CN112554255A

CN112554255A - Multi-sensor fusion positioning space coordinate algorithm

Info

Publication number: CN112554255A
Application number: CN202011583765.4A
Authority: CN
Inventors: 谭建忠; 朱文龙
Original assignee: Intelligent Age Beijing Technology Co ltd
Current assignee: Intelligent Age Beijing Technology Co ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-03-26

Abstract

The invention discloses an algorithm for fusing and positioning space coordinates by multiple sensors, which comprises a base, wherein two ends of the base are respectively and movably connected with a fixed support through pin shafts, the lower surface of the fixed support is respectively and fixedly connected with a fixed foot pad through bolts, the upper surface of the base is rotatably connected with a vehicle body through a bearing, the other end of a mechanical big arm is movably connected with one end of a mechanical second arm through a pin shaft, and the other end of a mechanical third arm is movably connected with a hammer through a pin shaft. This algorithm of multisensor fusion location space coordinate adopts the data of multiple sensor to fuse, become a set of space coordinate, mark whole available space with this, it is more direct and convenient control than other space mark modes, every sensor value all has specific control command to adjust, finally reach the purpose that not only can mark whole available space, can also accurate control arm reachs the assigned position, make the range finding result stable and more be close to the truth, improve positioning accuracy, response speed is fast, the fault rate is low, easy operation.

Description

Multi-sensor fusion positioning space coordinate algorithm

Technical Field

The invention relates to the technical field of positioning space coordinates, in particular to an algorithm for fusing positioning space coordinates by multiple sensors.

Background

In recent years, with the development of micro sensor technology, automation technology and communication technology, the positioning method for various mobile robots has been a hot spot. Spatial localization is a very common algorithm, ranging from traditional three-dimensional spatial coordinate localization to modern GPS (global positioning system) localization, which is one of the important methods in geography. The spatial positioning technology mainly refers to GPS in the United states and GLONASS global satellite positioning system in Russia. The global strategy is to develop Wide Area (WADGPS) and Local Area (LADGPS) differentiated GPS service architectures, since the SA and AS policies of the U.S. military are still working. The space positioning GPS is a brand new modern space positioning method, and has gradually replaced conventional optical and electronic instruments in more and more fields, but some positioning methods have certain defects, and accurate positioning is a big problem to be solved at present.

Disclosure of Invention

The invention aims to provide an algorithm for fusing and positioning space coordinates by multiple sensors, which is characterized in that data of the multiple sensors are fused to form a group of space coordinates so as to calibrate the whole available space, the algorithm is more direct and convenient to control than other space calibration modes, each sensor value has a specific control command to be adjusted, and finally the aim of calibrating the whole available space is fulfilled.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides an algorithm of multisensor fuses location space coordinate, the on-line screen storage device comprises a base, the base both ends are respectively through round pin axle and fixed bolster swing joint, the fixed bolster lower surface is respectively through bolt and fixed callus on the sole fixed connection, the base both sides are provided with the gyro wheel respectively, gyro wheel one side is rotated with the follow driving wheel through the connecting axle respectively and is connected, gyro wheel and follow driving wheel outside cover have the track, the base upper surface is rotated through bearing and automobile body and is connected, automobile body one side is provided with control panel and maintenance door respectively, automobile body upper surface one side is through bolt and arm support fixed connection, arm support upper end is through round pin axle and mechanical big arm one end swing joint, the mechanical big arm other end is through round pin axle and mechanical two arm one end swing joint, the mechanical two arm other end is through round pin.

Furthermore, one side of the two mechanical arms is movably connected with a movable rod through a pin shaft, and one end of the movable rod is movably connected with the rotary wrist through a pin shaft.

Furthermore, the mechanical big arm, the mechanical second arm, the mechanical third arm and the rotary wrist form a mechanical arm.

Furthermore, a first inductor is arranged at the lower end in the vehicle body, a second inductor is arranged in the mechanical arm support, a third inductor is arranged in the middle of the mechanical big arm, a fourth inductor is arranged at the front end of the mechanical big arm, and a fifth inductor is arranged in the middle of the mechanical two arms.

Furthermore, a sixth inductor is arranged at the lower end of the rotary wrist, and a seventh inductor is arranged at the upper end of the mechanical three-arm.

Furthermore, the first inductor, the second inductor, the third inductor, the fourth inductor, the fifth inductor, the sixth inductor and the seventh inductor are respectively electrically connected with the processor through leads, and the processor is in signal transmission connection with the computer through the signal transmission module.

Furthermore, a data storage module, a data processing module, a data comparison module, a data receiving module and a control module are respectively arranged in the computer.

Furthermore, the data storage module, the data processing module, the data comparison module and the data receiving module are respectively electrically connected with the control module, and the control module is in signal transmission connection with the processor through the signal transmission module.

Compared with the prior art, the invention has the beneficial effects that: the algorithm for fusing and positioning the space coordinates by the multiple sensors provided by the invention adopts data of the multiple sensors to be fused to form a group of space coordinates, so that the whole available space is calibrated, the algorithm is more direct and convenient to control than other space calibration modes, each sensor value has a specific control command to be adjusted, and finally, the aim of calibrating the whole available space is fulfilled, and the mechanical arm can be accurately controlled to reach a specified position, so that a distance measurement result is stable and is closer to a true value, the positioning precision is improved, the response speed is high, the error rate is low, and the operation is simple.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a sensor installation of the present invention;

FIG. 3 is a schematic view of an overall module of the present invention;

FIG. 4 is a schematic view of a portion of a module of the present invention;

FIG. 5 is a diagram of sensor array values according to the present invention.

In the figure: 1. a base; 2. fixing a bracket; 3. fixing the foot pad; 4. a roller; 5. a connecting shaft; 6. a driven wheel; 7. a crawler belt; 8. a vehicle body; 9. a control panel; 10. repairing the door; 11. a mechanical arm support; 12. a mechanical big arm; 13. a mechanical two-arm; 14. a mechanical three-arm; 15. a hammer head; 16. a movable rod; 17. a rotary wrist; 18. a mechanical arm; 19. a first inductor; 20. a second inductor; 21. a third inductor; 22. a fourth inductor; 23. a fifth inductor; 24. a sixth inductor; 25. a seventh inductor; 26. a processor; 27. a signal transmission module; 28. a computer; 29. a data storage module; 30. a data processing module; 31. a data comparison module; 32. a data receiving module; 33. and a control module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, an algorithm for fusing and positioning spatial coordinates by multiple sensors comprises a base 1, wherein two ends of the base 1 are movably connected with a fixed support 2 through pin shafts respectively, the fixed support 2 is lifted up during movement, when a robot moves to a designated position, the fixed support 2 is lowered to a certain height, a fixed foot pad 3 is in contact with the ground, the lower surface of the fixed support 2 is fixedly connected with the fixed foot pad 3 through bolts respectively, the fixed foot pad 3 is provided with fixing holes respectively, fixing pins are installed in the fixing holes, the periphery of the fixed foot pad 3 is fixedly connected with the ground through fixing pins respectively, so as to prevent the robot from displacing during working and improve the working efficiency and working quality of the robot, rollers 4 are arranged on two sides of the base 1 respectively, one side of each roller 4 is rotatably connected with a driven wheel 6 through a connecting shaft 5 respectively, and crawler belts 7 are sleeved on the, the idler wheel 4 rotates to drive the driven wheel 6 to rotate, the caterpillar band 7 is tightly connected with the idler wheel 4 and the driven wheel 6, the contact area between the idler wheel 4 and the ground and the contact area between the driven wheel 6 and the ground are increased, the overall stability is effectively improved, the robot is prevented from turning over during moving or working, the upper surface of the base 1 is rotationally connected with the robot body 8 through a bearing, one side of the robot body 8 is respectively provided with a control panel 9 and a maintenance door 10, the control panel 9 is provided with a control button, the operation is simple, the maintenance door 10 is convenient to maintain and replace equipment in the robot body 8, the maintenance cost is reduced, the maintenance efficiency is improved, one side of the upper surface of the robot body 8 is fixedly connected with the mechanical arm support 11 through a bolt, the upper end of the mechanical arm support 11 is movably connected with one end of the mechanical big arm 12 through a pin shaft, the other end of the mechanical big arm 12, one end of a movable rod 16 is movably connected with a rotary wrist 17 through a pin shaft, the other end of a second mechanical arm 13 is movably connected with one end of a third mechanical arm 14 through a pin shaft, the other end of the third mechanical arm 14 is movably connected with a hammer head 15 through a pin shaft, the direction and the end point of the hammer head 15 are fixed, the whole structure is compact, the connection flexibility is high, the control is convenient, a large mechanical arm 12, the second mechanical arm 13, the third mechanical arm 14 and the rotary wrist 17 form a mechanical arm 18, a sensor of a corresponding type is installed at each position of the mechanical arm 18 needing to express a change value, the application range is expanded, a first sensor 19 is arranged at the lower end in a vehicle body 8, a second sensor 20 is arranged in a mechanical arm support 11, a third sensor 21 is arranged in the middle of the large mechanical arm 12, a fourth sensor 22 is arranged at the front end of the large mechanical arm 12, a fifth sensor 23 is arranged in the middle of the, a seventh sensor 25 is arranged at the upper end of the mechanical third arm 14, the first sensor 19, the second sensor 20, the third sensor 21, the fourth sensor 22, the fifth sensor 23, the sixth sensor 24 and the seventh sensor 25 are respectively arranged as an angle sensor, a stay wire length sensor, a wireless laser distance measuring sensor and the like, corresponding required sensors are installed according to the corresponding requirements of mechanical movement of each mechanical arm, the first sensor 19, the second sensor 20, the third sensor 21, the fourth sensor 22, the fifth sensor 23, the sixth sensor 24 and the seventh sensor 25 are respectively and electrically connected with the processor 26 through leads to fuse the data of various sensors, the processor 26 is in signal transmission connection with the computer 28 through a signal transmission module 27, and a data storage module 29, a data processing module 30, a wireless laser distance measuring sensor and the like are respectively arranged in the computer 28, The data comparison module 31, the data receiving module 32 and the control module 33, the data storage module 29, the data processing module 30, the data comparison module 31 and the data receiving module 32 are respectively and electrically connected with the control module 33, the control module 33 is in signal transmission connection with the processor 26 through the signal transmission module 27, the signal transmission module 27 uniformly reads the sensor data into the computer 28, the data processing module 30 calculates the coordinate value of all points of the available space according to the structure designed by the mechanical arm 18, the data comparison module 31 is compared with the traditional calibration method to form a detailed comparison table which is stored by the data storage module 29, after the target is expressed by the traditional calibration method, the data receiving module 32 quickly obtains the sensor value group of the target position through table lookup and compares the sensor value group with the current value group to further determine the size of the mechanical arm 18 and the value which need to be adjusted, after the control module 33 processes data by the processor 26, all the mechanical arms 18 which need to be adjusted are synchronously controlled to perform corresponding actions, the sensor values are changed, the computer 28 receives the sensor values through the data receiving module 32, displays each current value and the acquisition time according to each sensor, forms a detailed comparison table and stores the comparison table by the data storage module 29, the display is intuitive, the target position is finally reached, the positioning precision is high, the response speed is high, the error rate is low, and the operation is simple.

