CN112833854A - Pose measurement system of planar mobile robot - Google Patents
Pose measurement system of planar mobile robot Download PDFInfo
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- CN112833854A CN112833854A CN202011624085.2A CN202011624085A CN112833854A CN 112833854 A CN112833854 A CN 112833854A CN 202011624085 A CN202011624085 A CN 202011624085A CN 112833854 A CN112833854 A CN 112833854A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a position and posture measuring system of a plane mobile robot, which comprises a positioning system, an azimuth angle measuring module, a microprocessor, a wireless transmission system, remote control equipment, an upper computer and a display, wherein the positioning system is used for measuring the position and posture of the plane mobile robot; the positioning system comprises three base stations and a tag; the wireless transmission system comprises a wireless transmission module node 1 and a wireless transmission module node 2; the remote control equipment comprises a remote control receiving end and a handheld remote control sending end; the tag, the azimuth angle measuring module, the microprocessor and the wireless transmission module node 1 are arranged in the plane mobile robot; the interactive end comprises a wireless transmission module node 2, an upper computer, a display and a handheld remote control terminal sending end; the microprocessor reads the pose information through a serial bus and processes the pose information through a filtering algorithm. The invention also provides a using method of the measuring system. The invention can realize the pose measurement and acquisition of the planar mobile robot.
Description
The technical field is as follows:
the invention belongs to the technical field of position and pose measurement of plane mobile robots, and particularly relates to a position and pose measurement system of a plane mobile robot.
Background art:
the path tracking experiment of the planar mobile robot requires to acquire the position and direction angle information of the planar mobile robot, and the position and direction angle information is used for the dynamic control feedback or path recording of the planar mobile robot.
The existing measuring systems can be classified into three categories according to the working principle of the sensor:
(1) and in the indirect measurement system, an encoder sensor is arranged at a rotary joint of the model mechanical structure, and the pose information of the model is indirectly solved through the relation between the rotary angle of the joint and the position change of the plane mobile robot. This method has the following disadvantages: firstly, the applicable conditions are harsh, and the encoder can be installed and used only by space and other circuit equipment on the rotating shaft; secondly, the model interference is large, errors caused by factors such as slippage when the plane mobile robot runs are difficult to compensate, the errors are accumulated, and the measurement precision is not high.
(2) The optical measurement system is characterized in that a certain number of mark points are arranged on the model, the space coordinates of the mark points are captured in real time by adopting an optical measurement element, and model pose information is obtained by resolving. This method has the following disadvantages: firstly, the system is complex and the cost is high; secondly, the system calibration, calibration and use processes are complicated, and the stability is poor; thirdly, arranging mark points on the model, and greatly increasing the difficulty of model design and processing.
(3) The inertial navigation measurement system obtains the acceleration and the angular acceleration of the model by means of the inertial measurement sensor, and integrates the pose of the model. This method has the following disadvantages: firstly, the manufacturing cost is high, and the requirement on installation precision is high; secondly, errors are accumulated; a large offset is generated.
The invention content is as follows:
in order to solve the problems, the invention provides a pose measuring system of a plane mobile robot, which adopts an ultra-wideband technology to obtain the relative position of a model, utilizes a geomagnetic meter to calculate an azimuth angle, and then carries out filtering algorithm processing, thereby obtaining the pose information of the model in a set reference system.
In order to achieve the purpose, the invention adopts the technical scheme that:
a planar mobile robot pose measuring system comprises a positioning system, an azimuth angle measuring module, a microprocessor, a wireless transmission device, a remote control device and an interaction end, and is characterized in that the positioning system comprises a base station 1, a base station 2, a base station 3 and a label; the wireless transmission equipment comprises a wireless transmission module node 1 and a wireless transmission module node 2; the remote control equipment comprises a remote control sending end and a remote control receiving end; the interactive end comprises an upper computer, a wireless transmission module node 2 connected with the upper computer, a display and a hand-held remote control sending end, and is characterized in that,
the tag, the azimuth angle measuring module, the microprocessor and the wireless transmission module node 1 are arranged on the plane mobile robot; the measurement information of the positioning system and the azimuth angle measurement module is sent to a microprocessor of the plane mobile robot and processed by the microprocessor through a filtering algorithm; the information between the upper computer and the microprocessor is exchanged through the wireless transmission equipment; the remote control equipment remotely sends information to the microprocessor;
the installation positions of the base station 1, the base station 2 and the base station 3 are known, the tag is installed at the geometric center position of the plane mobile robot, and the tag is used for acquiring distance information between the tag and the base station 1, the base station 2 and the base station 3, so that the relative position of the plane mobile robot is calculated.
The azimuth angle measuring module comprises a geomagnetic meter and is used for calculating the azimuth angle of the plane mobile robot in the horizontal running area in real time according to geomagnetic information.
The microprocessor processes the reference position information obtained by resolving the label and the azimuth angle information measured by the azimuth angle measuring module through a filtering algorithm, and can transmit information between the wireless transmission module node 1 and an upper computer.
