitudinal deviation information, and obtains the posture data through calculation. Each magnetic sensor, including the front magnetic sensor 2, the center point magnetic sensor 6, the rear magnetic sensor 9, the left magnetic sensor 10 and the right magnetic sensor 7, is installed in an orthogonal layout to ensure that high-precision deviation information can be obtained on the path and in the parking area.

[0029] like Figure 2 As shown, the magnetic nail array is arranged in different densities and layouts in the moving path 13 and the parking area 15. The magnetic nails 12 in the moving path adopt a sparse array and only provide lateral deviation information to the robot. The accuracy requirements of continuous navigation can be met by solving the lateral deviation. The magnetic nails in the parking area are arranged at a high density and are consistent with the orthogonal layout of the redundant magnetic sensors on the chassis to ensure that the lateral and longitudinal deviation information are provided at the same time, further improving the accuracy of the posture solution of the parking area.

[0030] The magnetic nail array is used in conjunction with the RFID tag 14. The RFID tag provides an absolute position identifier, which is used together with the magnetic nail information to periodically calibrate the cumulative error of the IMU. When the robot reads the RFID tag, the system fuses the absolute position of the RFID with the IMU data to eliminate the cumulative error and ensure the long-term stability of the global positioning.

[0031] like Figure 3 As shown in the figure, the system obtains lateral and longitudinal deviation information through magnetic sensors in the path and parking area. The magnetic sensors at the front, middle and rear ends collect lateral deviations d1, d2 and d3, and the left and right magnetic sensors in the parking area collect longitudinal deviations d4 and d5. Based on these deviation data, the system obtains redundant heading angle data through tangent function calculation, and obtains the optimal heading angle through mean processing, further calculates the redundant position, and obtains the optimal position after mean processing.

[0032] like Figure 4 As shown, the navigation and positioning system of the present invention achieves continuous guidance in the path, high-precision positioning in the parking area, and ultimately supports the operation planning of the robotic arm by fusing redundant IMU data with magnetic nail deviation signals. Figure 4 The workflow of the system is shown, which can be divided into the following three stages:

[0033] In the continuous guidance phase, the redundant IMU system continuously collects acceleration and angular velocity on the path, calculates the pose data through integration, and performs mean fusion to eliminate occasional errors. This phase realizes continuous navigation on the path, ensuring that the robot always stays on the specified path.

[0034] In the magnetic nail correction stage, when the robot approaches the magnetic nail position, the system fuses the IMU data and the magnetic nail signal through the UKF (unscented Kalman filter) algorithm to calibrate the accumulated error. Figure 4 The magnetic nail correction module in shows how to use the high-precision position information provided by the magnetic nails to correct the IMU data, thereby avoiding path drift caused by error accumulation.

[0035] During the operation planning stage, after entering the parking area, the system obtains the lateral and longitudinal deviations through the magnetic sensors, and calculates the precise heading angle and center position of the robot in combination with the magnetic pin coordinate information in the parking area. Figure 4 The right side shows the operation process in the working area. Based on the current high-precision position and heading angle data, the system plans the working path of the robot arm through kinematic inverse solution, and inputs the target position and heading angle into the driving module of the robot arm. This plan ensures that the robot arm can achieve precise autonomous operation on the workbench 16 and complete the preset tasks.

[0036] Figure 4It further explains how the system can achieve high-precision continuous guidance on the path and precise positioning of the parking area through multi-stage data fusion and correction. Through the combination of redundant IMU and redundant magnetic sensor data, the system can meet high-precision positioning and operation requirements in different work scenarios, providing reliable support for multi-station automated operations.

[0037] In summary, through the above implementation modes, the present invention can achieve high-precision navigation on complex paths, and realize precise positioning and autonomous operation in the working area, and can meet the high-precision positioning requirements of mobile working robots in complex environments.

[0038] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0039] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A high-precision navigation and positioning system for mobile working robots, characterized in that: It includes a redundant IMU unit and a measurement and positioning unit, wherein the redundant IMU unit is used to provide continuous position and heading angle data during the movement of the robot according to the positioning information of the measurement and positioning unit; The measurement and positioning unit includes a redundant magnetic sensor and an RFID device; The redundant magnetic sensor acquires lateral and longitudinal deviation information in combination with the magnetic nail array arranged on the site to obtain position data; the RFID device acquires global position information of the mobile working robot in combination with the RFID tag.

2. A high-precision navigation and positioning system for a mobile working robot according to claim 1, characterized in that: The redundant magnetic sensors are arranged in an orthogonal manner, and three groups of magnetic sensors are arranged at equal intervals L1 laterally along the central axis of the robot, so as to obtain the lateral deviation d1, lateral deviation d2 and lateral deviation d3 of the center point of each magnetic sensor relative to the magnetic nail; wherein the center point of the middle magnetic sensor coincides with the center point of the mobile carrier; two groups of magnetic sensors are arranged at equal intervals L2 longitudinally on the left and right sides of the center point of the mobile carrier, so as to obtain the longitudinal deviation d4 and longitudinal deviation d5 of the center point of each magnetic sensor relative to the magnetic nail, and four groups of heading angle information are obtained by solving the redundant lateral deviations and longitudinal deviations using the tangent function, and the optimal heading angle is obtained by average processing.

3. A high-precision navigation and positioning system for a mobile working robot according to claim 2, characterized in that: The optimal heading angle is solved by combining each deviation data and the geometric relationship between the center point of the corresponding magnetic sensor and the center point of the vehicle body to obtain the redundant center position information of the mobile carrier, and the optimal position is obtained through mean processing.

4. The high-precision navigation and positioning system for a mobile working robot according to claim 1, characterized in that: A single magnetic nail array is arranged on the moving path to obtain the lateral deviation for solving the position information and heading angle information; a magnetic nail array corresponding to the redundant magnetic sensors is arranged in the stopping area to obtain the lateral deviation and the longitudinal deviation at the same time.

5. The high-precision navigation and positioning system for a mobile working robot according to claim 2, characterized in that: The installation position of the redundant IMU unit is consistent with the position of the laterally arranged magnetic sensor. When the magnetic nail array signal is detected, the unscented Kalman filter algorithm is used to fuse the magnetic nail signal with the mean-processed redundant IMU unit information to achieve high-precision navigation and positioning.

6. The high-precision navigation and positioning system for a mobile working robot according to claim 1, characterized in that: After the working robot obtains the position and heading angle information in the stopping area, the driving parameters of the working robot arm are calculated through kinematic inverse solution in combination with the predetermined target position and heading angle of the working robot, and the relevant motor driving amount is accurately compensated to realize autonomous working path planning and precise operation of the working robot arm.

7. The high-precision navigation and positioning system for a mobile working robot according to claim 1, characterized in that: The redundant IMU unit includes a front-end IMU, a center point IMU and a back-end IMU, which independently collect acceleration and angular velocity data, solve the position and heading angle information through integration, and perform average processing on multiple groups of independent solution results to obtain more stable position and heading angle data.

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