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3159 results about "Mobile robot" patented technology

A mobile robot is a robot that is capable of locomotion. Mobile robotics is usually considered to be a subfield of robotics and information engineering. Mobile robots have the capability to move around in their environment and are not fixed to one physical location. Mobile robots can be "autonomous" (AMR - autonomous mobile robot) which means they are capable of navigating an uncontrolled environment without the need for physical or electro-mechanical guidance devices. Alternatively, mobile robots can rely on guidance devices that allow them to travel a pre-defined navigation route in relatively controlled space (AGV - autonomous guided vehicle). By contrast, industrial robots are usually more-or-less stationary, consisting of a jointed arm (multi-linked manipulator) and gripper assembly (or end effector), attached to a fixed surface.

Machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method

The invention discloses a machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method which comprises the following steps of: synchronously acquiring a mobile robot binocular camera image and triaxial inertial navigation data; distilling front/back frame image characteristics and matching estimation motion attitude; computing a pitch angle and a roll angle by inertial navigation; building a kalman filter model to estimate to fuse vision and inertial navigation attitude; adaptively adjusting a filter parameter according to estimation variance; and carrying out accumulated dead reckoning of attitude correction. According to the method, a real-time expanding kalman filter attitude estimation model is provided, the combination of inertial navigation and gravity acceleration direction is taken as supplement, three-direction attitude estimation of a visual speedometer is decoupled, and the accumulated error of the attitude estimation is corrected; and the filter parameter is adjusted by fuzzy logic according to motion state, the self-adaptive filtering estimation is realized, the influence of acceleration noise is reduced, and the positioning precision and robustness of the visual speedometer is effectively improved.
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