CN113267194A - Mobile robot navigation positioning system based on multi-sensor data - Google Patents
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Abstract
本发明公开了基于多传感器数据移动机器人导航定位系统，包括机器人导航定位系统、天线系统、个体机器人定位管理系统、数据纠偏管理系统、区域机器人定位管理系统、中央定位管理系统、通讯管理系统与计算机终端管理系统，所述机器人导航定位系统连接有天线系统。本发明所述的基于多传感器数据移动机器人导航定位系统，设有多传感式个体机器人定位管理系统、数据纠偏管理系统与天线系统，能够方便更好的对个体进行实时导航监控，采用多组传感模块进行监测，降低误差，还可以方便更好的对位置数据进行纠偏操作，增加导航的精确度，导航定位系统的使用性能更为优异，便于进行实时传输，位置定位更加简单，带来更好的使用前景。
The invention discloses a mobile robot navigation and positioning system based on multi-sensor data, including a robot navigation and positioning system, an antenna system, an individual robot positioning management system, a data correction management system, a regional robot positioning management system, a central positioning management system, a communication management system and a computer. A terminal management system, wherein the robot navigation and positioning system is connected with an antenna system. The mobile robot navigation and positioning system based on multi-sensor data according to the present invention is provided with a multi-sensor individual robot positioning management system, a data correction management system and an antenna system, which can facilitate and better conduct real-time navigation and monitoring of individuals. The sensor module monitors, reduces errors, and can also facilitate and better correct the position data, increase the accuracy of navigation, the use performance of the navigation and positioning system is better, it is convenient for real-time transmission, and the position positioning is simpler, bringing better usage prospects.
Description
Technical Field
The invention relates to the field of mobile robot navigation and positioning, in particular to a mobile robot navigation and positioning system based on multi-sensor data.
Background
The robot positioning navigation system is a supporting system for positioning and navigation, nowadays, navigation positioning is more and more important in life, the system is applied to various fields, the position of an individual can be monitored in real time, the construction and development of the navigation system are the fundamental targets of application popularization and industrial development, the system is not only built, but also better used, the quality, safety, application and benefit are emphasized, positioning management needs to be carried out on the robot when the robot is used, and along with the continuous development of science and technology, the manufacturing process requirements of people on the robot positioning navigation system are higher and higher.
In the prior art, the patent with the publication number of CN201810481828.1 discloses a method for fusing multi-sensor data and an AGV navigation positioning device, which adopt the extended kalman filter algorithm to fuse multi-sensor data information, thereby improving the fault-tolerant capability and data reliability of the system, reducing the data acquisition cost, and adopt the extended kalman filter algorithm to perform real-time tracking prediction on system status measurement data, thereby improving the positioning accuracy, and the existing robot positioning navigation system has certain disadvantages in use, firstly, the situation of position data deviation is easy to occur in use, the accuracy of navigation positioning is poor, which is not beneficial to people's use, and also, the operation is troublesome in use, the navigation function is single, statistical management can not be well performed, which brings certain adverse effects to people's use process, to this end, we propose a mobile robot navigation positioning system based on multi-sensor data.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the mobile robot navigation positioning system based on the multi-sensor data, which can conveniently and better perform real-time navigation monitoring on individuals, adopts a plurality of groups of sensing modules for monitoring, reduces errors, can also conveniently and better perform deviation rectifying operation on position data, increases the navigation accuracy, has more excellent service performance, is convenient for real-time transmission, has simpler position positioning, and can effectively solve the problems in the background technology.
(II) technical scheme
In order to achieve the purpose, the invention adopts the technical scheme that: based on multisensor data mobile robot navigation positioning system, including robot navigation positioning system, antenna system, individual robot location management system, data rectification management system, regional robot location management system, central location management system, communication management system and computer terminal management system, robot navigation positioning system is connected with antenna system, antenna system is connected with individual robot location management system, individual robot location management system is connected with data rectification management system, data rectification management system is connected with regional robot location management system, regional robot location management system is connected with central location management system, central location management system is connected with communication management system and computer terminal management system.
As a preferred technical solution, the output end of the robot navigation positioning system is electrically connected to the input end of the antenna system, the output end of the antenna system is electrically connected to the input end of the individual robot positioning management system, the output end of the individual robot positioning management system is electrically connected to the input end of the data correction management system, the output end of the data correction management system is electrically connected to the input end of the regional robot positioning management system, the output end of the regional robot positioning management system is electrically connected to the input end of the central positioning management system, and the output end of the central positioning management system is electrically connected to the input end of the computer terminal management system through the communication management system.
