CN204718616U - A kind of Portable type room Mobile Robotics Navigation performance measuring and evaluating system - Google Patents
A kind of Portable type room Mobile Robotics Navigation performance measuring and evaluating system Download PDFInfo
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- CN204718616U CN204718616U CN201520476006.6U CN201520476006U CN204718616U CN 204718616 U CN204718616 U CN 204718616U CN 201520476006 U CN201520476006 U CN 201520476006U CN 204718616 U CN204718616 U CN 204718616U
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Abstract
The utility model relates to a kind of Portable type room Mobile Robotics Navigation performance measuring and evaluating system, measures truss and is fixed on tested mobile robot, and arranges measurement target drone on measurement truss; Above mobile robot or side alignment sensor is set; Host computer connects Digital Photogrammetric System and alignment sensor by signal cable, receives the reflecting target positional information of Digital Photogrammetric System and alignment sensor transmission, obtains flight path and the course of tested mobile robot according to the positional information received.The utility model relates to the evaluation and test of indoor mobile robot navigation performance, for quantitative evaluation indoor small robot navigation performance index, for the design of navigational system, Improvement and perfection provide scientific basis, promote innovation and the progress of mobile robot autonomous navigation technology.
Description
Technical field
The utility model relates to test and control field, specifically a kind of Portable type room Mobile Robotics Navigation performance measuring and evaluating system.
Background technology
Robot is the important symbol of a measurement national science and technology innovation and high-end manufacture level, and intelligent robot has become following technology commanding elevation and point of economic increase.Autonomous navigation technology is that robot realizes paleocinetic core technology in complexity, circumstances not known, has become the focus of scholars's research.At present, researchist has been merged multiple perception information (odometer, gyroscope, camera, laser radar, ultrasonic radar etc.) and has been proposed different mobile robot autonomous navigation methods, and conducts in-depth research in the real-time and counting yield of environment sensing, location and decision making algorithm.And the real-time of algorithm and counting yield only can the navigation performances of reflection mobile robot of local, navigation performance is apparent in more emphatically the aspect such as the track of motion, the response strategy of obstacle.Investigate domestic and international navigation performance aspect present Research to show: existing research is substantially based on performance evaluation theoretical research, or carry out relevant test environment research for application-specific, lack the navigation performance of objective, the quantitative evaluation robot of relevant instrument.
Utility model content
For the deficiencies in the prior art, the utility model provides Portable type room Mobile Robotics Navigation performance measuring and evaluating system.
The technical scheme that the utility model is adopted for achieving the above object is:
A kind of Portable type room Mobile Robotics Navigation performance measuring and evaluating system, measures truss 5 and is fixed on tested mobile robot 6, and arranges measurement target drone 4 on measurement truss 5; Above mobile robot 6 or side alignment sensor 1 is set; Host computer 2 connects Digital Photogrammetric System 3 and alignment sensor 1 by signal cable, receives reflecting target 7 positional information of Digital Photogrammetric System 3 and alignment sensor 1 transmission, obtains flight path and the course of tested mobile robot 6 according to the positional information received.
Described measurement truss 5 comprises the support bar of T font, arranges measurement target drone 4 at the two ends of cross bar.
Described measurement target drone 4 comprises top cap 8 and reflecting target 7, and top cap 8 is polyhedron or semicircular body, and reflecting target 7 is multiple, and is uniformly distributed in top cap 8 upper surface.
Described alignment sensor 1 is for measuring the real-time position information of described measurement target drone 4.
Described Digital Photogrammetric System 3 is hand-held measuring system, for the position of calibration measurements target 4.
The utility model has following beneficial effect and advantage:
1. there is the advantages such as measuring accuracy is high, real-time performance good, be easy to carry, (4 meters × 4 meters) robot horizontal positioning accuracy ± 1 centimetre, precision ± 0.6 degree, course in measurement range.
2. navigation performance index is comprehensive, covers the aspects such as robot safety, speed, stationarity, intelligent and navigation efficiency.
Accompanying drawing explanation
Fig. 1 is system composition diagram of the present utility model;
Fig. 2 is measurement target drone schematic diagram of the present utility model;
Fig. 3 is measurement truss schematic diagram of the present utility model;
Wherein, 1 be alignment sensor, 2 be host computer, 3 be Digital Photogrammetric System, 4 be measurement target drone, 5 be mobile robot for measuring truss, 6,7 be reflecting target, 8 for top cap, 9 is for mounting base.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Fig. 1 is system composition diagram of the present utility model, comprises reflecting target 7, measurement target drone 4, measurement truss 5, alignment sensor 1, Digital Photogrammetric System 3, host computer 2 and power supply and signal cable.System adopts 220V Power supply, and alignment sensor 1 adopts signal cable to be connected with host computer 2 with Digital Photogrammetric System 3 respectively.
Fig. 2 is measurement target drone schematic diagram of the present utility model, comprises top cap 8 and reflecting target 7, and measurement target drone 4 is installed on by mounting base 9 and measures truss 5 two ends.Top cap 8 profile is polyhedron or semicircular body, and be distributed with 12 reflecting targets 7 at its surface uniform, make mobile robot 6 in motion process, alignment sensor 1 at least can photograph the position of 3 reflecting targets 7, thus orients measurement target drone 4 center position.Solve the occlusion issue of measurement target in test environment.
Fig. 3 is measurement truss schematic diagram of the present utility model, determines the course of tested mobile robot 6 according to the position of two ends measurement target drone 4, mutual distance.
