CN209446070U - Mobile robot laser radar/INS/ terrestrial reference pine combination navigation system - Google Patents
Mobile robot laser radar/INS/ terrestrial reference pine combination navigation system Download PDFInfo
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- CN209446070U CN209446070U CN201920187148.9U CN201920187148U CN209446070U CN 209446070 U CN209446070 U CN 209446070U CN 201920187148 U CN201920187148 U CN 201920187148U CN 209446070 U CN209446070 U CN 209446070U
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- mobile robot
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Abstract
The utility model discloses mobile robot laser radar/INS/ terrestrial reference pine combination navigation system, comprising: positioning unit, data processing unit, several terrestrial references and inertial navigation system that setting position is arranged in；The positioning unit is connected with inertial navigation system respectively at data processing unit；The data processing unit acquires positioning unit, inertial navigation system and the position of mobile robot information obtained according to terrestrial reference respectively and carries out data fusion.
Description
Technical field
The utility model relates to combine field of locating technology more particularly to a kind of towards mobile robot under complex environment
Laser radar/INS/ terrestrial reference pine combination navigation system.
Background technique
In recent years, with the development of science and technology with the raising of living standards of the people, mobile robot gradually comes into people
Life.The basis of high-quality service is provided for the mankind as mobile robot, the navigation towards mobile robot and positioning are just
It is increasingly becoming the research hotspot in the field.However indoors under environment, the accuracy and reality of Mobile Robotics Navigation acquisition of information
When property all can, electromagnetic interference faint by indoor radio signal be strong etc. that a series of complex environment is influenced.Environment indoors
Under, how complicated navigational environment is to the accuracy of Mobile Robotics Navigation acquisition of information, real-time and robustness in decontamination chamber
It influences, guarantees high-precision independent navigation of the mobile robot indoors under environment, there is important scientific theory meaning and reality
Application value.
In recent years, for Mobile Robotics Navigation and orientation problem, researchers at home and abroad are had made intensive studies, and take
Obtained certain research achievement.Existing navigator fix technology mainly has Global Satellite Navigation System (Global Navigation
Satellite System, GNSS), wireless sensor network (Wireless Sensors Network, WSN) technology, inertia
Navigation system (Inertial Navigation System, INS) and vision guided navigation technology etc..Wherein, with global positioning system
(Global Positioning System, GPS) is that the GNSS airmanship of representative can not be overcome under environment indoors because of letter
Number blocked cause positioning accuracy decline even losing lock the problem of, therefore complete the Mobile Robotics Navigation under indoor environment.It is right
It is numerous to the research achievement in this field at present in WSN technology.For example, the prior art proposes the indoor moving machine based on WiFi
Device people communication and location algorithm；The prior art to based on radio frequency identification (Radio frequency identification,
RFID) the localization for Mobile Robot algorithm of technology is studied；The prior art is proposed super-broadband tech (Ultra
Wideband, UWB) it is applied in the positioning of mobile robot indoor navigation.Inventors have found that although above-mentioned WSN technology can be real
The navigator fix of mobile robot under present indoor environment, but the very easy interference by indoor complex environment of its signal；It removes
Except this, short-distance wireless positioning system needs are laid with reference mode in advance indoors, can not achieve the autonomous of mobile robot
Navigation.
Compared with GNSS and WSN technology, INS technology and vision guided navigation technology do not need additional equipment assisting navigation, because
This is with higher independence.It should be noted however that the resolution error of INS technology can accumulate at any time, therefore be not suitable for
High-precision is navigated for a long time.Especially because being limited by carrier of moving robot volume, low cost IMU is often used, is passed
The precision of sensor is far below high-precision IMU, more exacerbates the accumulation of error at any time.Recently as vision technique development with
Progress, scholars propose navigation and positioning that vision guided navigation is applied to mobile robot.Such as: it is completed using RGB-D camera
To the 6D pose of robot estimate and the building of 3D map, and then realize the independent navigation of mobile robot.Invention human hair
Existing, the precision of vision guided navigation depends critically upon the quality of acquired image, once mobile robot can not obtain high quality
Image information, navigation accuracy can be by larger impacts.In addition to this, the real-time of vision guided navigation strategy is poor, it is difficult to meet movement
The tracking that robot quickly moves.It can be seen that single airmanship by above-mentioned analysis to be difficult to provide continual and steady lead
Boat information.
Utility model content
To solve the above-mentioned problems, the utility model proposes a kind of laser radar/INS/ towards mobile robot
Pine combination navigation system is marked, the location information that laser radar and INS are measured respectively carries out data fusion, can be to mobile machine
The location information of people is estimated, and is obtained the optimal location information of current time mobile robot, is overcome single airmanship
Insufficient due to self-technique influences navigation accuracy.
To achieve the goals above, the utility model adopts the following technical solution:
A kind of laser radar towards mobile robot/INS/ terrestrial reference pine group disclosed in one or more embodiments
Close navigation system, comprising: positioning unit, data processing unit, several terrestrial references that setting position is set and inertial navigation system
System；
The positioning unit is connected with inertial navigation system respectively at data processing unit；The data processing unit difference
Acquire positioning unit, inertial navigation system and the position of mobile robot information obtained according to terrestrial reference.
