CN202929210U - Robot positioning system - Google Patents
Robot positioning system Download PDFInfo
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- CN202929210U CN202929210U CN 201220590364 CN201220590364U CN202929210U CN 202929210 U CN202929210 U CN 202929210U CN 201220590364 CN201220590364 CN 201220590364 CN 201220590364 U CN201220590364 U CN 201220590364U CN 202929210 U CN202929210 U CN 202929210U
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- robot
- reflection unit
- reflection
- laser
- positioning system
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Abstract
The utility model discloses a robot positioning system, comprising a mobile robot and at least two reflection apparatuses. The robot is provided with a laser emitter and a reception device; the reflection apparatuses can reflect received laser; and each reflection apparatus is provided with reflection members, and the numbers of reflection members of the two reflection apparatuses are different. According to the technical scheme provided in the utility model, a robot can rapidly identify the reflection apparatuses in the movement process, thereby the self coordination position of the robot is determined utilizing the reflection apparatuses, the operation load of a processing system is mitigated, and the positioning error of the robot is reduced.
Description
Technical field
The utility model relates to a kind of robot positioning system, particularly a kind of positioning system of laser reflection device.
Background technology
In prior art, the position at place when existing various ways to determine that the mobile robot moves in the space for example utilizes the GPS location, ultrasound wave or laser positioning.laser orientation system arranges laser beam emitting device and laser receiver usually on the mobile robot, a plurality of laser reflection devices are set in the robot moving area, come the coordinate position of calculating robot in moving area by the laser reflection device to the known coordinate position, utilization arranges the positioning system that reflection unit is determined position of mobile robot, need to know the coordinate of each reflection unit in coordinate system, coordinate with each reflection unit is stored in the storage system of robot simultaneously, then robot in the process of moving, reflection unit by related known coordinate, utilize algorithm to calculate the coordinate position of robot in coordinate system, in this kind method, the reflection unit that allows robot can identify corresponding known coordinate commonly allows robot identify by calculating and comparing, these calculating and comparison need a large amount of computings and data to process, for example the patent No. is the Chinese patent of ZL98810263.3, it has disclosed a kind of method of determining the position of automatically guided vehicle by the position, angle of detecting anonymous reverberator, its comparison angle value comes the perception reflex device, this kind mode needs a large amount of computings and data to process equally, when practice, the program design meeting is complicated, increase the weight of simultaneously the burden of process chip.
The utility model content
The utility model is for addressing the above problem, a kind of the utilize robot positioning system of reflection unit and the recognition methods of this reflection unit are provided, described positioning system comprises movable machine people and at least two reflection units, described robot has laser beam emitting device and receiving trap, the laser that described reflection unit can reflection receivable arrives, described reflection unit is provided with reflecting component, and the reflecting component quantity on each reflection unit is different.
Preferably, the reflecting component interval setting on described each reflection unit.
Preferably, described reflection unit is arranged in the robot manipulating task zone or is peripheral.
Preferably, described reflection unit has cylinder-shaped body, and described reflecting component is looped around described body surfaces.
Preferably, the laser that sends of described laser beam emitting device can cover all reflecting components of single reflection unit.
Preferably, the laser that sends of described laser beam emitting device is in the surface level periodic rotary.
Preferably, the material of described reflecting component is glass microballoon.
a kind of reflection unit recognition methods, comprise the robot that can move in the operating area, in described operating area or periphery be provided with at least two reflection units, each reflection unit is provided with the different reflecting component of quantity, the reflecting component quantity that each reflection unit has is stored in the robot storage system, described robot is provided with laser beam emitting device and receiving trap, laser receiver can receive the laser of described reflecting component reflection, the reflection unit recognition methods is: when the laser that sends when laser beam emitting device is swept to arbitrary reflection unit, laser receiver often receives this reflection unit primary event laser and just exports a signal, according to the number of signals robot of receiving can directly determine current scan be which reflection unit.
Preferably, described robot according to reflecting component quantity in the signal number of times of receiving and storage system relatively, the reflecting component number of reflection unit and signal number of times mate, what scan is this reflection unit.
Preferably, the coordinate of described reflection unit is known, and is stored in the robot storage system.
Technical solutions of the utility model can make robot perception reflex device real-time in moving process, thereby utilize reflection unit to determine self coordinate position, have alleviated the computational burden of disposal system, have reduced the robot positioning error.
Description of drawings
Fig. 1 is the utility model embodiment robot schematic diagram.
Fig. 2 is the utility model embodiment reflection unit schematic diagram.
Fig. 3 is the utility model embodiment laser directive emitter schematic diagram.
Fig. 4 is that the utility model embodiment laser is by the rear schematic diagram of reflection unit reflection.
Fig. 5 is the utility model embodiment robot positioning system schematic diagram.
Fig. 6 is that the utility model embodiment robot positioning system operates schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described further.
