CN108759822A - A kind of mobile robot 3D positioning systems - Google Patents
A kind of mobile robot 3D positioning systems Download PDFInfo
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- CN108759822A CN108759822A CN201810326546.4A CN201810326546A CN108759822A CN 108759822 A CN108759822 A CN 108759822A CN 201810326546 A CN201810326546 A CN 201810326546A CN 108759822 A CN108759822 A CN 108759822A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
Abstract
The invention discloses a kind of mobile robot 3D positioning systems, including, figure unit and navigation elements are built in synchronous positioning, the synchronous positioning is built between figure unit and the navigation elements and can be switched, the 2D poses that figure unit is the navigation elements are built in the synchronous positioning, and the navigation elements show that the angle of figure unit and initial pose are built in the synchronous positioning；The navigation elements include algorithm, the algorithm is merged into row information, described information includes the input of multiple sensors and the fusion of figure unit algorithm result is built in the synchronous positioning, and first mobile robot is described in space state in which with 15 dimensional vector X for the arithmetic result fusion：X=[x, y, z, θr,θp,θy,vx,vy,vz,ωr,ωp,ωy,ax,ay,az]T.The present invention, can not only flexible configuration sensor when being merged into row information, moreover it is possible to the algorithm that flexible configuration uses, it, can not only flexible configuration sensor when being merged into row information, moreover it is possible to the algorithm that flexible configuration uses, 3D pose estimations can be carried out, three-dimensional environment is adapted to.
Description
Technical field
The present invention relates to the technical field of Robot calibration, especially a kind of mobile robot 3D positioning systems.
Background technology
Mobile robot technology is the research hotspot of current robot industry, universal with the cost of mobile robot,
Using explosive growth will be presented.Due to application scenarios and field difference, the hardware device of different mobile robots, driving side
Formula and control system have bigger difference, algorithm versatility and code reuse to be restricted.
Positioning is the basic link of navigation, and positioning precisely in real time is the key that improve Mobile Robotics Navigation performance.Mesh
Before, the sensor that can be loaded on robot moving equipment is numerous, and widely used sensor has odometer, inertia to lead
Model plane block, GPS, laser radar, Kinect, router etc., the data and application method of these sensors are not quite similar, Neng Gouti
The movement state information of the mobile robot of confession also has bigger difference.Further, since the information that single-sensor is capable of providing is accurate
Exactness and confidence level be not high, and multi-sensor information fusion becomes the main trend of localization for Mobile Robot development.
The movable information of mobile robot can not only be measured the sensor measurement of motion state by gyroscope etc., may be used also
To be estimated by the visual odometry information that processing obtains later by the data of the sensors such as Kinect；Similar, laser
The global pose that radar can provide mobile robot with analogy GPS is estimated, an odometer is equivalent to.In addition, different platform is adopted
Algorithm respectively has a good and bad and suitable environment, and at present multimachine distributed controll and Distributed Calculation gradually obtain it is more and more extensive
Using other than being merged to a plurality of types of sensor informations, if it is possible to merge different arithmetic results and be moved
The positioning of robot, it is clear that effect can more last layer.
Invention content
The purpose of this part is to summarize some aspects of the embodiment of the present invention and briefly introduce some preferably to implement
Example.It may do a little simplified or be omitted to avoid our department is made in this section and the description of the application and the title of the invention
Point, the purpose of abstract of description and denomination of invention it is fuzzy, and this simplification or omit and cannot be used for limiting the scope of the invention.
In view of defect above-mentioned and/or existing in the prior art, it is proposed that the present invention.
Therefore, the one of purpose of the present invention is to provide a kind of mobile robot 3D positioning systems, can not only melt
Close various sensing datas, moreover it is possible to carry out the positioning system frame of algorithms of different fusion.