Digital Photogrammetric System 3 for setting up measurement target drone 4 center and the relative position relation of reflecting target 7 on it, under measurement target drone is at least partially obscured condition, can according to accurate Calculation measurement target drone 4 center, reflecting target 7 position in vision.
Host computer 2 is according to tested mobile robot 6 track obtained, course information and test environment information data, carry out the fusion of measurement data, evaluate the navigation performance index of 5 aspects such as mobile robot security, speed, stationarity, intelligent and navigation efficiency.Safety indexes comprises distance barrier mean distance, distance barrier minor increment and distance barrier minor increment mean value etc. 3; Speed ability index comprises average velocity, velocity distribution etc. 2; Adopt path smooth degree index characterization robot navigation stationarity; Intelligent index comprises the time of finishing the work, machine stop times and time, coverage and effective exercise time; Navigation efficiency index comprises obstacle efficiency, turning efficiency, path etc. 3.
Indoor mobile robot navigation performance evaluating system principle of work:
Digital Photogrammetric System 3 gathers reflecting target 7 positional information uniform on the measurement target drone 4 of tested mobile robot 6, sets up the center of measurement target drone 4 and the position relationship of reflecting target 7; After the positional information of the tested mobile robot 6 of alignment sensor 1 Real-time Collection, be sent to host computer 2; Host computer 2 processes the positional information received.Described hand-held camera chain is utilized to obtain measurement target drone center and reflecting target position relationship on it, measure truss two ends measurement target drone centre distance; By measuring the positional information of target in described alignment sensor Real-time Collection test environment, to determine motion flight path and the course of tested robot; Again according to detecting the flight path and course information that obtain, adopting the method based on flight path, calculating the navigation performance index of tested robot, and generate navigation performance assessment report.
The testing process of indoor mobile robot navigation performance evaluation and test instrument:
1., according to test environment, arrange the position of Portable type room Mobile Robotics Navigation performance evaluating instrument, and be adjusted to full test scope.
2. start alignment sensor, Digital Photogrammetric System, host computer.
3. known test environment data model is imported host computer.
4. hand-held Digital Photogrammetric System assembles photo to the many groups of special measurement truss shooting, host computer will calculate based on a series of photo measures the high-precision fixed bit model of truss, namely measures Target Center and reflecting target position relationship on it, measures truss two ends measurement target drone centre distance.
5. will measure truss installa-tion in tested robot.
6. start tested robot, according to track and the task object motion of setting, Portable type room Mobile Robotics Navigation performance evaluating system Real-time Obtaining measures the position of truss.
7., according to the position data of the measurement truss obtained, host computer carries out data analysis, obtains tested robot navigation's performance index, and generates test report.
Claims (5)
1. a Portable type room Mobile Robotics Navigation performance measuring and evaluating system, it is characterized in that: measure truss (5) and be fixed on tested mobile robot (6), and measurement target drone (4) is set in measurement truss (5); In mobile robot (6) top or side, alignment sensor (1) is set; Host computer (2) connects Digital Photogrammetric System (3) and alignment sensor (1) by signal cable, reflecting target (7) positional information that reception Digital Photogrammetric System (3) and alignment sensor (1) send, obtains flight path and the course of tested mobile robot (6) according to the positional information received.
2. Portable type room Mobile Robotics Navigation performance measuring and evaluating system according to claim 1, is characterized in that: described measurement truss (5) comprises the support bar of T font, arranges measurement target drone (4) at the two ends of cross bar.
3. Portable type room Mobile Robotics Navigation performance measuring and evaluating system according to claim 1 and 2, it is characterized in that: described measurement target drone (4) comprises top cap (8) and reflecting target (7), top cap (8) is polyhedron or semicircular body, reflecting target (7) for multiple, and is uniformly distributed in top cap (8) upper surface.
4. Portable type room Mobile Robotics Navigation performance measuring and evaluating system according to claim 1, is characterized in that: described alignment sensor (1) is for measuring the real-time position information of described measurement target drone (4).
5. Portable type room Mobile Robotics Navigation performance measuring and evaluating system according to claim 1, is characterized in that: described Digital Photogrammetric System (3) is hand-held measuring system, for the position of calibration measurements target (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520476006.6U CN204718616U (en) | 2015-07-02 | 2015-07-02 | A kind of Portable type room Mobile Robotics Navigation performance measuring and evaluating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520476006.6U CN204718616U (en) | 2015-07-02 | 2015-07-02 | A kind of Portable type room Mobile Robotics Navigation performance measuring and evaluating system |
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| CN204718616U true CN204718616U (en) | 2015-10-21 |
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| CN201520476006.6U Active CN204718616U (en) | 2015-07-02 | 2015-07-02 | A kind of Portable type room Mobile Robotics Navigation performance measuring and evaluating system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216715A (en) * | 2019-06-28 | 2019-09-10 | 炬星科技（深圳）有限公司 | Robot navigation's performance test methods, system, test terminal and storage medium |
| CN112130591A (en) * | 2020-09-27 | 2020-12-25 | 安徽埃克索医疗机器人有限公司 | Multi-angle space optical tracking method |
-
2015
- 2015-07-02 CN CN201520476006.6U patent/CN204718616U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216715A (en) * | 2019-06-28 | 2019-09-10 | 炬星科技（深圳）有限公司 | Robot navigation's performance test methods, system, test terminal and storage medium |
| CN112130591A (en) * | 2020-09-27 | 2020-12-25 | 安徽埃克索医疗机器人有限公司 | Multi-angle space optical tracking method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |