CN202853619U - Positioning system of mobile robot - Google Patents
Positioning system of mobile robot Download PDFInfo
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- CN202853619U CN202853619U CN 201220343676 CN201220343676U CN202853619U CN 202853619 U CN202853619 U CN 202853619U CN 201220343676 CN201220343676 CN 201220343676 CN 201220343676 U CN201220343676 U CN 201220343676U CN 202853619 U CN202853619 U CN 202853619U
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Abstract
The utility model relates to a positioning system of a mobile robot. The positioning system comprises at least one light reflecting part (M), a turntable (T), an electronic compass (P), a laser range finder (Y), an angle coder (B) and a central processing unit, wherein the coordinate values (x1, y1) of the light reflecting part (M) are known; the turntable (T) and the electronic compass (P) are arranged on the robot (T); the laser range finder (Y) and the angle coder (B) are arranged on the turntable (T); the laser range finder (Y) is used for acquiring a first distance (1) between the robot and the light reflecting part and is provided with an emission part (Y1) for emitting an emission laser ray and a receiving part (Y2) for receiving a reflection laser ray (ML); the electronic compass is used for measuring a first angle (alpha) between an orientation line of the head of the robot and an geomagnetic line; the angle coder (B) is used for measuring a second angle (beta) between the orientation line of the head of the robot and the reflection laser ray; and the central processing unit is used for acquiring the current coordinate values of the robot through operation processing. The positioning system is high in positioning accuracy, simple in structure and low in cost.
Description
Technical field
The utility model belongs to a kind of field of locating technology of robot, relates in particular to a kind of mobile robot's positioning system.
Background technology
In mobile robot's application, navigation refers to that the mobile robot passes through sensor senses environment and oneself state, is implemented in object-oriented autokinetic movement in the environment of barrier.The success of navigation need to have four modules: perception, location, cognition, motion control.Wherein, the location is the most basic link of Mobile Robotics Navigation, and so-called location is exactly to determine the real-time pose of robot in environment.The more location technology of current application has: vision guided navigation location, GPS (GPS, Global Positioning System), differential GPS location, ultrasound wave location etc.Wherein, the image computational processing of vision guided navigation locator meams is large, and computing velocity requires high, thereby real-time is poor, and in addition, this kind locator meams is subjected to the impact of external environment larger, therefore not too is applicable to the positioning system of outdoor moving robot.GPS is by U.S. Department of Defense's control, and to the user that non-U.S. Department of Defense is authorized, its obtainable location navigation precision of institute is lower, therefore is unsuitable for the higher occasion of bearing accuracy.The differential GPS location, refer to arrange near the user GPS receiver differential reference station of a known precision coordinate, the receiver of base station receives the GPS navigation signal continuously, the position that records or range data and known position, range data are compared, determine error, draw accurate corrected value, then these are corrected data and pass through the Data-Link broadcast to the user in the overlay area, in order to correct user's positioning result, although this localization method bearing accuracy is high, cost is also very high.For the ultrasound wave locator meams, because that ultrasound wave decay in air is very large, so less occasion of application space scope.Defective for above-mentioned various location technologies exist is necessary to propose a kind of improved mobile robot positioning system to address the above problem.
The utility model content
The purpose of this utility model is to provide a kind of mobile robot positioning system, and not only bearing accuracy is high, and with low cost.
To achieve these goals, the utility model adopts following technical scheme: a kind of mobile robot's positioning system, and this positioning system is located in the coordinate system, it is characterized in that: this positioning system comprises:
The reflecting component of known coordinate value;
Be installed on the turntable in the robot, this turntable can 360 ° of rotations;
Be installed on the laser range finder on the described turntable, in order to obtain the first distance between described robot and the reflecting component, this laser range finder has emission part and acceptance division, this emission part sends the Laser emission line and is received by described acceptance division by the laser reflection line that reflects to form to described reflecting component, and described reflecting component possesses and makes this laser reflection line parallel in the straight counter-function of light of Laser emission line;
Be installed on the electronic compass on the mobile robot, in order to first angle of head between line and magnetic direction line that records robot;
Be installed on the angular encoder on the described turntable, be used for recording second angle of head between line and described laser reflection line of robot;
CPU (central processing unit) the coordinate figure of described the first angle, the second angle, the first distance and reflecting component is carried out calculation process obtaining the current coordinate figure of robot, and this coordinate figure obtains by following formula:
Wherein α, β are respectively described the first angle and the second angle, and x1, y1 are the coordinate figure of described reflecting component.
Preferably, described positioning system only arranges a described reflecting component.
Preferably, described the second angle is the angle that robot turns over to described laser reflection line by corresponding sense of rotation rotation towards line from its current head.
Preferably, described reflecting component has and makes described laser reflection line parallel in the straight counter-function of light of Laser emission line.
