CN116972830A - Position detection system and device of mobile charging robot - Google Patents
Position detection system and device of mobile charging robot Download PDFInfo
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- CN116972830A CN116972830A CN202310991778.2A CN202310991778A CN116972830A CN 116972830 A CN116972830 A CN 116972830A CN 202310991778 A CN202310991778 A CN 202310991778A CN 116972830 A CN116972830 A CN 116972830A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The application relates to a position detection system and a device of a mobile charging robot, belongs to the field of robot position detection, and effectively solves the problems of high-precision positioning, real-time data transmission, multiple sensor technologies, data processing and analysis, simplicity, easiness in use, high energy efficiency, reliability, stability and the like; the technical scheme for solving the problems comprises the following steps: the position detection system is connected with an external control system and controls the robot to realize the functions of position detection, navigation and obstacle avoidance; the position detection system is characterized in that the position detection system adopts a wireless communication technology to carry out real-time data transmission and communication with the charging robot, and the position detection system comprises: the positioning sensing unit is used for acquiring current position information of the robot; the positioning sensing unit realizes positioning and autonomous mobile navigation by adopting an omnidirectional laser radar module or a satellite navigation module according to indoor and outdoor scene conversion, wherein the positioning sensing unit is also provided with an inertial measurement unit for deducing the position and the gesture of the robot.
Description
Technical Field
The application relates to the technical field of robot position detection, in particular to a position detection system and device of a mobile charging robot.
Background
The position detection device of the mobile charging robot is a key part for ensuring that the robot can accurately position and navigate, however, the charging robot moves in different environments, ground conditions, illumination conditions and the like can change, the accuracy of sensor data is affected, and then the positioning result is affected, and the positioning precision and performance of the robot are affected. In order to improve the positioning accuracy of the mobile charging robot, the influence caused by positioning errors is reduced by adopting the cooperation of the positioning sensing unit, the route planning unit and the position estimating unit.
In view of the above, we provide a position detection system and device of a mobile charging robot for solving the above problems.
Disclosure of Invention
In view of the above, the present application provides a position detection system and apparatus for a mobile charging robot.
The position detection system of the mobile charging robot is connected with an external control system and controls the position detection, navigation and obstacle avoidance functions realized by the robot; the position detection system is characterized in that the position detection system adopts a wireless communication technology to carry out real-time data transmission and communication with the charging robot, and the position detection system comprises:
the positioning sensing unit is used for acquiring current position information of the robot; the positioning sensing unit realizes positioning and autonomous mobile navigation by adopting an omnidirectional laser radar module or a satellite navigation module according to indoor and outdoor scene conversion, wherein the positioning sensing unit is also provided with an inertial measurement unit, and the inertial measurement unit is used for accurately positioning the robot;
the route planning unit is used for processing and acquiring the position information of the robot acquired by the positioning sensing unit, and constructing an environment map where the robot is positioned by combining the motion trail of the robot;
the position estimation unit is used for carrying out fusion and filtering based on the acquired position information of the robot and calculating to obtain the accurate position of the robot;
through the technical scheme, an efficient position detection and navigation function is provided for the mobile charging robot, and the performance and reliability of the mobile charging robot in practical application are improved.
Preferably, the omnidirectional laser radar module is used for scanning ranging and acquiring an environment image, and high-precision positioning and autonomous mobile navigation are realized by adopting a characteristic point matching algorithm and a digital signal processing DSP;
the satellite navigation module is used for acquiring satellite signals, and realizes longitude, latitude and elevation data positioning and autonomous mobile navigation by adopting a map matching AI algorithm and combining with a micro-wave spectrum three-dimensional scanning and AI live-action image analysis mode.
Through the technical scheme, different use modules are debugged according to different applications of indoor and outdoor scenes, so that the robot is enabled to be more in line with the scenes under the conversion of multiple scenes, and positioning information is relatively stable.
Preferably, the sex measuring unit is used for measuring acceleration and angular velocity of the robot to infer the position and posture of the robot;
the positioning sensing unit further comprises an ultrasonic sensor and a geomagnetic sensor, and the omnidirectional laser radar module scans and measures distance and acquires an environment image under the support of the ultrasonic sensor and the geomagnetic sensor.
Through the technical scheme, the omnidirectional laser radar module is supported to obtain the environment picture.
Preferably, the ultrasonic sensor is used for detecting the distance between the robot and the obstacle and calculating the distance between the robot and the obstacle.
