CN205485620U - Self -contained navigation system of robot - Google Patents
Self -contained navigation system of robot Download PDFInfo
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- CN205485620U CN205485620U CN201620104011.9U CN201620104011U CN205485620U CN 205485620 U CN205485620 U CN 205485620U CN 201620104011 U CN201620104011 U CN 201620104011U CN 205485620 U CN205485620 U CN 205485620U
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Abstract
The utility model relates to a robotechnology field, concretely relates to self -contained navigation system of robot. It includes main control unit, travel drive module, setpoint signalling and receiving module, obstacle detection module, information storage module, still including the electronic gyroscope who carries out rotation angle calculation, travel drive module, setpoint signalling all are connected with main control unit with receiving module, obstacle detection module, information storage module, electronic gyroscope, are equipped with sensor data collection and processing module on the above -mentioned main control unit. Setpoint signalling and receiving module include 1 above radio signalling device and radio signal receiving arrangement. Still include speech recognition and close moulding piece and laser scanner.
Description
Technical field
This utility model relates to robotics, is specifically related to a kind of robot autonomous navigation system.
Background technology
The application of robot is more and more extensive, in the occasion that some are special, the places such as such as dining room, exhibition center, museum, science and technology center, tourist quarters, personnel are the most intensive, working environment is fixed, and robot can undertake the work of partial service personnel, is so possible not only to reduce the quantity of service personal, and science and technology element and interest can be increased, attract the participation of Children and teenager.
In order to complete these work, need robot can detect barrier, it is to avoid to collide, it is possible to determine self-position, carry out the path planning of task based access control.Existing robot navigation's one is to use navigation bar, although simple in construction, but affects the aesthetic property of integrated environment.After also having one to be employing laser scanner scans environment, forming prefabricated map, and store a series of anchor point, this mode needs to lead robot row in advance to take a round, and once converts the position of target anchor point, needs the most prefabricated map.
Utility model content
For the deficiencies in the prior art, this utility model provides a kind of robot autonomous navigation system, it is not necessary to navigation bar and prefabricated map.The technical solution adopted in the utility model is specific as follows: includes that master controller, hoofing part module, setpoint signal are launched and stores module with receiver module, detection of obstacles module, information, also include the electronic gyroscope carrying out anglec of rotation calculating, the transmitting of described hoofing part module, signal stores module with receiver module, detection of obstacles module, information, electronic gyroscope is all connected with master controller, and above-mentioned master controller is provided with sensor data acquisition and processing module.
Further, described detection of obstacles module includes laser sensor and/or sonar sensor.
Further, described setpoint signal is launched and receiver module includes more than 1 radio signal transmitting and receiving device, and described radio signal launcher is positioned on object, and described radio signal receiving apparatus is located on robot body.
Further, the quantity of described radio signal transmitting and receiving device is consistent with anchor point quantity.
Further, speech recognition and synthesis module are also included.
Further, laser scanner is also included.
The beneficial effects of the utility model are mainly manifested in:
1, need not paste navigation bar, be conducive to keeping the attractive in appearance of environment；
2, need not pre-rendered map, simple to operation；
3, barrier can be detected, it is to avoid collision；
4, multiple positioning modes is combined, and can more efficiently position self-position.
Accompanying drawing explanation
The system block diagram of the autonomous navigation system of Tu1Shi robot.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is further described.
As shown in Figure 1, robot autonomous navigation system, including master controller 4, hoofing part module 2, setpoint signal is launched and receiver module 3, detection of obstacles module 8, also include capable of speech signal and synthesize speech recognition and the synthesis module 9 of output voice signal, carry out the electronic gyroscope 1 of anglec of rotation calculating and for the laser scanner 10 of real-time positioning and map making, described hoofing part module, setpoint signal is launched and receiver module, detection of obstacles module 8, speech recognition and synthesis module 9, electronic gyroscope, laser scanner is all connected with master controller, above-mentioned master controller is provided with data acquisition and procession module 5, information stores module 12.
Described setpoint signal is launched and receiver module includes n radio signal transmitting and receiving device 11, and the quantity of described radio signal transmitting and receiving device is consistent with anchor point quantity.Described radio signal launcher is positioned on object, and described radio signal receiving apparatus is located on robot body.In robot work process, determine the position of different target thing according to the position of each radio signal launcher.After radio signal receiving apparatus receives signal, transferring data to data acquisition and procession resume module, and signal after process is transferred to hoofing part module, hoofing part module is for controlling to drive the direction of motion and the movement velocity of motor.