As a preferred technical scheme, the individual robot positioning management system comprises an individual positioning management module, a positioning chip module, an infrared sensor module, an ultrasonic sensor module, a state display module, a battery management module, a communication alarm module, a laser ranging sensing module and a monitoring sensing module, wherein the individual positioning management module is connected with the positioning chip module, the infrared sensor module, the ultrasonic sensor module, the state display module, the battery management module, the communication alarm module, the laser ranging sensing module and the monitoring sensing module.
As a preferred technical scheme, the data deviation rectifying management system comprises a mobile robot positioning terminal module, a multi-sensor data integration module, a deviation rectifying conversion module, a deviation rectifying track management module and a track display module, wherein the mobile robot positioning terminal module is connected with the multi-sensor data integration module, the multi-sensor data integration module is connected with the deviation rectifying conversion module, the deviation rectifying conversion module is connected with the deviation rectifying track management module, and the deviation rectifying track management module is connected with the track display module.
As a preferred technical scheme, the antenna system comprises an antenna module, a mobile robot positioning receiving module, a data input module, a data conversion module, a data output module, a central management module, a position information management module and a power supply module, wherein the antenna module is connected with the mobile robot positioning receiving module, the mobile robot positioning receiving module is connected with the data input module, the data input module is connected with the data conversion module, the data conversion module is connected with the data output module, the data output module is connected with the central management module, and the central management module is connected with the position information management module.
As a preferred technical scheme, the individual positioning management module is electrically connected with the positioning chip module, the infrared sensor module, the ultrasonic sensor module, the state display module, the battery management module, the communication alarm module, the laser ranging sensing module and the monitoring sensing module.
As a preferred technical solution, the output end of the mobile robot positioning terminal module is electrically connected to the input end of the multi-sensor data integration module, the output end of the multi-sensor data integration module is electrically connected to the input end of the deviation correction conversion module, the output end of the deviation correction conversion module is electrically connected to the input end of the deviation correction trajectory management module, and the output end of the deviation correction trajectory management module is electrically connected to the input end of the trajectory display module.
As a preferred technical solution, the output end of the antenna module is electrically connected to the input end of the mobile robot positioning receiving module, the output end of the mobile robot positioning receiving module is electrically connected to the input end of the data input module, the output end of the data input module is electrically connected to the input end of the data conversion module, the output end of the data conversion module is electrically connected to the input end of the data output module, the output end of the data output module is electrically connected to the input end of the central management module, and the output end of the central management module is electrically connected to the input end of the position information management module.
(III) advantageous effects
Compared with the prior art, the invention provides a mobile robot navigation positioning system based on multi-sensor data, which has the following beneficial effects: the mobile robot navigation and positioning system based on the multi-sensor data can conveniently and better conduct real-time navigation monitoring on individuals through a multi-sensing type individual robot positioning management system, a data deviation correction management system and an antenna system, can monitor the individuals through multiple groups of sensing modules, reduces errors, can also conveniently and better conduct deviation correction operation on position data, increases navigation accuracy, is more excellent in service performance, facilitates real-time transmission, and is simpler in position positioning The system comprises a multi-sensor data integration module, a deviation correction conversion module, a deviation correction track management module and a track display module, wherein an antenna system comprises an antenna module, a mobile robot positioning receiving module, a data input module, a data conversion module, a data output module, a central management module, a position information management module and a power supply module, a positioning chip module is adopted in an individual positioning management module for position monitoring and navigation, a plurality of groups of infrared sensor modules, an ultrasonic sensor module, a laser ranging sensing module and a monitoring sensing module are arranged at the same time, the position is further subjected to deviation correction calculation operation through a plurality of groups of sensors, the data received by the plurality of groups of sensors are integrated and counted in a data deviation correction management system, the deviation correction conversion module is adopted for calculation, the data information of the multi-sensor is fused by adopting an extended Kalman filtering algorithm, and the deviation correction track is measured, the system has the advantages of real-time tracking and prediction, convenient management, track display position, automatic adjustment of deviation correction data, increase of the accuracy degree of the navigation system, simple structure of the whole robot positioning navigation system, convenient operation and better use effect compared with the traditional mode.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the mobile robot navigation positioning system based on multi-sensor data according to the present invention.