The geomagnetic sensor is used for determining the azimuth and the position of the robot on the earth by measuring the magnetic field of the earth, so that the positioning precision is improved.
Through the technical scheme, the robot moves in the positioning process and the positioning data are more accurate.
Preferably, the route planning unit comprises a map construction algorithm and a special icon;
the map construction algorithm adopts SLAM algorithm to realize the construction of the map of the environment where the robot is located;
the special icon is erected in the charging scene, and the position of the special icon is determined through the robot identification mark points.
Through the technical scheme, the robot not only obtains the environment map by adopting the map construction algorithm based on the image, but also can increase the special icon in the charged environment, so that the robot can scan to determine the position, and the map construction algorithm can also obtain the error probability under the special position.
Preferably, the position estimation unit employs an extended kalman filter EKF or a particle filter PF algorithm.
Through the technical scheme, the realization-based bit estimation algorithm adopts the realizable filter, and the fusion of a plurality of sensor data of different types is realized, so that the positioning accuracy and the robustness are improved.
Preferably, the control system is used for controlling the robot to establish communication with the charging station and operating and controlling the movement and behavior of the robot to complete intelligent charging, and comprises a communication module and a command module;
the communication module is used for communicating with other devices or systems, and the communication module is used for connecting and communicating the robot with the other devices by using a wireless communication technology or a wired communication technology;
and the command module is used for commanding the robot to carry out intelligent charging and controlling the navigation opening, obstacle avoidance and fixed-point stopping of the robot.
Through the technical scheme, the system is connected with other equipment, mutual communication is completed, and the other equipment transmits charging task information into the system, so that the robot is controlled to move to complete intelligent charging.
Preferably, the omnidirectional laser radar module is suitable for an indoor positioning process, and comprises the following steps according to a navigation step of indoor positioning:
s1, the charging machine establishes communication with a detection system;
s2, enabling the omnidirectional laser radar module to scan and range through the geomagnetic sensor and the ultrasonic sensor and acquiring an environment image;
s3, the robot builds a map of the environment where the robot is located according to the route planning unit;
s4, the robot acquires a charging task and moves according to the environment map;
s5, the charging robot is controlled by the control system to complete the intelligent charging step when the charging potential is reached.
Preferably, the navigation mode is suitable for an outdoor positioning process, and comprises the following steps of:
s1, the robot establishes communication with a detection system;
s2, the robot is connected with a global satellite navigation module;
s3, the robot moves according to the navigation information;
s4, the control system transmits the charging demand position;
s5, determining the position of the nearest charging station according to the information of the navigation module;
s6, the charging robot is controlled by the control system to complete the intelligent charging step when the charging potential is reached.
A position detection device of a mobile charging robot, characterized by comprising a detection device body and a position detection system of the robot mobile charging robot according to any one of claims 1 to 9;
the position detection system of the robot mobile charging robot is built in the detection device body, and a power supply of the detection device body is powered by a rechargeable battery.
The technical scheme has the beneficial effects that:
(1) The functional characteristics of the position detection system of the mobile charging robot comprise high-precision positioning, real-time data transmission, various sensor technologies, data processing and analysis, simplicity, easiness in use, high energy efficiency, reliability, stability and the like. These features enable the position detection system to provide accurate position information, supporting navigation and control of the charging robot.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present application;
FIG. 2 is a schematic diagram of a positioning sensor unit according to the present application;
FIG. 3 is a schematic diagram of a route planning unit according to the present application;
FIG. 4 is a schematic diagram of a control system according to the present application;
fig. 5 is a schematic diagram of a using flow of the omnidirectional laser radar module according to the present application;
fig. 6 is a schematic diagram of a global satellite navigation module using flow according to the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The application provides a position detection system and a device of a mobile charging robot, which specifically comprise the following steps:
the intelligent charging device is used for the mobile charging robot, and the mobile robot can realize accurate position detection, navigation and intelligent charging of a charged object under the obstacle avoidance function. The whole equipment is composed of a detection device body and a software and hardware structure of a detection device system, wherein the hardware is used for bearing various sensing devices with functions realized by the software system, and the hardware equipment is provided with various equipment interfaces for facilitating the connection and use of users.
The power supply of the detection device body adopts a rechargeable battery to supply power, and can provide enough electric quantity to ensure long-time use. Meanwhile, the charging robot detection device body is generally designed with low power consumption so as to improve energy efficiency.