The filtering algorithm is as follows:
The microprocessor running program comprises an interruption triggering program and three parallel cycle programs, wherein the interruption triggering program is triggered by the remote control receiving end to receive start-stop and reset instructions, and the three parallel cycles comprise a position updating cycle, an azimuth updating cycle and a first cycle of sending the pose to the wireless transmission module node.
Based on the same invention principle, the invention also provides a using method of the pose measuring system of the plane mobile robot, which comprises the following steps:
(a) a reference coordinate system is set in a plane mobile robot driving area, and the base station 1, the base station 2 and the base station 3 are fixed in the reference coordinate system.
(b) And adjusting the azimuth angle of the plane mobile robot to 0 by taking the set reference coordinate system as a reference, and resetting the position and posture measuring system of the plane mobile robot through the interactive end.
(c) And sending a starting instruction through the interactive end, so that the position and attitude information of the plane mobile robot is updated and output by the position and attitude measuring system of the plane mobile robot in real time.
The invention provides a pose measuring system of a plane mobile robot, which adopts the technical scheme and has the beneficial effects that:
(1) the invention realizes the real-time measurement of the position of the plane mobile robot model by using the ultra-wideband technology, realizes the real-time measurement of the azimuth angle of the plane mobile robot model by using the geomagnetism meter, and has the following advantages compared with indirect measurement, optical measurement and inertial navigation measurement systems: the dynamic characteristic is good, the precision is high, and no accumulated error exists; the system algorithm is simple, the composition is simple, and the manufacturing cost is low; the system has simple structure, low cost and no accumulated error;
(2) the measurement result is filtered by combining with the historical storage data, so that the accuracy of the data is improved
(3) The airborne equipment can be arranged on the surface or inside the model, does not require a fixed equipment structure, and has wide application range.
(4) The label and azimuth angle measuring module of the positioning system has small volume, light weight and loose installation condition, and greatly reduces the design difficulty of the plane mobile robot model.
(5) The position and pose measuring system of the plane mobile robot, provided by the invention, has good universality and can be used for carrying out operation research on plane mobile robots of different models; the method is simple and easy to implement, can be popularized to pose measurement of other models, and has good engineering application prospect.
Description of the drawings:
FIG. 1 is a schematic diagram of a planar mobile robot pose measurement system according to the present invention;
FIG. 2 is a positioning system work flow diagram;
FIG. 3 is a flow chart of a method for using a model pose measurement system in an embodiment of the invention;
the specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described with reference to the accompanying drawings.
In an embodiment, referring to fig. 1, a planar mobile robot pose measurement system includes a positioning system, an azimuth angle measurement module, a microprocessor, a wireless transmission device, a remote control device, and an interaction terminal, where the positioning system includes a base station 1, a base station 2, a base station 3, and a tag; the wireless transmission equipment comprises a wireless transmission module node 1 and a wireless transmission module node 2; the remote control equipment comprises a remote control sending end and a remote control receiving end; the interactive end comprises a wireless transmission module node 2, an upper computer, a display and a handheld remote control sending end; the tag, the azimuth angle measuring module, the microprocessor and the wireless transmission module node 1 are arranged in the plane mobile robot; the measurement information of the positioning system and the azimuth angle measurement module enters the microprocessor through a serial bus; the information between the upper computer and the microprocessor is exchanged through the wireless transmission equipment; the remote control device may send information remotely into the microprocessor.
The base station 1, the base station 2 and the base station 3 are respectively installed at fixed coordinates of a running reference coordinate system of the planar mobile robot, the tag is installed at the geometric center position of the planar mobile robot, the tag acquires distance information between the tag and the base station 1, the base station 2 and the base station 3 by using the ultra-wideband technology, so that the relative position of the planar mobile robot is calculated, and the working flow chart of the positioning system is shown in fig. 2.
And measuring the azimuth angle of the plane mobile robot through the azimuth angle measuring module, wherein the azimuth angle measuring module comprises a geomagnetic meter, the geomagnetic meter is installed at the top of the plane mobile robot, and the azimuth angle of the plane mobile robot in the horizontal running area is calculated in real time according to geomagnetic information.
On the basis, the measured value of the current pose of the plane mobile robot can be obtained, the current measured value can be filtered by combining the previous data and processing through the filtering algorithm, and the formula of the filtering algorithm is
Wherein
The pose of the plane mobile robot is obtained after the k moment is processed by the filtering algorithm,
the pose of the plane mobile robot at the k moment obtained by advance estimation,
Kka filter gain factor for time k, zkAnd the pose of the plane mobile robot is measured by the sensor at the moment k.
The handheld remote control sending end can control the operation start, the operation stop and the operation reset of the plane mobile robot pose measuring system through the remote control receiving end.
The microprocessor obtains the reference position information obtained by resolving the label and the azimuth angle information measured by the azimuth angle measuring module through the serial bus, receives the information received by the remote control receiving end, and can transmit the information between the wireless transmission module node 1 and an upper computer.
The upper computer and the display mainly play a role in man-machine interaction, receive and display the measurement data sent by the microprocessor, and assist operators in confirming that the system runs normally and controlling the start, stop and reset of the system.