The robot positioning system of the present embodiment comprises a kind of movably automatic mowing robot, and it can be to the lawn processing of automatically mowing.As shown in Figure 1, grass-removing robot 100 comprises the signal system of sending and receive signal, the disposal system of carrying out the computing judgement, the running gear that robot is moved, robot 100 comprises car body 1, car body 1 has wheel or crawler belt (not shown), and robot can be moved on the ground.Car body 1 is provided with signal system 2, it comprises laser beam emitting device 21 and laser receiver 22, laser beam emitting device 21 can around perpendicular to the axis of car body in the horizontal direction 360 ° with certain rotating speed rotation, make laser constantly must strafe around car body, the laser that while emitter 21 sends can also in the vertical direction periodic wobble perpendicular to car body, make laser form fan-shaped surface sweeping zone (as shown in Fig. 3 and 4) in perpendicular.The mode of strafing that realizes above-mentioned laser has exposure in the prior art, those skilled in the art can adopt prior art and realize above-mentioned technique effect, for example disclose a kind of implementation in US Patent No. 6556598B1, made laser to strafe in level and vertical direction simultaneously.As shown in Figure 2, the robot positioning system also comprises a kind of reflection unit 4, and reflection unit 4 can go back the laser reflection that receives, and positioning system comprises several reflection units.Reflection unit 4 comprises main body 41 and reflecting element 42, and main body 41 is right cylinder, and in the present embodiment, described reflecting element 42 is reflectance coating, reflectance coating 42 into strips, around the surface of being located at main body 41, the laser that is radiated on reflectance coating can be reflected back.Can have the reflectance coating of varying number on reflection unit 4, have certain interval 43 between adjacent reflectance coating.As shown in Fig. 3 and 4, the laser EL that laser beam emitting device 21 sends forms a sector region in perpendicular, when laser EL shines on reflection unit 4, reflectance coating 42 can go back the laser reflection that receives, form reflected light RL, because diagram reflection unit 4 is provided with 5 reflectance coatings 42, therefore form 5 reflected light RL.because interval 43 can not reflector laser, and being vertical direction, periodically strafes laser EL, therefore to receive 5 reflected light RL be not continuous to laser receiver 22, it is poor to have the regular hour between reflected light RL, receiving trap 22 can be by the corresponding signal of utilizing emitted light RL output that receives thus, for example, receive that primary event light exports a high-frequency signal, be expressed as " 1 ", above-mentioned receiving trap 22 is received after reflected light RL has 5 " 1 " in output signal, corresponding high-frequency signal of each reflective membrane namely, each reflection unit in positioning system is provided with the different reflectance coating of quantity, therefore the laser quantity of each reflection unit reflection is also different, receiving trap can be exported different high-frequency signals, the robot disposal system just can judge that according to each reflection unit reflecting element quantity contrast in the high-frequency signal number of receiving and storage system this is which reflection unit 21.By the way, robot need not just can judge through complicated sequential operation that current which reflection unit what scan be, robot is judged more quick and precisely.Aforesaid way has just been described principle of the present utility model and a kind of embodiment, as long as it is to realize allowing the robot judgement identify with the different order of reflection of each reflection unit, all within the utility model protection domain.
The present embodiment robot positioning system's localization method is described below in conjunction with Fig. 5 and Fig. 6, as shown in Figure 5, the mobile robot is positioned at the operating area, be provided with 5 reflection units around robot, be respectively M1, M2, M3, M4 and M5, corresponding M1 has 1 reflectance coating 42, M2 has 2 reflectance coatings 42, M3 has 3 reflectance coatings, and M4 has 4 reflectance coatings, and M5 has 5 reflectance coatings.Signal system 2 on robot car body 1 transmits and receives laser L.The initial point " 0 " of robot place two-dimensional coordinate system is a point of fixity, usually robot charging station position can be made as " 0 " point, Y direction is terrestrial magnetic field N extreme direction, perpendicular to terrestrial magnetic field N extreme direction be X-axis, the coordinate of M1-M5 can be expressed as (X1, Y1), (X2 respectively thus, Y2), (X3, Y3), (X4, Y4) and (X5, Y5).The coordinate of above-mentioned M1-M5 is known, is stored in the storage system of robot, and simultaneously, the reflective membrane quantity of reflection unit M1-M5 also is stored in storage system.The method of measurement M1-M5 coordinate has multiple, and in prior art, a kind of method as patent EP1450228B1 has disclosed definite reflection unit coordinate does not repeat them here.Robot 1 also has the ground magnetic device, its can be in real time magnetic direction inductively, measure simultaneously the angle angle of robot motion's direction and the earth magnetism N utmost point.Described robot 1 is provided with rotary encoder, and it can measure the angle angle of laser direction and robot motion's direction.Localization method in the robot autonomous moving process of the present embodiment is as follows, robot is moving toward the C direction, when the P of position, suppose that the P point coordinate is (X, Y), this moment, laser receiver 22 received that laser L2 that reflection unit M2 and M5 are reflected back and L5 are (because laser speed is exceedingly fast, differential seat angle between utilizing emitted light and reflection ray is ignored), the angle that the ground magnetic device records C direction and the N utmost point is α, the angle that rotary encoder records laser L2 and C direction is γ, and the angle of L5 and C direction is β.As previously mentioned, two high-frequency signals when receiving L2, receiving trap 42 are arranged in output signal, five high-frequency signals are arranged in output signal when receiving L5, disposal system just can determine that according to the comparing in the high-frequency signal number that obtains and storage system the reflection unit that scans is M2 and M5, and related M2 and M5 can allow robot know the coordinate figure of M2 and M5.
By the above-mentioned amount that records, according to system of equations
Calculate P point coordinate (X, Y).
Technical solutions of the utility model can make robot perception reflex device real-time in moving process, thereby utilize reflection unit to determine self coordinate position, have alleviated the computational burden of disposal system, have reduced the robot positioning error.Above-described embodiment uses laser as signal source, certainly it may occur to persons skilled in the art that, utilizes other light signals or acoustic signals, as long as can realize reflection, and can be as signal source.Therefore, only otherwise break away from technological core of the present utility model, only the correlation technique feature is done and be equal to replacement, all in protection domain of the present utility model.
Claims (7)
1. robot positioning system, comprise movable machine people and at least two reflection units, described robot has laser beam emitting device and receiving trap, the laser that described reflection unit can reflection receivable arrives, it is characterized in that: described reflection unit is provided with reflecting component, and the reflecting component quantity on each reflection unit is different.
2. robot positioning system as claimed in claim 1, is characterized in that: the reflecting component interval setting on described each reflection unit.
3. robot positioning system as claimed in claim 1 is characterized in that: described reflection unit is arranged in the robot manipulating task zone or is peripheral.
4. robot positioning system as claimed in claim 1, it is characterized in that: described reflection unit has cylinder-shaped body, and described reflecting component is looped around described body surfaces.
5. robot positioning system as claimed in claim 1, it is characterized in that: the laser that described laser beam emitting device sends can cover all reflecting components of single reflection unit.
6. robot positioning system as claimed in claim 1, it is characterized in that: the laser that described laser beam emitting device sends is in the surface level periodic rotary.
7. as the described robot positioning system of arbitrary claim in claim 1 to 6, it is characterized in that: the material of described reflecting component is glass microballoon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220590364 CN202929210U (en) | 2012-11-09 | 2012-11-09 | Robot positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220590364 CN202929210U (en) | 2012-11-09 | 2012-11-09 | Robot positioning system |
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| CN202929210U true CN202929210U (en) | 2013-05-08 |
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| CN 201220590364 Expired - Fee Related CN202929210U (en) | 2012-11-09 | 2012-11-09 | Robot positioning system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014071834A1 (en) * | 2012-11-09 | 2014-05-15 | 苏州科瓴精密机械科技有限公司 | Robot location system and method for identification of reflecting devices thereof |
| CN104102222A (en) * | 2014-07-31 | 2014-10-15 | 广州大学 | Accurately positioning method for AGV (Automatic Guided Vehicle) |
| CN107053219A (en) * | 2017-06-16 | 2017-08-18 | 齐鲁工业大学 | A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign |
| CN107087469A (en) * | 2017-03-28 | 2017-08-25 | 宁波明洋测量工具有限公司 | A kind of automatic mower and its localization method, automatic mower system |
| CN109709508A (en) * | 2019-01-17 | 2019-05-03 | 电子科技大学 | A kind of optics AOA localization method based on sensor node |
| CN110501717A (en) * | 2019-08-29 | 2019-11-26 | 三一海洋重工有限公司 | Positioning device and harbor automatic equipment |
-
2012
- 2012-11-09 CN CN 201220590364 patent/CN202929210U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014071834A1 (en) * | 2012-11-09 | 2014-05-15 | 苏州科瓴精密机械科技有限公司 | Robot location system and method for identification of reflecting devices thereof |
| CN103809184A (en) * | 2012-11-09 | 2014-05-21 | 苏州科瓴精密机械科技有限公司 | Robot positioning system and reflection device identification method thereof |
| CN103809184B (en) * | 2012-11-09 | 2019-03-15 | 苏州科瓴精密机械科技有限公司 | A kind of recognition methods of robot positioning system and its reflection unit |
| CN104102222A (en) * | 2014-07-31 | 2014-10-15 | 广州大学 | Accurately positioning method for AGV (Automatic Guided Vehicle) |
| CN104102222B (en) * | 2014-07-31 | 2017-03-01 | 广州大学 | A kind of pinpoint method of AGV |
| CN107087469A (en) * | 2017-03-28 | 2017-08-25 | 宁波明洋测量工具有限公司 | A kind of automatic mower and its localization method, automatic mower system |
| CN107053219A (en) * | 2017-06-16 | 2017-08-18 | 齐鲁工业大学 | A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign |
| CN109709508A (en) * | 2019-01-17 | 2019-05-03 | 电子科技大学 | A kind of optics AOA localization method based on sensor node |
| CN109709508B (en) * | 2019-01-17 | 2020-09-01 | 电子科技大学 | Optical AOA positioning method based on sensor nodes |
| CN110501717A (en) * | 2019-08-29 | 2019-11-26 | 三一海洋重工有限公司 | Positioning device and harbor automatic equipment |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130508 Termination date: 20201109 |