Before use, the detection device body and the charging robot are checked and prepared, so that the mobile charging robot and the position detection system are charged.
Wherein, adopt wear-resisting, prevent scraping, anti-pollution material about the shell of detection device body, ensure long-time use not fragile, and equipment shell surface adopts anti-skidding design to prevent landing and unexpected damage. Meanwhile, the detection device body is provided with a display screen or an indicator light for displaying real-time position information of the charging robot. The user can know the current position of the charging robot by observing the data on the display screen or the indicator lamp; when the starting equipment moves, a switch on the detection device body is turned on, and the starting equipment moves.
Once the position detection system is successfully connected, the position detection system can start to detect the position of the charging robot. The sensors inside the device collect position data and transmit it to the detection device body via wireless communication technology.
In the process of completing position collection and data transmission, the data processing is required to be completed through a position detection system, so that a transmission flow is realized; the position detection system comprises a positioning sensing unit, a route planning unit, a position estimation unit and a control system;
1-2, a positioning sensing unit is used for acquiring current position information of the robot; the positioning sensing unit adopts an omnidirectional laser radar module or a satellite navigation module to realize positioning and autonomous mobile navigation according to indoor and outdoor scene conversion; two different positioning conditions adopt corresponding positioning modules according to different environments of the robot, so that the situation of multi-scene movement can be realized.
An omnidirectional laser radar module is adopted in an indoor environment and is used for scanning ranging and acquiring an environment image, and a characteristic point matching algorithm and a digital signal processing DSP are adopted to realize high-precision positioning and autonomous mobile navigation;
the laser radar module can capture surrounding images or point cloud data under the scanning action of the laser radar, can achieve the same effect based on the effect achieved by laser radar scanning, and can perform image processing and a computer vision algorithm to obtain the position of the robot under the condition that the camera is adopted.
The omnidirectional laser radar module scans and measures distance and acquires an environment image under the support of the ultrasonic sensor and the geomagnetic sensor.
The ultrasonic sensor is used for detecting the distance between the robot and the obstacle and calculating the distance between the robot and the obstacle; the geomagnetic sensor determines the azimuth and the position of the robot on the earth by measuring the magnetic field of the earth so as to improve the positioning precision.
When the omnidirectional laser radar module is positioned aiming at the indoor robot, an ultrasonic sensor and a geomagnetic sensor are required to be combined; with the support of the ultrasonic sensor and the geomagnetic sensor, the omnidirectional laser radar module mounted on the mobile charging robot scans the distance measurement and acquires the environment image.
Satellite signals are obtained through a navigation module carried by the mobile charging robot in an outdoor environment, and longitude, latitude and elevation data positioning and autonomous mobile navigation are realized by utilizing a map matching AI algorithm and combining with a micro-wave spectrum three-dimensional scanning and AI live-action image analysis mode.
The global satellite navigation module can be realized by adopting a GPS, a Beidou navigation system and the like, and the position of the robot is determined by receiving satellite signals. The global satellite navigation module can provide higher positioning precision and is better suitable for outdoor environments.
Referring to fig. 2, the positioning sensor unit is also provided with an inertial measurement unit for accurately measuring the positioning value of the robot, the inertial measurement unit comprises an accelerometer and a gyroscope, the acceleration and the angular velocity of the robot can be measured, and the robot can be calculated through integration, so that the position and the gesture of the robot can be deduced. However, the errors of the inertial measurement unit accumulate over time, and under the condition of more error values, the errors need to be fused with other sensors for use.
Under the two effects of capturing images through a camera or a laser radar or realizing image analysis by adopting an algorithm by a global satellite navigation module, the map construction of the environment where the robot is realized by adopting a map construction algorithm in a route planning unit.
Referring to fig. 3, the map construction algorithm adopts a SLAM algorithm to realize the construction of a map of the environment where the robot is located;
meanwhile, the route planning unit also comprises a special icon; in this way, special marking points or landmarks can be provided on the ground in the charging scene, which are recognized by the robot to determine their own position.
The route planning unit is used for processing and acquiring the position information acquired by the omnidirectional laser radar module, and constructing an environment map where the robot is positioned by combining the motion trail of the robot;
the position estimation unit is used for carrying out fusion and filtering based on the acquired position information of the robot and calculating to obtain the accurate position of the robot; the usual position estimation unit is implemented with an extended kalman filter EKF or a particle filter PF algorithm.