Fig. 2 is a schematic structural diagram of an individual robot positioning management system in the multi-sensor data based mobile robot navigation positioning system of the present invention.
Fig. 3 is a schematic structural diagram of an individual positioning management module in the multi-sensor data-based mobile robot navigation positioning system according to the present invention.
FIG. 4 is a schematic structural diagram of a data deviation rectifying management system in a navigation positioning system of a mobile robot based on multi-sensor data according to the present invention.
FIG. 5 is a schematic structural diagram of an antenna system in the multi-sensor data-based mobile robot navigation positioning system according to the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and the detailed description, but those skilled in the art will understand that the following described embodiments are some, not all, of the embodiments of the present invention, and are only used for illustrating the present invention, and should not be construed as limiting the scope of the present invention. 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. The examples, in which specific conditions are not specified, were conducted under conventional conditions or conditions recommended by the manufacturer. The reagents or instruments used are not indicated by the manufacturer, and are all conventional products available commercially.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The first embodiment is as follows:
as shown in fig. 1-3, the mobile robot navigation and positioning system based on multi-sensor data comprises a robot navigation and positioning system, an antenna system, an individual robot positioning management system, a data deviation correction management system, a regional robot positioning management system, a central positioning management system, a communication management system and a computer terminal management system, wherein the robot navigation and positioning system is connected with the antenna system, the antenna system is connected with the individual robot positioning management system, the individual robot positioning management system is connected with the data deviation correction management system, the data deviation correction management system is connected with the regional robot positioning management system, the regional robot positioning management system is connected with the central positioning management system, and the central positioning management system is connected with the communication management system and the computer terminal management system;
the output end of the robot navigation positioning system is electrically connected with the input end of the antenna system, the output end of the antenna system is electrically connected with the input end of the individual robot positioning management system, the output end of the individual robot positioning management system is electrically connected with the input end of the data correction management system, the output end of the data correction management system is electrically connected with the input end of the regional robot positioning management system, the output end of the regional robot positioning management system is electrically connected with the input end of the central positioning management system, and the output end of the central positioning management system is electrically connected with the input end of the computer terminal management system through the communication management system;
the individual robot positioning management system comprises an individual positioning management module, a positioning chip module, an infrared sensor module, an ultrasonic sensor module, a state display module, a battery management module, a communication alarm module, a laser ranging sensing module and a monitoring sensing module, wherein the individual positioning management module is connected with the positioning chip module, the infrared sensor module, the ultrasonic sensor module, the state display module, the battery management module, the communication alarm module, the laser ranging sensing module and the monitoring sensing module;
individual location management module and positioning chip module, infrared sensor module, ultrasonic sensor module, state display module, battery management module, communication alarm module, laser rangefinder sensing module, mutual electric connection between the control sensing module, adopt the positioning chip module to carry out position monitoring and navigation among the individual location management module, be provided with multiunit infrared sensor module simultaneously, ultrasonic sensor module, laser rangefinder sensing module, control sensing module, further carry out the calculation operation of rectifying a deviation to the position through multiunit sensor.
Example two:
on the basis of the first embodiment, as shown in fig. 1 and 4, the mobile robot navigation and positioning system based on multi-sensor data comprises a robot navigation and positioning system, an antenna system, an individual robot positioning management system, a data deviation correction management system, a regional robot positioning management system, a central positioning management system, a communication management system and a computer terminal management system, wherein the robot navigation and positioning system is connected with the antenna system, the antenna system is connected with the individual robot positioning management system, the individual robot positioning management system is connected with the data deviation correction management system, the data deviation correction management system is connected with the regional robot positioning management system, the regional robot positioning management system is connected with the central positioning management system, and the central positioning management system is connected with the communication management system and the computer terminal management system;
the data correction management system comprises a mobile robot positioning terminal module, a multi-sensor data integration module, a correction conversion module, a correction track management module and a track display module, wherein the mobile robot positioning terminal module is connected with the multi-sensor data integration module;
the output end of the mobile robot positioning terminal module is electrically connected with the input end of the multi-sensor data integration module, the output end of the multi-sensor data integration module is electrically connected with the input end of the deviation-correcting conversion module, the output end of the deviation-correcting conversion module is electrically connected with the input end of the deviation-correcting track management module, the output end of the deviation-correcting track management module is electrically connected with the input end of the track display module, a positioning chip module is adopted in an individual positioning management module for position monitoring and navigation, meanwhile, a plurality of groups of infrared sensor modules, ultrasonic sensor modules, laser ranging sensor modules and monitoring sensor modules are arranged, the position is further subjected to deviation-correcting calculation operation through a plurality of groups of sensors, the data received by the plurality of groups of sensors are subjected to integrated statistics in a data deviation-correcting management system, the calculation is carried out by the deviation-correcting conversion module, and the data information of the plurality of sensors is fused by an extended Kalman filtering algorithm, and measuring the deviation rectifying track, performing real-time tracking and prediction, facilitating management and displaying the position of the track.