In another aspect, the invention further provides a use method of the pose measurement system of the planar mobile robot, as shown in fig. 3, including the steps of:
(a) a reference coordinate system is set in a plane mobile robot driving area, and the base station 1, the base station 2 and the base station 3 are fixed in the reference coordinate system.
(b) And adjusting the azimuth angle of the plane mobile robot to 0 by taking the set reference coordinate system as a reference, and resetting the position and posture measuring system of the plane mobile robot through the interactive end.
(c) And sending an operation instruction through the interactive end, so that the position and attitude information of the plane mobile robot is updated and output by the position and attitude measurement system of the plane mobile robot in real time.
Claims (3)
1. A planar mobile robot pose measuring system comprises a positioning system, an azimuth angle measuring module, a microprocessor, a wireless transmission device, a remote control device and an interaction end, and is characterized in that the positioning system comprises a base station 1, a base station 2, a base station 3 and a label; the wireless transmission equipment comprises a wireless transmission module node 1 and a wireless transmission module node 2; the remote control equipment comprises a remote control sending end and a remote control receiving end; the interaction end comprises an upper computer, a wireless transmission module node 2 connected with the upper computer, a display and a handheld remote control sending end. It is characterized in that the preparation method is characterized in that,
the tag, the azimuth angle measuring module, the microprocessor and the wireless transmission module node 1 are arranged on the plane mobile robot; the measurement information of the positioning system and the azimuth angle measurement module is sent to a microprocessor of the plane mobile robot and processed by the microprocessor through a filtering algorithm; the information between the upper computer and the microprocessor is exchanged through the wireless transmission equipment; the remote control equipment remotely sends information to the microprocessor;
the installation positions of the base station 1, the base station 2 and the base station 3 are known, the tag is installed at the geometric center position of the planar mobile robot, and the tag is used for acquiring distance information between the tag and the base station 1, the base station 2 and the base station 3 so as to calculate the relative position of the planar mobile robot;
the azimuth angle measuring module comprises a geomagnetic meter and is used for calculating the azimuth angle of the plane mobile robot in the horizontal running area in real time according to geomagnetic information;
the microprocessor processes the reference position information obtained by resolving the label and the azimuth angle information measured by the azimuth angle measuring module through a filtering algorithm, and can transmit information between the wireless transmission module node 1 and an upper computer;
the filtering algorithm is as follows:
2. The system of claim 1, wherein the microprocessor running program comprises an interrupt trigger program and three parallel loop programs, the interrupt trigger program is triggered by the hand-held remote control sending terminal to receive start-stop and reset instructions, and the three parallel loops comprise a position update loop, an azimuth update loop and a loop for sending the pose to the wireless transmission module node.
3. The use method of the pose measurement system of the plane mobile robot according to claim 1, characterized by comprising the steps of:
(a) setting a reference coordinate system in a traveling area of the planar mobile robot, and installing a base station 1, a base station 2 and a base station 3 at fixed positions of the reference coordinate system;
(b) adjusting the azimuth angle of the plane mobile robot to 0 by taking the set reference coordinate system as a reference, and resetting the position and posture measuring system of the plane mobile robot through the interactive end;
(c) and sending an operation instruction through the interactive end, so that the position and attitude information of the plane mobile robot is updated and output by the position and attitude measurement system of the plane mobile robot in real time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011624085.2A CN112833854A (en) | 2020-12-31 | 2020-12-31 | Pose measurement system of planar mobile robot |
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| CN202011624085.2A CN112833854A (en) | 2020-12-31 | 2020-12-31 | Pose measurement system of planar mobile robot |
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| DE10000781A1 (en) * | 2000-01-11 | 2001-11-29 | Biedermann Motech Gmbh | Device and method for remote maintenance of an electronically controllable prosthesis |
| CN103753534A (en) * | 2013-12-13 | 2014-04-30 | 国家电网公司 | Mobile robot controller and control method thereof |
| CN104155991A (en) * | 2014-08-25 | 2014-11-19 | 南京工程学院 | Underwater robot pose control method |
| CN109375158A (en) * | 2018-09-25 | 2019-02-22 | 北京工业大学 | Method for positioning mobile robot based on UGO Fusion |
| CN112061390A (en) * | 2020-09-18 | 2020-12-11 | 哈尔滨工业大学 | Flight control device and method of bat-like flexible deformation flapping-wing robot |
-
2020
- 2020-12-31 CN CN202011624085.2A patent/CN112833854A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10000781A1 (en) * | 2000-01-11 | 2001-11-29 | Biedermann Motech Gmbh | Device and method for remote maintenance of an electronically controllable prosthesis |
| CN103753534A (en) * | 2013-12-13 | 2014-04-30 | 国家电网公司 | Mobile robot controller and control method thereof |
| CN104155991A (en) * | 2014-08-25 | 2014-11-19 | 南京工程学院 | Underwater robot pose control method |
| CN109375158A (en) * | 2018-09-25 | 2019-02-22 | 北京工业大学 | Method for positioning mobile robot based on UGO Fusion |
| CN112061390A (en) * | 2020-09-18 | 2020-12-11 | 哈尔滨工业大学 | Flight control device and method of bat-like flexible deformation flapping-wing robot |
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Application publication date: 20210525 |