Referring to fig. 4, a control system; the intelligent charging system is used for controlling the robot to establish communication with the charging station and controlling the movement and behavior of the robot to finish intelligent charging; the control system comprises a communication module and a command module; the control system can be realized by using hardware devices such as an embedded system, a microcontroller and the like and matching with a corresponding control algorithm.
The communication module is used for communicating with other devices or systems; mobile charging robots typically need to communicate with other devices or systems, such as with a charging station to obtain a charging task, with a user terminal to receive user instructions, etc.; the communication module may use wireless communication technology such as Wi-Fi, bluetooth, zigbee, etc. or wired communication technology such as ethernet, CAN bus, etc.
And the command module is used for commanding the robot to carry out intelligent charging, controlling the navigation opening, obstacle avoidance and fixed-point stopping of the robot, and realizing the actions of advancing, retreating, left turning, right turning and the like of the charging robot so as to reach the target position.
According to the use of two different scenes indoors and outdoors, the adopted positioning steps are relatively different according to scene changes, so that the method is more suitable for converting the current environment;
referring to fig. 5, the navigation steps according to indoor positioning include:
s1, wireless communication is established between a charging machine and a detection system, and the wireless communication can adopt Bluetooth, wi-Fi or other reliable communication protocols to carry out data transmission and communication with the charging robot;
s2, enabling the omnidirectional laser radar module to scan distance measurement and acquire an environment image under the support of the geomagnetic sensor and the ultrasonic sensor, accurately detecting the position of the charging robot, and updating the position information in real time;
s3, the charging robot transmits the position data acquired by the omnidirectional laser radar module to a route planning unit, the route planning unit builds a map of the environment where the robot is located based on a map building algorithm, special marks can be set in some special charging environments, and the position of the robot is determined by scanning the special marks according to the omnidirectional laser radar module;
s4, the charging robot is communicated with the communication module to acquire a charging task to move according to an environment map constructed by a scanning scene;
s5, the charging robot is controlled by the control system to complete intelligent charging when the charging potential is reached.
Referring to fig. 6, the navigation steps according to the outdoor positioning include:
s1, wireless communication is established between a charging robot and a detection system, and the wireless communication can adopt Bluetooth, wi-Fi or other reliable communication protocols to carry out data transmission and communication with the charging robot;
s2, the charging robot is connected with a global satellite navigation module, the global satellite navigation module can be realized by adopting a GPS, a Beidou navigation system and the like, and longitude and latitude and elevation data positioning and autonomous mobile navigation are realized by combining various algorithms;
s3, the charging robot moves according to navigation information formed by combining the global satellite navigation module with a map framework algorithm;
s4, the charging robot establishes communication with other equipment through a control system, wherein the communication mode can adopt wired or wireless connection with a charging station or a client, so that an instruction of a charging requirement is obtained;
s5, determining the position of the nearest charging station according to the route planned by the navigation module;
s6, the charging robot is controlled by the control system to complete intelligent charging when the charging potential is reached.
After the development of the device is completed, a series of test and verification works are required to ensure the stability and reliability of the function thereof. The robot may be tested in three different ways:
static test by placing the robot and obstacle under different positions and angles, verifying if the device is able to accurately detect position and distance.
Dynamic test, namely verifying whether the device can detect the position in real time and realize navigation and obstacle avoidance functions by enabling the robot to move in different scenes and carry out charging tasks.
System integration test, namely, integrating the position detection device with other components of the robot, and verifying the functions and performances of the whole system.
And in the testing process of the robot, a plurality of debugging is carried out in a state of deviation until the debugging data reach the standard.
The above description is only for the purpose of illustrating the application, and it should be understood that the application is not limited to the above embodiments, but various modifications consistent with the idea of the application are within the scope of the application.
Claims (10)
1. The position detection system of the mobile charging robot is connected with an external control system and controls the robot to realize the functions of position detection, navigation and obstacle avoidance; the position detection system is characterized in that the position detection system adopts a wireless communication technology to carry out real-time data transmission and communication with the charging robot, and the position detection system comprises:
the positioning sensing unit is used for acquiring current position information of the robot; the positioning sensing unit realizes positioning and autonomous mobile navigation by adopting an omnidirectional laser radar module or a satellite navigation module according to indoor and outdoor scene conversion, wherein the positioning sensing unit also comprises an inertial measurement unit, and the inertial measurement unit is used for deducing the position and the gesture of the robot;
the route planning unit is used for processing and acquiring the position information of the robot acquired by the positioning sensing unit, and constructing an environment map where the robot is positioned by combining the motion trail of the robot;
and the position estimation unit is used for fusing and filtering based on the robot position information acquired by the positioning sensing unit and the route planning unit, and calculating to obtain the accurate position of the robot on the environment map.