To sum up, this multi-sensor fuses algorithm of location space coordinate adopts the data of multiple sensor to fuse, becomes a set of space coordinate to this marks whole available space, and is more direct and convenient control than other space calibration modes, and every sensor value all has specific control command to adjust, finally reaches the purpose that not only can mark whole available space, can also accurate control arm 18 and reach the assigned position for the range finding result is stable and more is close to the truth value, improves positioning accuracy, and response speed is fast, and the fault rate is low, easy operation.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims

1. An algorithm for fusing and positioning space coordinates by multiple sensors is characterized by comprising a base (1), wherein two ends of the base (1) are movably connected with a fixed support (2) through pin shafts respectively, the lower surface of the fixed support (2) is fixedly connected with a fixed foot pad (3) through bolts respectively, two sides of the base (1) are respectively provided with a roller (4), one side of the roller (4) is rotatably connected with a driven wheel (6) through a connecting shaft (5) respectively, the outer sides of the roller (4) and the driven wheel (6) are sleeved with a crawler belt (7), the upper surface of the base (1) is rotatably connected with a vehicle body (8) through a bearing, one side of the vehicle body (8) is provided with a control panel (9) and a maintenance door (10) respectively, one side of the upper surface of the vehicle body (8) is fixedly connected with a mechanical arm support (11) through bolts, the upper end of the mechanical arm, the other end of the mechanical big arm (12) is movably connected with one end of a mechanical second arm (13) through a pin shaft, the other end of the mechanical second arm (13) is movably connected with one end of a mechanical third arm (14) through a pin shaft, and the other end of the mechanical third arm (14) is movably connected with the hammer head (15) through a pin shaft.

2. The algorithm for the spatial coordinates of the multi-sensor fusion positioning according to claim 1, wherein one side of the mechanical two arms (13) is movably connected with the movable rod (16) through a pin shaft, and one end of the movable rod (16) is movably connected with the rotary wrist (17) through a pin shaft.

3. The algorithm for multi-sensor fusion of spatial coordinates of localization according to claim 2, characterized in that the robotic arm (18) is formed by a robotic large arm (12), a robotic two arm (13), a robotic three arm (14) and a revolving wrist (17).

4. The algorithm for spatial coordinate positioning through multi-sensor fusion as claimed in claim 1, wherein a first sensor (19) is arranged at the inner lower end of the vehicle body (8), a second sensor (20) is arranged in the mechanical arm support (11), a third sensor (21) is arranged in the middle of the mechanical large arm (12), a fourth sensor (22) is arranged at the front end of the mechanical large arm (12), and a fifth sensor (23) is arranged in the middle of the mechanical two arms (13).

5. The algorithm for spatial coordinate positioning by multi-sensor fusion as claimed in claim 2, characterized in that the lower end of the rotary wrist (17) is provided with a sixth sensor (24), and the upper end of the mechanical three-arm (14) is provided with a seventh sensor (25).

6. The algorithm for multi-sensor fusion location of spatial coordinates according to claim 5, wherein the first sensor (19), the second sensor (20), the third sensor (21), the fourth sensor (22), the fifth sensor (23), the sixth sensor (24) and the seventh sensor (25) are electrically connected with the processor (26) through wires respectively, and the processor (26) is connected with the computer (28) through a signal transmission module (27) in a signal transmission manner.

7. The algorithm for multi-sensor fusion positioning of space coordinates as claimed in claim 6, wherein the computer (28) is respectively provided with a data storage module (29), a data processing module (30), a data comparison module (31), a data receiving module (32) and a control module (33).

8. The algorithm for spatial coordinate positioning by fusion of multiple sensors as claimed in claim 7, wherein the data storage module (29), the data processing module (30), the data comparison module (31) and the data receiving module (32) are electrically connected to the control module (33), respectively, and the control module (33) is in signal transmission connection with the processor (26) through the signal transmission module (27).