CN106125733A - Mobile machine People's Bank of China based on infrared top mark sensor walking system - Google Patents
Mobile machine People's Bank of China based on infrared top mark sensor walking system Download PDFInfo
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- CN106125733A CN106125733A CN201610614231.0A CN201610614231A CN106125733A CN 106125733 A CN106125733 A CN 106125733A CN 201610614231 A CN201610614231 A CN 201610614231A CN 106125733 A CN106125733 A CN 106125733A
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- robot
- top mark
- mark sensor
- infrared top
- mobile platform
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The present invention relates to mobile machine People's Bank of China based on infrared top mark sensor walking system, including robot, robot is loaded with infrared top mark sensor and controller, and robot front-end and back-end are mounted on avoidance sensor, and robot is also equipped with voice module；Controller is connected by wireless communication module mobile platform dispatching patcher, controller is connected with infrared top mark sensor, the position of robot is known by infrared top mark sensor, and actual position coordinate is transformed in the mobile platform coordinate system of mobile platform dispatching patcher, mobile platform dispatching patcher includes a real-time display module.The present invention obtains robot coordinate in real time by infrared top mark sensor, and by communicating with host computer mobile platform dispatching patcher wifi, real-time, interactive and control, robot, by the coordinate got and angle information, constantly adjusts self attitude.
Description
Technical field
The present invention relates to technical field of robot control, specifically mobile robot based on infrared top mark sensor
Running gear.
Background technology
At present, it is still that the prime navaid mode of very multiple mobile robot based on the robot navigation's mode seeking magnetic, needs
Laying the black magnetic strip line that a width is about 2cm at the scene under environment, on the one hand this mode affects the attractive in appearance of reality, another
Aspect can make robot often can not find magnetic strip line due to mechanism's aspect problems such as the machineries of robot, cause robot
" overstep the limit " and out of service, based on current this defect, go, in the urgent need to a kind of mode, this navigation mode of upgrading.
Summary of the invention
For solving the problems referred to above, the present invention provides a kind of mobile machine People's Bank of China based on infrared top mark sensor walking system.
A kind of mobile machine People's Bank of China based on infrared top mark sensor walking system, including robot, robot is loaded with red
Outer top mark sensor and controller, for real-time positioning and navigation.Robot front-end and back-end are mounted on avoidance sensor, real
Existing Real Time Obstacle Avoiding effect.Voice module it is also equipped with, it is achieved the prompt facility such as man-machine interaction and speech play in robot.Described
Controller is connected by wireless communication module has mobile platform dispatching patcher, controller to be connected with infrared top mark sensor, pass through
Infrared top mark sensor knows the position of robot, and the movement that actual position coordinate is transformed into mobile platform dispatching patcher is put down
In platform coordinate system, described mobile platform dispatching patcher includes a real-time display module, is used for showing robot position；Institute
State controller built in machine people's path navigation algorithm, the optimal path arriving specified point in order to calculating robot, pass through channel radio
Letter module, mobile platform dispatching patcher can send control instruction in real time to controller, and then realize the control to robot.
Robot use brushless electric machine drive, it is achieved the walking of robot with turn to.
Described mobile platform dispatching patcher passes through TCP or UDP as service end, robot as client, robot
Protocol communication, it is possible to achieve multirobot connects same mobile platform.
Mobile platform dispatching patcher runs Android or IOS, and programmability is strong, and mobility is strong, can realize
Control in real time, observe and debug.
The Map pattern of infrared top mark operating sensor list ID.
Robot path navigation algorithm runs Floyd shortest path first, and Floyd routing algorithm amount of calculation is little, dynamic
Good, and calculate shortest path in real time.
The chip of described control system selects arm7 chip, and operating system is Linux.
Wireless communication module selects wifi communication mode.
During use, Robot Path Planning Algorithm, coordinate system transfer algorithm are installed in mobile platform dispatching patcher, move
Moving platform dispatching patcher shows robot real time position, and by wireless communication module, robot control instruction is transferred to machine
People, robot realizes robot autonomous localization and navigation, by avoidance sensor by sensors such as infrared top mark sensors
Preventing collision, and realized by voice module mutual, running of robot relies on the control algolithm in robot controller to limit.
The invention has the beneficial effects as follows:
The present invention obtains robot coordinate in real time by infrared top mark sensor, by with the scheduling of host computer mobile platform being
System wifi communication, real-time, interactive and control, robot, by the coordinate got and angle information, constantly adjusts from figure
State, by the routing information got from mobile platform dispatching patcher, adjusts attitude consistent with acquisition approach information, although gather
With generation path for can walk and clear path, but in order to prevent artificial barrier, robot is also equipped with avoidance and passes
Sensor, when avoidance sensor detects barrier, the out of service and voice message of meeting, prevent robot from wiping and touch barrier.Increase
Jia Liao robot intelligent.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the system annexation schematic diagram of the present invention；
Fig. 2 is the path displaying figure of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below right
The present invention is expanded on further.
As shown in Figure 1 and Figure 2, first, infrared top mark sensor 8 is utilized to set up the world coordinates of whole activity space, specifically
Set up process details with reference to infrared top mark sensor handbook.
After establishing global coordinate system, need to allow robot walk about one time in whole space, and recorder people need through
The point crossed, these point mainly robots need to change angle or the point of stopping, and not all point.The corresponding seat of measuring point
Mark, and move to the angle information that subsequent point needs to rotate.