2. The position detection system of a mobile charging robot according to claim 1, wherein the omnidirectional laser radar module is used for scanning ranging and obtaining an environment image, and high-precision positioning and autonomous mobile navigation are realized by adopting a feature point matching algorithm and a digital signal processing DSP;
the satellite navigation module is used for acquiring satellite signals, and realizes longitude and latitude and data positioning and autonomous mobile navigation by adopting a map matching AI algorithm and combining with a micro-wave spectrum three-dimensional scanning and AI live-action image analysis mode.
3. The position detection system of a mobile charging robot according to claim 1, wherein the inertial measurement unit is configured to measure acceleration and angular velocity of the robot to infer a position and a posture of the robot;
the positioning sensing unit further comprises an ultrasonic sensor and a geomagnetic sensor, and the omnidirectional laser radar module scans and measures distance and acquires an environment image under the support of the ultrasonic sensor and the geomagnetic sensor.
4. A position detection system of a mobile charging robot according to claim 3, wherein the ultrasonic sensor is configured to detect a distance between the robot and an obstacle and calculate a distance between the robot and the obstacle;
the geomagnetic sensor is used for determining the azimuth and the position of the robot on the earth by measuring the magnetic field of the earth, so that the positioning precision is improved.
5. The position detection system of a mobile charging robot according to claim 1, wherein the route planning unit includes a map construction algorithm and a special icon;
the map construction algorithm adopts SLAM algorithm to realize the construction of the map of the environment where the robot is located;
the special icon is erected in the charging scene, and the position of the special icon is determined through the robot identification mark points.
6. The position detection system of a mobile charging robot according to claim 1, wherein the position estimation unit employs an extended kalman filter EKF or a particle filter PF algorithm.
7. The position detection system of a mobile charging robot of claim 1, wherein the control system is configured to control the robot to establish communication with a charging station and to operate to control movement and behavior of the robot to perform intelligent charging, and the control system comprises a communication module and a command module;
the communication module is used for communicating with other equipment or systems, and the communication module can be used for connecting and communicating the robot with the other equipment by adopting a wireless communication technology or a wired communication technology;
and the command module is used for commanding the robot to carry out intelligent charging and controlling the navigation opening, obstacle avoidance and fixed-point stopping of the robot.
8. The system according to claim 1, wherein the omnidirectional lidar module is adapted to be used in an indoor positioning procedure, and the navigation step according to indoor positioning comprises:
s1, the charging machine establishes communication with a detection system;
s2, enabling the omnidirectional laser radar module to scan and range through the geomagnetic sensor and the ultrasonic sensor and acquiring an environment image;
s3, the charging robot builds a map of the environment where the robot is located according to the route planning unit;
s4, the charging robot acquires a charging task and moves according to the environment map;
s5, the charging robot is controlled by the control system to complete the intelligent charging step when the charging potential is reached.
9. The position detection system of a mobile charging robot according to claim 1, wherein the navigation mode is adapted to an outdoor positioning procedure, and the navigation step according to the outdoor positioning comprises:
s1, the robot establishes communication with a detection system;
s2, the robot is connected with a global satellite navigation module;
s3, the robot moves according to the navigation information;
s4, the control system transmits the charging demand position;
s5, determining the position of the nearest charging station according to the information of the navigation module;
s6, the charging robot is controlled by the control system to complete the intelligent charging step when the charging potential is reached.
10. A position detection device of a mobile charging robot, characterized by comprising a detection device body and a position detection system of the robot mobile charging robot according to any one of claims 1 to 9;
the position detection system of the robot mobile charging robot is built in the detection device body, and a power supply of the detection device body is powered by a rechargeable battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310991778.2A CN116972830A (en) | 2023-08-08 | 2023-08-08 | Position detection system and device of mobile charging robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310991778.2A CN116972830A (en) | 2023-08-08 | 2023-08-08 | Position detection system and device of mobile charging robot |
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| CN116972830A true CN116972830A (en) | 2023-10-31 |
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| CN202310991778.2A Pending CN116972830A (en) | 2023-08-08 | 2023-08-08 | Position detection system and device of mobile charging robot |
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