Described detection of obstacles module 8 is responsible for the barrier situation of detection working environment, for path planning and the avoidance of robot.Sonar sensor 7 can be used to form sonar obstacle detector, it is possible to use laser sensor 6 to form laser obstacle detection device, or use two kinds of sensors to be combined.
This utility model, utilize the signal transmitter-receiver device of anchor point being location, realizing route target location, in work process, barrier can be detected, collision free, uses radio, laser, sonar multiple positioning modes to be combined, can more efficiently position self-position.
Principle of the present utility model and embodiment are set forth by specific embodiment used herein, and the explanation of above example is only intended to help to understand method of the present utility model and core concept thereof.The above is only preferred implementation of the present utility model, should be understood that, finiteness due to literal expression, and objectively there is unlimited concrete structure, for those skilled in the art, on the premise of without departing from this utility model principle, it is also possible to make some improvement, retouch or change, it is also possible to above-mentioned technical characteristic is combined by rights；These improve retouching, change or combine, or the most improved design by utility model and technical scheme directly apply to other occasion, are regarded as protection domain of the present utility model.
Claims (6)
1. a robot autonomous navigation system, it is characterized in that, launch and receiver module, detection of obstacles module, information storage module including master controller, hoofing part module, setpoint signal, also include the electronic gyroscope carrying out anglec of rotation calculating, the transmitting of described hoofing part module, setpoint signal stores module with receiver module, detection of obstacles module, information, electronic gyroscope is all connected with master controller, and above-mentioned master controller is provided with sensor data acquisition and processing module.
The robot autonomous navigation system of one the most according to claim 1, it is characterised in that detection of obstacles module includes laser sensor and/or sonar sensor.
The robot autonomous navigation system of one the most according to claim 1, it is characterised in that described setpoint signal is launched and receiver module includes more than 1 radio signal launcher and radio signal receiving apparatus.
The robot autonomous navigation system of one the most according to claim 3, it is characterised in that the quantity of described radio signal transmitting and receiving device is consistent with anchor point quantity.
5. according to the robot autonomous navigation system of one described in any one of claim 1-4, it is characterised in that also include speech recognition and synthesis module.
6. according to the robot autonomous navigation system of one described in any one of claim 1-4, it is characterised in that also include laser scanner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620104011.9U CN205485620U (en) | 2016-02-02 | 2016-02-02 | Self -contained navigation system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620104011.9U CN205485620U (en) | 2016-02-02 | 2016-02-02 | Self -contained navigation system of robot |
Publications (1)
| Publication Number | Publication Date |
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| CN205485620U true CN205485620U (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620104011.9U Active CN205485620U (en) | 2016-02-02 | 2016-02-02 | Self -contained navigation system of robot |
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| CN (1) | CN205485620U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106681322A (en) * | 2016-12-21 | 2017-05-17 | 华东师范大学 | Ground autonomous mobile robot safety navigation method based on formal description |
| CN106708053A (en) * | 2017-01-26 | 2017-05-24 | 湖南人工智能科技有限公司 | Autonomous navigation robot and autonomous navigation method thereof |
| CN110539304A (en) * | 2019-08-28 | 2019-12-06 | 南京市晨枭软件技术有限公司 | Positioning system and positioning method of mobile robot |
-
2016
- 2016-02-02 CN CN201620104011.9U patent/CN205485620U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106681322A (en) * | 2016-12-21 | 2017-05-17 | 华东师范大学 | Ground autonomous mobile robot safety navigation method based on formal description |
| CN106681322B (en) * | 2016-12-21 | 2020-03-13 | 华东师范大学 | Ground autonomous mobile robot safety navigation method based on formal description |
| CN106708053A (en) * | 2017-01-26 | 2017-05-24 | 湖南人工智能科技有限公司 | Autonomous navigation robot and autonomous navigation method thereof |
| CN110539304A (en) * | 2019-08-28 | 2019-12-06 | 南京市晨枭软件技术有限公司 | Positioning system and positioning method of mobile robot |
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