Secondly, utilize coordinate system transformational relation, the coordinate points of record is generated mobile client screen coordinate, and according to note
Record topological diagram generates pathway figure, and shows on mobile terminal, can judge that the topological diagram generated is the most reasonable the most intuitively, display
Afterwards such as Fig. 2.Initialized the path generating system of mobile platform simultaneously by Robot Path Planning Algorithm 4, and calculate shortest path
Drive matrix.
When robot starts, the robot coordinate calculated by infrared top mark sensor 8 by wireless communication module 2 is real
Time be transferred to mobile platform dispatching patcher 1, by coordinate system transfer algorithm 6, actual coordinates is converted into screen coordinate system, and
Shown in mobile platform dispatching patcher 1 by the real-time display module of robot location 7.
When needs allow robot 3 move to specify aiming spot, first pass through path planning algorithm 4 and calculate the suitableeest
The path closed, afterwards by robot control instruction 5, the routing information being sent correspondence by wireless communication module 2 arrives machine
People 3, and robot 3 realizes the control to robot by robot control algorithm 11, control robot along certain direction and
Speed is advanced, when robot 3 is in moving process, if running into barrier, avoidance sensor 9 can detect corresponding obstacle
Thing, owing to, recording respective point when, corresponding path must be feasible path, so detected by avoidance sensor
Should be all artificial obstacle's thing, it is possible to by voice module 10, it is possible to achieve voice message barrier leaves, and passes through language
Sound module 10 and robot realize man-machine interaction.
The present invention is taken based on the infrared top mark mode of infrared top mark sensor can effectively reach current needs, infrared top
Mark sensor has technology maturation, and positioning precision is high (repetitive positioning accuracy 2cm, angle precision 1 degree), is indoor hi-Fix
The reliable choosing of scheme.This mode using method is: paste upper fixing infrared external reflection top mark, given ginseng on the ceiling
The coordinate system of the overall situation is put and set up to examination point coordinate as (0,0), and robot can sit with purpose by obtaining oneself changing coordinates
Mark controls the motion of robot.
Relying on the sensors such as infrared top mark sensor to realize robot autonomous localization and navigation, its principle is infrared top mark
Sensor is by constantly reading top mark and calculates robot position, and control centre is passed through in the location realized, it is judged that
And the position that next step needs of designated robot arrive, robot utilizes the control algolithm of self to combine corresponding sensor,
Realize the location walking of robot eventually.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The technology of the industry
The personnel simply present invention it should be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these change and
Improvement both falls within claimed invention.Claimed scope is by appending claims and equivalent circle thereof
Fixed.
Claims (6)
1. mobile machine People's Bank of China based on infrared top mark sensor walking system, including robot, it is characterised in that: robot uploads
Having infrared top mark sensor and controller, robot front-end and back-end are mounted on avoidance sensor, robot are also equipped with
Voice module；Controller is connected by wireless communication module mobile platform dispatching patcher, and controller is sensed by infrared top mark
Device knows the position of robot, and actual position coordinate is transformed in the mobile platform coordinate system of mobile platform dispatching patcher,
Described mobile platform dispatching patcher includes a real-time display module；Described controller is built-in with robot path navigation algorithm.
Mobile machine People's Bank of China based on infrared top mark sensor the most according to claim 1 walking system, it is characterised in that: institute
State mobile platform dispatching patcher and run Android or IOS.
Mobile machine People's Bank of China based on infrared top mark sensor the most according to claim 1 walking system, it is characterised in that: institute
State the Map pattern of infrared top mark operating sensor list ID.
Mobile machine People's Bank of China based on infrared top mark sensor the most according to claim 1 walking system, it is characterised in that: institute
State robot path navigation algorithm and run Floyd shortest path first.
Mobile machine People's Bank of China based on infrared top mark sensor the most according to claim 1 walking system, it is characterised in that: institute
The chip stating control system selects arm7 chip, and operating system is Linux.
Mobile machine People's Bank of China based on infrared top mark sensor the most according to claim 1 walking system, it is characterised in that: institute
State wireless communication module and select wifi communication mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610614231.0A CN106125733A (en) | 2016-07-29 | 2016-07-29 | Mobile machine People's Bank of China based on infrared top mark sensor walking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610614231.0A CN106125733A (en) | 2016-07-29 | 2016-07-29 | Mobile machine People's Bank of China based on infrared top mark sensor walking system |
Publications (1)
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| CN106125733A true CN106125733A (en) | 2016-11-16 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610614231.0A Pending CN106125733A (en) | 2016-07-29 | 2016-07-29 | Mobile machine People's Bank of China based on infrared top mark sensor walking system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109613472A (en) * | 2018-12-26 | 2019-04-12 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of infrared top mark and its recognition methods for the navigation of indoor trackless |
| WO2019141225A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Conflict management method and system for multiple mobile robots |
| CN110199719A (en) * | 2019-07-05 | 2019-09-06 | 西南石油大学 | A kind of intelligent flower watering robot based on ROS |
| CN112180938A (en) * | 2020-10-15 | 2021-01-05 | 芜湖哈特机器人产业技术研究院有限公司 | AGV trolley positioning system and method based on infrared top mark and odometer |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019141225A1 (en) * | 2018-01-19 | 2019-07-25 | 库卡机器人(广东)有限公司 | Conflict management method and system for multiple mobile robots |
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| CN112180938A (en) * | 2020-10-15 | 2021-01-05 | 芜湖哈特机器人产业技术研究院有限公司 | AGV trolley positioning system and method based on infrared top mark and odometer |
| CN112180938B (en) * | 2020-10-15 | 2022-09-30 | 芜湖哈特机器人产业技术研究院有限公司 | AGV trolley positioning system and method based on infrared top mark and odometer |
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Application publication date: 20161116 |