Example three:
on the basis of the second embodiment, as shown in fig. 1 and 5, the mobile robot navigation and positioning system based on multi-sensor data comprises a robot navigation and positioning system, an antenna system, an individual robot positioning management system, a data deviation correction management system, a regional robot positioning management system, a central positioning management system, a communication management system and a computer terminal management system, wherein the robot navigation and positioning system is connected with the antenna system, the antenna system is connected with the individual robot positioning management system, the individual robot positioning management system is connected with the data deviation correction management system, the data deviation correction management system is connected with the regional robot positioning management system, the regional robot positioning management system is connected with the central positioning management system, and the central positioning management system is connected with the communication management system and the computer terminal management system;
the antenna system comprises an antenna module, a mobile robot positioning receiving module, a data input module, a data conversion module, a data output module, a central management module, a position information management module and a power supply module, wherein the antenna module is connected with the mobile robot positioning receiving module;
the output end of the antenna module is electrically connected with the input end of the mobile robot positioning receiving module, the output end of the mobile robot positioning receiving module is electrically connected with the input end of the data input module, the output end of the data input module is electrically connected with the input end of the data conversion module, the output end of the data conversion module is electrically connected with the input end of the data output module, the output end of the data output module is electrically connected with the input end of the central management module, the output end of the central management module is electrically connected with the input end of the position information management module, and position positioning navigation is further performed on individuals conveniently.
The working principle is as follows: the invention comprises a robot navigation positioning system, an antenna system, an individual robot positioning management system, a data deviation correction management system, a regional robot positioning management system, a central positioning management system, a communication management system and a computer terminal management system, wherein the individual robot positioning management system comprises an individual positioning management module, a positioning chip module, an infrared sensor module, an ultrasonic sensor module, a state display module, a battery management module, a communication alarm module, a laser distance measurement sensing module and a monitoring sensing module, the data deviation correction management system comprises a mobile robot positioning terminal module, a multi-sensor data integration module, a deviation correction conversion module, a deviation correction track management module and a track display module, and the antenna system comprises an antenna module, a mobile robot positioning receiving module, a data input module, a data conversion module, a data acquisition module, a module, the system comprises a data output module, a central management module, a position information management module and a power supply module, wherein a positioning chip module is adopted in an individual positioning management module for position monitoring and navigation, a plurality of groups of infrared sensor modules, an ultrasonic sensor module, a laser ranging sensing module and a monitoring sensing module are arranged at the same time, the position is further subjected to deviation correction calculation operation through the plurality of groups of sensors, the received data of the plurality of groups of sensors is integrated and counted in a data deviation correction management system, the deviation correction conversion module is adopted for calculation, the data information of the plurality of sensors is fused by adopting an extended Kalman filtering algorithm, the deviation correction track is measured, real-time tracking and prediction are carried out, the management is convenient, the position of the track is displayed, the deviation correction data is automatically adjusted, the accuracy degree of a navigation system is increased, the individual can be conveniently and better subjected to real-time navigation monitoring, and the monitoring is carried out by adopting the plurality of groups of sensing modules, the error is reduced, the position data can be corrected conveniently and better, the navigation accuracy is improved, the service performance of the navigation positioning system is more excellent, real-time transmission is facilitated, and the position positioning is simpler.
It is noted that, herein, relational terms such as first and second (a, b, etc.) and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. Based on multisensor data mobile robot navigation positioning system, including robot navigation positioning system, antenna system, individual robot location management system, data rectification management system, regional robot location management system, central authorities' location management system, communication management system and computer terminal management system, its characterized in that: the robot navigation positioning system is connected with an antenna system, the antenna system is connected with an individual robot positioning management system, the individual robot positioning management system is connected with a data deviation correction management system, the data deviation correction management system is connected with a regional robot positioning management system, the regional robot positioning management system is connected with a central positioning management system, and the central positioning management system is connected with a communication management system and a computer terminal management system.