Preferably, the artificial grass-removing robot of described machine.
Preferably, described reflecting component is inserted on the lawn, and this lawn is plane, described coordinate system place.
Compared with prior art, the utility model positioning system only arranges the real-time location that a reflecting component just can be realized grass-removing robot; Secondly, the coordinate formula of robot is very simple, has therefore simplified the operation program of CPU (central processing unit); In addition, the each several part unit that the utility model positioning system comprises is existing common components, so cost is lower, that is to say that the utility model positioning system has the advantage of bearing accuracy height, the many aspects such as simple in structure and with low cost.
Description of drawings
Fig. 1 is the part-structure synoptic diagram of the utility model mobile robot's positioning system.
Fig. 2 is the coordinate diagram of the utility model mobile robot's positioning system.
Fig. 3 is the coordinate diagram of mobile robot's positioning system in four quadrants.
Fig. 4 be mobile robot's head after changing in four quadrants the coordinate diagram of positioning system.
Embodiment
Ginseng Fig. 1 and shown in Figure 2, the utility model provides a kind of mobile robot positioning system, this positioning system is positioned at a plane coordinate system, and comprises the reflecting component M of known coordinate value, the CPU (central processing unit) (not shown) that is installed on turntable and electronic compass P on the R of robot, is installed on laser range finder Y on this turntable T and angular encoder B and draws robot real time position coordinate figure in order to computing.In the present embodiment, described mobile robot R is a grass-removing robot, this grass-removing robot is worked on the lawn, therefore whole lawn is plane, described coordinate system place, described reflecting component M is the road sign that is inserted on the lawn, and this road sign is the shaft-like reflecting component with the straight counter-function of light, and a reflecting component M only is set in the utility model, and known its coordinate figure (x1, y1).
Ginseng Fig. 1 and shown in Figure 2, the described turntable T R of relative robot fuselage carries out 360 ° and rotatablely moves, and on this turntable T laser ranging Y is installed, and this laser range finder Y has emission part Y1 and acceptance division Y2.Described emission part Y1 outwards sends the Laser emission line, because turntable T rotates, therefore described laser range finder Y also carries out 360 ° of rotations with turntable T, can be reflected by this reflecting component after upper and forms laser reflection line ML when this Laser emission line exposes to described reflecting component M.Because described reflecting component M possesses the straight counter-function of light, so-called light is directly counter herein refers to that reflected light and incident light are parallel and the interval is very little and can be left in the basket between the two, therefore described laser reflection line ML will roughly be back to the R of robot along the former road of described Laser emission line, the laser reflection line ML that returns will be received by described acceptance division Y2, laser range finder Y receives the reflector laser used time of this process by emission part Y1 Emission Lasers to acceptance division Y2 and obtains the R of robot to the distance between the described reflecting component M, claims that at this this distance is first apart from l.
Ginseng Fig. 1 and shown in Figure 2 also is provided with angular encoder B on the described turntable T, this angular encoder B be the head that records the R of robot towards and described laser reflection line ML between the second angle beta.The size of described the second angle beta refers to that the head of robot receives the angle that described laser reflection line ML turns over towards line along the assigned direction rotation to described acceptance division Y2, stipulates that in the present embodiment this assigned direction is clockwise direction.Therefore, no matter the R of robot is positioned at which position of coordinate system, when described acceptance division Y2 receives laser reflection line ML, just can obtain simultaneously first between the R of robot and the reflecting component M apart from l and robot head towards and laser reflection line ML between the second angle beta.In addition, the angle θ among Fig. 2 is the third angle degree between laser reflection line ML and the x axle positive dirction.
Ginseng Fig. 1 and shown in Figure 2, also be provided with electronic compass P in the robot, this electronic compass is not arranged on the described turntable T, mainly in order to record the R of robot head towards with respect to the first angle [alpha] between the magnetic direction, the size of this first angle [alpha] is rotated in a clockwise direction to the angle of described head towards line for the ground magnet-wire for it.In addition, whether described the first angle [alpha] and laser shine reflecting component M does not have relatedly, and only relevant with magnetic direction, so electronic compass P can obtain this first angle [alpha] constantly.
How the coordinate figure (x, y) that below will mainly describe the R of robot obtains.As shown in Figure 3 and Figure 4, in the xoy coordinate system, suppose that the positive negative direction of y axle is respectively the earth magnetism N utmost point and the S utmost point, so magnetic direction is the positive dirction of y axle.For making things convenient for calculation specifications, in the present embodiment, setting initial point O is the reflecting component position.The position of R1, R2, these four points of R3, R4 is that robot lays respectively at the position in four quadrants of coordinate system, wherein the directions of rays on the every bit be robot head towards, this ray is that head is towards line; ML1, ML2, ML3, ML4 be the laser reflection line of corresponding robot in described four quadrants respectively; α 1, α 2, α 3, α 4 be first angle [alpha] of corresponding robot in described four quadrants respectively; β 1, β 2, β 3, β 4 be second angle beta of corresponding robot in described four quadrants respectively.