In order to solve the above technical problems, the present invention provides the following technical solutions：A kind of mobile robot 3D positioning systems, packet
It including, figure unit and navigation elements are built in synchronous positioning, and the synchronous positioning is built between figure unit and the navigation elements and can be switched,
The 2D poses that figure unit is the navigation elements are built in the synchronous positioning, and the navigation elements show that figure list is built in the synchronous positioning
The angle of member and initial pose；The navigation elements include algorithm, and the algorithm is merged into row information, and described information includes a variety of
The input of sensor builds the fusion of figure unit algorithm result with the synchronous positioning；The arithmetic result fusion, first will mobile machine
People is described in space state in which with 15 dimensional vector X：
X=[x, y, z, θr,θp,θy,vx,vy,vz,ωr,ωp,ωy,ax,ay,az]T
Wherein, x, y, z respectively represent three-dimensional position, θr,θp,θyIndicate the angle of each position, vx, vy, vzIt respectively represents
The linear velocity of each position, wr, wp, wyRespectively represent the angular speed of each position, ax, ay, azRespectively represent adding for each position
Speed.
As a kind of preferred embodiment of mobile robot 3D positioning systems of the present invention, wherein：The synchronous positioning is built
Figure unit includes positioning and the coordinate setting of mobile robot；The positioning, by Global localization to the current of mobile robot
Position is accurately estimated, then is predicted its motion state by relative positioning mode, and constantly corrects；The coordinate,
It includes world coordinate system, odometer coordinate system, mobile robot centre coordinate system, the coordinate system of four driving wheels and each biography
Sensor coordinate system, the odometer coordinate system calculate mileage by the encoder on four driving wheels and count, from
And determine its relativeness relative to world coordinate system.
As a kind of preferred embodiment of mobile robot 3D positioning systems of the present invention, wherein：The mobile robot
Using mobile robot centre coordinate system as referential, the mobile robot is current with it in the world coordinate system
θr,θp,θyIt is related with plane is presently in；Wherein, described in being indicated respectively with s representative functions sin, c representative function cos, r, p, y
The angle that mobile robot centre coordinate system rotates relative to the world coordinate system around x, y, z axis；If being configured by sensor
And related algorithm, all members of 15 dimensional vector X are obtained, by mobile robot in mobile robot centre coordinate system
Movement in middle all directions is projected to world coordinate system, when the sampling time is Δ t, the prediction after can must merging.
As a kind of preferred embodiment of mobile robot 3D positioning systems of the present invention, wherein：Determine the model of system,
The model of the system is that the formula of the prediction after fusion is organized into matrix form to obtain.
As a kind of preferred embodiment of mobile robot 3D positioning systems of the present invention, wherein：The model of the system
Partial derivative is sought, Jacobin matrix needed for algorithm iteration is obtainedAnd it obtains on ten quintuple spaces, sensor and arithmetic result
Fusion process.
As a kind of preferred embodiment of mobile robot 3D positioning systems of the present invention, wherein：Four driving wheels
Coordinate system include, rear right wheel link, rear left wheel link, front right wheel link and front left wheel link.
As a kind of preferred embodiment of mobile robot 3D positioning systems of the present invention, wherein：The synchronous positioning is built
Figure unit further includes data processing module, scan matching module and composition.
As a kind of preferred embodiment of mobile robot 3D positioning systems of the present invention, wherein：The mobile robot
Using multiple machine distributing control and Distributed Calculation.
As a kind of preferred embodiment of mobile robot 3D positioning systems of the present invention, wherein：The Distributed Calculation
Including first processor, second processor, sensor, power supply system and driving executive item；Wherein, the power supply system is to described
Executive item, second processor and sensor power supply, the second processor is driven to carry out hardware driving, information collection and data
Driving executive item and sensor and first processor are delivered to after conversion, the sensor carries out laser ranging, attitude measurement
And velocity measuring, the first processor carry out human-computer interaction, motion control, data processing and programmed decision-making.
As a kind of preferred embodiment of mobile robot 3D positioning systems of the present invention, wherein：The distributed AC servo system
It is calculated including microcontroller, embedded platform and PC decisions.
Beneficial effects of the present invention：The present invention, can not only flexible configuration sensor when being merged into row information, moreover it is possible to spirit
The algorithm that configuration living uses can not only flexible configuration sensor when merge into row information, moreover it is possible to the calculation of flexible configuration use
Method can carry out 3D pose estimations, adapt to three-dimensional environment.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without having to pay creative labor, it can also be obtained according to these attached drawings other
Attached drawing.Wherein：
Fig. 1 is positioning system frame entirety structural representation in mobile robot 3D positioning system one embodiment of the present invention
Figure；
Fig. 2 is the positioning classification of mobile robot described in mobile robot 3D positioning system one embodiment of the present invention
Structure chart；
Fig. 3 is the overall structure frame of Distributed Calculation described in mobile robot 3D positioning system one embodiment of the present invention
Frame figure；
Fig. 4 is the overall structure frame of distributed AC servo system described in mobile robot 3D positioning system one embodiment of the present invention
Frame figure.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, right with reference to the accompanying drawings of the specification
The specific implementation mode of the present invention is described in detail.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented different from other manner described here using other, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Secondly, " one embodiment " or " embodiment " referred to herein refers to that may be included at least one realization side of the present invention
A particular feature, structure, or characteristic in formula." in one embodiment " that different places occur in the present specification not refers both to
The same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiment.
One embodiment that mobile robot 3D positioning systems of the present invention provide, referring to Fig.1, the main body of the embodiment includes
Figure unit 100 and navigation elements 200 are built in synchronous positioning, and synchronous positioning is built between figure unit 100 and navigation elements 200 and can be cut
It changes, the 2D poses that figure unit 100 is navigation elements 200 are built in synchronous positioning, and figure unit is built in the synchronous positioning of the display of navigation elements 200
100 angle and initial pose.
Navigation elements 200 include algorithm 201 and 3D posture informations 202, and algorithm 201 is merged into row information, described information packet
The input for including multiple sensors builds the fusion of 100 arithmetic result of figure unit with the synchronous positioning, and the result after fusion is fed back
To 3D posture informations 202.
It should be noted that arithmetic result fusion described here, first uses mobile robot in space state in which
15 dimensional vector X are described：
X=[x, y, z, θr,θp,θy,vx,vy,vz,ωr,ωp,ωy,ax,ay,az]T
Wherein, x, y, z respectively represent three-dimensional position, θr,θp,θyIndicate the angle of each position, vx, vy, vzIt respectively represents
The linear velocity of each position, wr, wp, wyRespectively represent the angular speed of each position, ax, ay, azRespectively represent adding for each position
Speed.Although sensors for mobile robots numerous types, the mobile robot state of different sensors and algorithm description is not yet
It is identical to the greatest extent, but the pose that they are provided estimates and navigates information needed all within above-mentioned vector.
Preferably, the positioning that figure unit 100 includes mobile robot and coordinate setting are built in synchronous positioning；The positioning is led to
Often, the pose computational methods of mobile robot can be divided into two major classes, with reference to Fig. 2, one kind is the initial bit of mobile robot
Confidence ceases it is known that carrying out the reckoning of its relative position by inertial navigation and odometry etc., we term it relative positioning methods.
This kind of algorithm has the shortcomings that apparent, that is, due to the accumulation of error, over time, accuracy is more next
It is lower or even no longer available.It, can using this method but if the real time position to mobile robot can have gained some understanding
To reach relatively accurate estimation to its motion state, to realize preferable locating effect.The appearance of Global localization be then for
Solve the problems, such as how mobile robot real time position determines this.In the case of claiming mobile robot initial position unknown,
It is Global localization by this kind of positioning method that the data of external sensor are positioned.Undoubtedly, any positioning method is all
There are its advantage and disadvantage and applicable situation.Although Global localization can solve the problems, such as some of relative positioning, Global localization due to
The problems such as operation efficiency and big data jumping characteristic, also there are its scope of application and limitation.
Integrated positioning is increasingly becoming the major way that mobile robot is positioned, and integrated positioning is exactly by above two
Positioning method combines a kind of method positioned.It is accurate to be carried out to the current location of mobile robot by Global localization
Estimation, then its motion state is predicted by relative positioning mode, and be constantly modified, to make mobile robot transport
Movable model simplifies, and reaches its optimal estimation.
Coordinate transform is important module when mobile robot is positioned.In the present embodiment, the seat of mobile robot
Mark setting uses four-wheel differential driving comprising in world coordinate system (map), odometer coordinate system (odom), mobile robot
Heart coordinate system (base link), the coordinate system of four driving wheels and each sensor coordinate system, such as：Laser radar
(laser), nine axis IMU modules (IMU).