2. The multi-sensor data based mobile robot navigation positioning system of claim 1, wherein: the output of robot navigation positioning system and the input electric connection of antenna system, the output of antenna system and the input electric connection of individual robot positioning management system, the output of individual robot positioning management system and the input electric connection of data rectification management system, the output of data rectification management system and the input electric connection of regional robot positioning management system, the output of regional robot positioning management system and the input electric connection of central positioning management system, the output of central positioning management system passes through the input electric connection of communication management system and computer terminal management system.
3. The multi-sensor data based mobile robot navigation positioning system of claim 1, wherein: the individual robot positioning management system comprises an individual positioning management module, a positioning chip module, an infrared sensor module, an ultrasonic sensor module, a state display module, a battery management module, a communication alarm module, a laser ranging sensing module and a monitoring sensing module, wherein the individual positioning management module is connected with the positioning chip module, the infrared sensor module, the ultrasonic sensor module, the state display module, the battery management module, the communication alarm module, the laser ranging sensing module and the monitoring sensing module.
4. The multi-sensor data based mobile robot navigation positioning system of claim 1, wherein: the data deviation correction management system comprises a mobile robot positioning terminal module, a multi-sensor data integration module, a deviation correction conversion module, a deviation correction track management module and a track display module, wherein the mobile robot positioning terminal module is connected with the multi-sensor data integration module, the multi-sensor data integration module is connected with the deviation correction conversion module, the deviation correction conversion module is connected with the deviation correction track management module, and the deviation correction track management module is connected with the track display module.
5. The multi-sensor data based mobile robot navigation positioning system of claim 1, wherein: the antenna system comprises an antenna module, a mobile robot positioning receiving module, a data input module, a data conversion module, a data output module, a central management module, a position information management module and a power supply module, wherein the antenna module is connected with the mobile robot positioning receiving module, the mobile robot positioning receiving module is connected with the data input module, the data input module is connected with the data conversion module, the data conversion module is connected with the data output module, the data output module is connected with the central management module, and the central management module is connected with the position information management module.
6. The multi-sensor-data-based mobile robot navigation and positioning system of claim 3, wherein: the individual positioning management module is electrically connected with the positioning chip module, the infrared sensor module, the ultrasonic sensor module, the state display module, the battery management module, the communication alarm module, the laser ranging sensing module and the monitoring sensing module.
7. The multi-sensor-data-based mobile robot navigation and positioning system of claim 4, wherein: the mobile robot positioning terminal comprises a mobile robot positioning terminal module, a multi-sensor data integration module, a deviation correction conversion module and a trajectory management module, wherein the output end of the mobile robot positioning terminal module is electrically connected with the input end of the multi-sensor data integration module, the output end of the multi-sensor data integration module is electrically connected with the input end of the deviation correction conversion module, the output end of the deviation correction conversion module is electrically connected with the input end of the deviation correction trajectory management module, and the output end of the deviation correction trajectory management module is electrically connected with the input end of the trajectory display module.
8. The multi-sensor-data-based mobile robot navigation and positioning system of claim 5, wherein: the output of antenna module and mobile robot location receiving module's input electric connection, mobile robot location receiving module's output and data input module's input electric connection, data input module's output and data conversion module's input electric connection, data conversion module's output and data output module's input electric connection, data output module's output and central management module's input electric connection, central management module's output and positional information management module's input electric connection.
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| CN202110603928.9A CN113267194A (en) | 2021-05-31 | 2021-05-31 | Mobile robot navigation positioning system based on multi-sensor data |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114252075A (en) * | 2021-12-09 | 2022-03-29 | 国网安徽省电力有限公司电力科学研究院 | A path tracking method and system for a cable trench inspection robot |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114252075A (en) * | 2021-12-09 | 2022-03-29 | 国网安徽省电力有限公司电力科学研究院 | A path tracking method and system for a cable trench inspection robot |
| CN114252075B (en) * | 2021-12-09 | 2024-05-28 | 国网安徽省电力有限公司电力科学研究院 | Path tracking method and system of cable pit inspection robot |
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