The R1 of robot has two kinds of situations when being in first quartile, wherein when its head when line is not crossed before the described laser reflection line ML1, as shown in Figure 3, measured measured the second angle beta 1 and the described third angle degree θ three sum of the first angle [alpha] 1, angular encoder B of electronic compass P equals 270 °, so 1≤270 ° of θ=270 °-(α 1+ β 1) and 180 °≤α 1+ β.When the head of the R1 of robot when line is crossed described laser reflection line ML1, as shown in Figure 4, the head of the R1 of robot towards with Fig. 3 in head towards the opposite, its head turns over described laser reflection line ML along clockwise direction towards line, the first measured angle [alpha] 1 of electronic compass P this moment, the second angle beta 1 that angular encoder B is measured and described third angle degree θ three sum equal 270 °+360 °, therefore θ=630 °-(α 1+ β 1), and 1≤270 °+360 ° of 180 °+360 °≤α 1+ β i.e. 1≤630 ° of 540 °≤α 1+ β, above-mentioned analysis can draw to draw a conclusion, when the R1 of robot is positioned at first quartile
In like manner, when the R2 of robot is positioned at the second quadrant,
When the R3 of robot is positioned at third quadrant,
When the R4 of robot is positioned at fourth quadrant,
Can summarize the total computing formula of third angle degree θ according to the computing formula of third angle degree in all quadrants:
Apart from l, just can obtain the coordinate figure (x, y) of robot current location according to third angle degree θ and first,
In the computing formula of third angle degree θ, because 270 °=630 °-360 °=990 °-2 * 360 °, therefore no matter alpha+beta in what scope, sine or the cosine value of third angle degree θ all equate, thereby the coordinate figure R (x of robot current location, y) can be summed up as (l cos[270 °-(alpha+beta)]+x1, l sin[270 °-(alpha+beta)]+y1), when setting reflecting component M is true origin O, the coordinate figure that calculates the gained robot be R (l cos[270 °-(alpha+beta)], l sin[270 °-(alpha+beta)]).
The utility model mobile robot realizes that the process of locating is as follows: the R of robot in the process of walking, laser range finder Y constantly does 360 ° with described turntable T and rotatablely moves, described emission part Y1 outwards sends laser constantly, after the laser that sends is swept to described reflecting component M, can at once reflect by described acceptance division Y2 and receive, after receiving reflector laser, acceptance division Y2 sends signal to central processing unit, first angle [alpha] of central processing unit to recording, the second angle beta, the first coordinate figure (x1 apart from l and reflecting component M, y1) calculate the robot current position of R coordinate figure (l cos[270 °-(alpha+beta)]+x1, l sin[270 °-(alpha+beta)]+y1).
The utility model positioning system only arranges a reflecting component, namely only needs the real-time location that road sign just can be realized grass-removing robot on the lawn; Secondly, the coordinate formula of robot is very simple, has therefore simplified the operation program of CPU (central processing unit); In addition, the each several part unit that the utility model positioning system comprises is existing common components, so cost is lower, that is to say that the utility model positioning system has the advantage of bearing accuracy height, the many aspects such as simple in structure and with low cost.
More than be the description that is more readily understood the preferred forms that the utility model carries out for ease of those skilled in the art, be equal to or technical scheme that the equivalent transformation mode obtains all should be within protection domain of the present utility model but under the utility model design concept instructs, adopt.
Claims (5)
1. a mobile robot positioning system, this positioning system is located in the coordinate system, it is characterized in that: this positioning system comprises:
The reflecting component of known coordinate value;
Be installed on the turntable in the robot, this turntable can 360 ° of rotations;
Be installed on the laser range finder on the described turntable, in order to obtain the first distance between described robot and the reflecting component, this laser range finder has emission part and acceptance division, this emission part sends the Laser emission line and is received by described acceptance division by the laser reflection line that reflects to form to described reflecting component, and described reflecting component possesses and makes this laser reflection line parallel in the straight counter-function of light of Laser emission line;
Be installed on the electronic compass on the mobile robot, in order to first angle of head between line and magnetic direction line that records robot;
Be installed on the angular encoder on the described turntable, be used for recording second angle of head between line and described laser reflection line of robot;
CPU (central processing unit) is carried out calculation process to obtain the current coordinate of robot to the coordinate figure of described the first angle, the second angle, the first distance and reflecting component.
2. positioning system as claimed in claim 1, it is characterized in that: described positioning system only arranges a described reflecting component.