It should be noted that the coordinate system of four driving wheels includes, rear right wheel links (rear right wheel
Link), rear left wheel link (rear left wheel link), front right wheel link (front right wheel link) and before
Revolver links (front left wheel link).
It should be noted that the odometer coordinate system calculates mileage by the encoder on four driving wheels
It counts, so that it is determined that its relativeness relative to world coordinate system.Due to the presence of sliding, odometer information and moving machine
Often there is larger difference in the actually located position of device people, this part variation is by odometer coordinate system to the change of car body centre coordinate system
Swap-in row is estimated and is maintained.Calculate that odometer coordinate system arrives according to the inertial navigation of the information of global sensor and internal sensor
The process of car body centre coordinate system transformation is known as reckoning, with reference to Fig. 3.
In the present embodiment, mobile robot is typical nonlinear system, and position and posture are carried out to it using algorithm
Estimation, it is preferred that in the present embodiment, using EKF algorithms carry out position and posture estimation.EKF(Extended
Kalman Filter) i.e. extended Kalman filter, a kind of efficient recursion filter (autoregressive filter), it can
From a series of not exclusively measurement comprising noise, the state of dynamical system is estimated.The basic thought of EKF is by nonlinear system
System linearisation, then carries out Kalman filtering, therefore EKF is a kind of suboptimal filtering.Thereafter, a variety of second order general Kalman filterings
The it is proposed and application of method further improve estimation performance of the Kalman filtering to nonlinear system.Second-order filter method considers
The quadratic terms of Taylor series expansions, therefore reduce the evaluated error caused by linearisation, but considerably increase fortune
Calculation amount, therefore no single order EKF is widely used instead in practice.
In the present embodiment, the information fusion of mobile robot is carried out on 15 dimensional vector X, it is therefore necessary to consider mobile machine
People's flip angle with respect to the horizontal plane and pitch angle influence caused by it is moved.Mobile robot is in the mobile robot
Heart coordinate system be referential, the mobile robot in the world coordinate system with its current θr,θp,θyIt is flat with being presently in
Face is related, indicates that mobile robot centre coordinate system is opposite respectively with s representative functions sin, c representative function cos, r, p, y
In the angle that the world coordinate system is rotated around x, y, z axis；If by sensor configuration and related algorithm, obtained 15 dimensions to
All members for measuring X, by movement of the mobile robot in mobile robot centre coordinate system in all directions to the world
Coordinate system is projected, when the sampling time is Δ t, the prediction after can must merging；
Three formulas are organized into matrix form, obtain the model of system：
Wherein,
Partial derivative is asked to the model of system, obtains Jacobin matrix needed for EKF algorithm iterationsMobile robot 3D
Under pose fusion process：
So far, it is just completed in the fusion of the enterprising line sensor of ten quintuple spaces and arithmetic result.
Preferably, it further includes data processing module 101, scan matching module 102 and composition that figure unit 100 is built in synchronous positioning
103.Because current mobile robot platform is numerous, sensor configuration is multifarious, can sensors configured input be dynamically
The general basic demand of algorithm, and environmental map structure depends on laser radar, therefore the data processing module of laser radar
It is essential.Referring to Fig.1, signal is first provided by laser radar to data processing module 101, at data processing module 101
Scan matching module 102 is arrived after reason is good, arrives composition 103, and composition 103 and matching module 102 are transmitted in both directions.
Navigation elements 200 are inputted using EKF algorithm fusion 2D poses and multiple sensors, obtain the positions 3D of mobile robot
Appearance is estimated.Obviously for any algorithm that can provide the estimation of 3D poses, this platform can be accessed and participate in data fusion, without
Algorithm type, and any sensor that movable information can be provided are sticked to, data fusion can be participated in.
Laser radar in the present embodiment can only carry out 2D pose estimations, it is fixed that 2D poses are synchronized in 2D due to function restriction
Position is built in figure unit 100 and is calculated, and may be used and any be capable of providing pose estimated information and can carry out map structuring
Algorithm.To three-dimensional laser radar, then 2D pose algorithm for estimating can be changed to corresponding three-dimensional algorithm.