3. the positioning system of stating such as claim 2 is characterized in that: described the second angle is the angle that robot turns over to described laser reflection line by corresponding sense of rotation rotation towards line from its current head.
4. such as each described positioning system in the claims 1 to 3 item, it is characterized in that: the artificial grass-removing robot of described machine.
5. the positioning system of stating such as claim 4 is characterized in that: described reflecting component is inserted on the lawn, and this lawn is plane, described coordinate system place.
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|---|---|---|---|
| CN 201220343676 CN202853619U (en) | 2012-07-16 | 2012-07-16 | Positioning system of mobile robot |
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| CN 201220343676 CN202853619U (en) | 2012-07-16 | 2012-07-16 | Positioning system of mobile robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014012350A1 (en) * | 2012-07-16 | 2014-01-23 | 苏州科瓴精密机械科技有限公司 | Positioning system of mobile robot and positioning method thereof |
| CN104020447A (en) * | 2014-05-27 | 2014-09-03 | 美新半导体（无锡）有限公司 | Indoor combined positioning system and positioning method thereof |
| CN104049635A (en) * | 2014-07-07 | 2014-09-17 | 浙江海曼机器人有限公司 | Intelligent car walking positioning method based on electronic compass |
| CN104089615A (en) * | 2014-06-26 | 2014-10-08 | 青岛浩海网络科技股份有限公司 | Forest fire point positioning system based on laser ranging and application method thereof |
| CN108036802A (en) * | 2018-02-08 | 2018-05-15 | 衢州职业技术学院 | A kind of robot odometer correction system of view-based access control model |
| WO2018176680A1 (en) * | 2017-03-28 | 2018-10-04 | 翁磊 | Automatic lawn mower, positioning method therefor, and automatic lawn mower system |
| CN110501715A (en) * | 2019-08-29 | 2019-11-26 | 苏州科瓴精密机械科技有限公司 | Reflecting sign discrimination method and mobile-robot system |
| CN111044073A (en) * | 2019-11-26 | 2020-04-21 | 北京卫星制造厂有限公司 | High-precision AGV position sensing method based on binocular laser |
| WO2021103659A1 (en) * | 2019-11-25 | 2021-06-03 | 苏州科瓴精密机械科技有限公司 | Reflective beacon included angle error compensation method, automatic traveling apparatus, and storage medium |
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2012
- 2012-07-16 CN CN 201220343676 patent/CN202853619U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014012350A1 (en) * | 2012-07-16 | 2014-01-23 | 苏州科瓴精密机械科技有限公司 | Positioning system of mobile robot and positioning method thereof |
| CN103542847A (en) * | 2012-07-16 | 2014-01-29 | 苏州科瓴精密机械科技有限公司 | Locating system and method of mobile robot |
| CN104020447A (en) * | 2014-05-27 | 2014-09-03 | 美新半导体（无锡）有限公司 | Indoor combined positioning system and positioning method thereof |
| CN104089615A (en) * | 2014-06-26 | 2014-10-08 | 青岛浩海网络科技股份有限公司 | Forest fire point positioning system based on laser ranging and application method thereof |
| CN104049635A (en) * | 2014-07-07 | 2014-09-17 | 浙江海曼机器人有限公司 | Intelligent car walking positioning method based on electronic compass |
| WO2018176680A1 (en) * | 2017-03-28 | 2018-10-04 | 翁磊 | Automatic lawn mower, positioning method therefor, and automatic lawn mower system |
| CN108036802A (en) * | 2018-02-08 | 2018-05-15 | 衢州职业技术学院 | A kind of robot odometer correction system of view-based access control model |
| CN110501715A (en) * | 2019-08-29 | 2019-11-26 | 苏州科瓴精密机械科技有限公司 | Reflecting sign discrimination method and mobile-robot system |
| WO2021036020A1 (en) * | 2019-08-29 | 2021-03-04 | 苏州科瓴精密机械科技有限公司 | Reflective marker identification method, and mobile robot system |
| CN110501715B (en) * | 2019-08-29 | 2024-03-08 | 苏州科瓴精密机械科技有限公司 | Method for identifying reflective mark and mobile robot system |
| WO2021103659A1 (en) * | 2019-11-25 | 2021-06-03 | 苏州科瓴精密机械科技有限公司 | Reflective beacon included angle error compensation method, automatic traveling apparatus, and storage medium |
| CN111044073A (en) * | 2019-11-26 | 2020-04-21 | 北京卫星制造厂有限公司 | High-precision AGV position sensing method based on binocular laser |
| CN111044073B (en) * | 2019-11-26 | 2022-07-05 | 北京卫星制造厂有限公司 | High-precision AGV position sensing method based on binocular laser |
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