Preferably, the information that algorithm 201 is merged further includes IMU, GPS, odometer and other sensors and algorithm.
Preferably, mobile robot is controlled using multiple machine distributing and Distributed Calculation.With reference to Fig. 3, Distributed Calculation packet
Include first processor 301, second processor 302, sensor 303, power supply system 304 and driving executive item 305.Wherein, it powers
System 304 is powered to driving executive item 305, second processor 302 and sensor 303, and second processor 302 carries out hardware drive
Driving executive item 305, sensor 303 and first processor 301, sensor are delivered to after dynamic, information collection and data conversion
303 carry out laser rangings, attitude measurement and velocity measuring, and first processor 301 carries out human-computer interaction, motion control, at data
Reason and programmed decision-making, driving executive item 305 is interior to be equipped with electric machine controller, motor driver and driving motor.
Preferably, with reference to Fig. 4, distributed AC servo system includes that microcontroller, embedded platform and PC decisions calculate.Microcontroller
The instruction provided according to host computer carries out servo closed control to motor, and acquires encoder, and feedback information by certain frequency
To host computer.Embedded platform sends an instruction to microcontroller according to the activation bit of PC machine, and micro- by certain frequency acquisition
The encoder numerical value of controller feedback is transmitted to PC machine, is communicated by bus and IMU modules, and acquisition corresponding information is sent to
PC machine, while going the data of sensor to be sent to PC machine by serial ports speed.PC machine includes mainly the kinematics control of robot, fortune
It is dynamic to learn the complicated algorithms modules such as basic modules and filtering, the map structuring and navigation such as inverse solution and attitude algorithm, also include man-machine
Interactive interface.
The external WiFi module of PC decisions calculating, RJ-45 interfaces and USB2.0 mouthfuls.The external WiFi module of embedded platform, RJ-
45 interfaces, USB2.0 mouthfuls, RS232 interface and iic bus, wherein I2C buses connect accelerometer, gyroscope and electronic compass.
The external RS232 interface of microcontroller, coder structure, PWM export IO and common IO, microcontroller also with rotary encoder and electricity
Machine driver is connected, and wherein motor driver, motor and rotary encoder form series connection.PC decisions calculate and embedded platform
When connection, by WiFi module, either RJ-45 interfaces microcontroller is connected with embedded platform by RS232 interface or TTL
It connects.
It should be noted that in the present embodiment, be additionally provided with power supply, power supply give respectively embedded platform, microcontroller and
Motor driver is powered.
It should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to preferable
Embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the technology of the present invention
Scheme is modified or replaced equivalently, and without departing from the spirit of the technical scheme of the invention and range, should all be covered in this hair
In bright right.
Claims (10)
1. a kind of mobile robot 3D positioning systems, it is characterised in that：Including,
Figure unit (100) and navigation elements (200) are built in synchronous positioning, and figure unit (100) and the navigation are built in the synchronous positioning
Unit can switch between (200), and the 2D poses that figure unit (100) is the navigation elements (200), institute are built in the synchronous positioning
It states navigation elements (200) the display synchronous positioning and builds the angle of figure unit (100) and initial pose；
The navigation elements (200) include algorithm (201), and the algorithm (201) is merged into row information, and described information includes a variety of
The input of sensor builds the fusion of figure unit (100) arithmetic result with the synchronous positioning；
The arithmetic result fusion, first mobile robot is described in space state in which with 15 dimensional vector X：
X=[x, y, z, θr,θp,θy,vx,vy,vz,ωr,ωp,ωy,ax,ay,az]T
Wherein, x, y, z respectively represent three-dimensional position, θr,θp,θyIndicate the angle of each position, vx, vy, vzIt respectively represents each
The linear velocity of position, wr, wp, wyRespectively represent the angular speed of each position, ax, ay, azRespectively represent the acceleration of each position.
2. mobile robot 3D positioning systems according to claim 1, it is characterised in that：Figure unit is built in the synchronous positioning
(100) include that the positioning of mobile robot and coordinate are arranged；
The positioning accurately estimates the current location of mobile robot by Global localization, then passes through relative positioning side
Formula predicts its motion state, and constantly corrects；
The coordinate comprising world coordinate system, odometer coordinate system, mobile robot centre coordinate system, four driving wheels
Coordinate system and each sensor coordinate system, the odometer coordinate system are calculated by the encoder on four driving wheels
Mileage counts, so that it is determined that its relativeness relative to world coordinate system.
3. mobile robot 3D positioning systems according to claim 2, it is characterised in that：The mobile robot is with described
Mobile robot centre coordinate system be referential, the mobile robot in the world coordinate system with its current θr,θp,θy
It is related with plane is presently in；
Wherein, mobile robot centre coordinate system phase is indicated with s representative functions sin, c representative function cos, r, p, y respectively
The angle rotated around x, y, z axis for the world coordinate system；
If by sensor configuration and related algorithm, all members of 15 dimensional vector X are obtained, by mobile robot described
Movement in mobile robot centre coordinate system in all directions is projected to world coordinate system, when the sampling time is Δ t,
Prediction after can must merging；
4. mobile robot 3D positioning systems according to claim 3, it is characterised in that：Determine the model of system, it is described
The model of system is that three formulas are organized into matrix form to obtain：
Wherein,
5. mobile robot 3D positioning systems according to claim 4, it is characterised in that：The model of the system seeks local derviation
Number, obtains Jacobin matrix needed for algorithm iterationAnd it obtains on ten quintuple spaces, the fusion of sensor and arithmetic result
Process is：
6. according to any mobile robot 3D positioning systems of claim 2~5, it is characterised in that：Four drivings
The coordinate system of wheel includes rear right wheel link, the link of rear left wheel, front right wheel link and the link of front left wheel.
7. according to any mobile robot 3D positioning systems of Claims 1 to 5, it is characterised in that：The synchronous positioning
It further includes data processing module (101), scan matching module (102) and composition (103) to build figure unit (100).
8. mobile robot 3D positioning systems according to claim 7, it is characterised in that：The mobile robot is using more
Machine distributed AC servo system and Distributed Calculation.
9. mobile robot 3D positioning systems according to claim 8, it is characterised in that：The Distributed Calculation includes the
One processor (301), second processor (302), sensor (303), power supply system (304) and driving executive item (305)；
Wherein, the power supply system (304) gives the driving executive item (305), second processor (302) and sensor (303)
Power supply, the second processor (302) are delivered to driving executive item after carrying out hardware driving, information collection and data conversion
(305) and sensor (303) and first processor (301), the sensor (303) carry out laser ranging, attitude measurement and
Velocity measuring, the first processor (301) carry out human-computer interaction, motion control, data processing and programmed decision-making.
10. mobile robot 3D positioning systems according to claim 8 or claim 9, it is characterised in that：The distributed AC servo system packet
Microcontroller, embedded platform and PC decisions is included to calculate.
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| 齐飞 等: "基于平面约束的机器人误差补偿方法", 《机械设计》 * |
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| CN110132327A (en) * | 2019-06-05 | 2019-08-16 | 知恒科技(天津)有限公司 | A kind of photoelectric encoder |
| CN110132327B (en) * | 2019-06-05 | 2021-09-17 | 知恒科技(天津)有限公司 | Photoelectric encoder |
| CN111007522A (en) * | 2019-12-16 | 2020-04-14 | 深圳市三宝创新智能有限公司 | Position determination system of mobile robot |
| CN111308490A (en) * | 2020-02-05 | 2020-06-19 | 浙江工业大学 | Balance car indoor positioning and navigation system based on single-line laser radar |
| CN111308490B (en) * | 2020-02-05 | 2021-11-19 | 浙江工业大学 | Balance car indoor positioning and navigation system based on single-line laser radar |
| CN112461227A (en) * | 2020-10-22 | 2021-03-09 | 新兴际华集团有限公司 | Intelligent autonomous navigation method for polling wheel type chassis robot |
| CN112461227B (en) * | 2020-10-22 | 2023-07-21 | 新兴际华集团有限公司 | Wheel type chassis robot inspection intelligent autonomous navigation method |
| CN113325837A (en) * | 2021-04-23 | 2021-08-31 | 北京启安智慧科技有限公司 | Control system and method for multi-information fusion acquisition robot |
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