Further, the positioning unit includes: laser radar, and the laser radar passes through locating for detection mobile robot
The corner location information of environment, measures the location information of mobile robot.
Further, the inertial navigation system includes: odometer and magnetometer；The odometer is for measuring moving machine
The movement speed of device people；The magnetometer is used to measure the course of mobile robot；It is obtained during the sampling period by odometer
The range information of mobile robot operation, the mobile robot course information obtained according to the range information and magnetometer measures
Obtain location information of the mobile robot in the case where navigation is coordinate.
Further, further includes: scanner, the scanner are designated as laser radar offer by the ground that scanning is laid in advance
The course angle information of accurate location information and mobile robot.
Further, the ground being laid in advance, which is put on, is equipped with the two dimensional code comprising location information and course angle information.
Compared with prior art, the utility model has the beneficial effects that
1, the location information for measuring laser radar and INS respectively carries out data fusion, overcome single airmanship by
Insufficient in self-technique influences navigation accuracy.
2, it can be used for the middle high accuracy positioning of the mobile robot under indoor environment.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the laser radar towards mobile robot/INS/ terrestrial reference pine combination navigation system schematic diagram in embodiment one.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms that the utility model uses have the ordinary skill people with the application technical field
The normally understood identical meanings of member.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Embodiment one
A kind of laser radar towards mobile robot/INS/ terrestrial reference pine group is disclosed in one or more embodiments
Navigation system is closed, as shown in Figure 1, comprising: inertial navigation system, data processing unit, laser radar, terrestrial reference, two-dimensional code scanning
Device, odometer and magnetometer；Terrestrial reference is fixed on any position of the ground of Mobile Robotics Navigation environment, laser radar, two dimension
Code scanner, odometer, magnetometer are each attached in mobile robot, and connect with data processing unit.
Wherein,
Laser radar: for detecting mobile robot local environment corner location information；
Dimensional code scanner: the accurate location information of laser radar offer and shifting are designated as by detecting the ground being laid in advance
The course deviation information of mobile robot；Contain position and course information in terrestrial reference, can directly be read from two dimensional code；Because terrestrial reference is
Be laid in advance, it is all he position and course can be with measured in advance, it is believed that be accurate.
Inertial navigation system INS includes inexpensive odometer and magnetometer, in which:
Odometer: for measuring mobile robot movement speed；
Magnetometer: for measuring mobile robot course, and mobile robot is calculated jointly with code-disc cooperation and is being navigated
It is the location information under coordinate；
Data processing unit: for carrying out data fusion to collected sensing data.
Obtain the range information of the operation of mobile robot during the sampling period by odometer, according to the range information with
The mobile robot course information that magnetometer measures obtain obtains location information of the mobile robot in the case where navigation is coordinate.
Data processing unit obtains laser radar, inertial navigation system and the mobile robot obtained according to terrestrial reference respectively
Location information is simultaneously merged, and the optimal location information that can obtain mobile robot is estimated.
It should be noted that data processing unit selects existing controller can be realized, and such as: single-chip microcontroller etc..
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to this
The limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, ability
Field technique personnel do not need to make the creative labor the various modifications or changes that can be made still in the protection model of the utility model
Within enclosing.
Claims (5)
1. mobile robot laser radar/INS/ terrestrial reference pine combination navigation system characterized by comprising positioning unit, data
Processing unit, several terrestrial references and inertial navigation system that setting position is set；
The positioning unit is connected with inertial navigation system respectively at data processing unit；The data processing unit acquires respectively
Positioning unit, inertial navigation system and the position of mobile robot information obtained according to terrestrial reference simultaneously carry out data fusion.
2. mobile robot laser radar as described in claim 1/INS/ terrestrial reference pine combination navigation system, which is characterized in that
The positioning unit includes: laser radar, the corner location letter that the laser radar passes through detection mobile robot local environment
Breath, measures the location information of mobile robot.
3. mobile robot laser radar as described in claim 1/INS/ terrestrial reference pine combination navigation system, which is characterized in that
The inertial navigation system includes: odometer and magnetometer；The odometer is used to measure the movement speed of mobile robot；Institute
Magnetometer is stated for measuring the course of mobile robot；By odometer obtain the operation of mobile robot during the sampling period away from
From information, the mobile robot course information obtained according to the range information with magnetometer measures obtains mobile robot and is leading
Boat is the location information under coordinate.
4. mobile robot laser radar as described in claim 1/INS/ terrestrial reference pine combination navigation system, which is characterized in that
Further include: scanner, the scanner by the ground that is laid in advance of scanning be designated as laser radar provide accurate location information with
And the course angle information of mobile robot.
5. mobile robot laser radar as claimed in claim 4/INS/ terrestrial reference pine combination navigation system, which is characterized in that
The ground being laid in advance, which is put on, is equipped with the two dimensional code comprising location information and course angle information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920187148.9U CN209446070U (en) | 2019-01-31 | 2019-01-31 | Mobile robot laser radar/INS/ terrestrial reference pine combination navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920187148.9U CN209446070U (en) | 2019-01-31 | 2019-01-31 | Mobile robot laser radar/INS/ terrestrial reference pine combination navigation system |
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| Publication Number | Publication Date |
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| CN209446070U true CN209446070U (en) | 2019-09-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109708632A (en) * | 2019-01-31 | 2019-05-03 | 济南大学 | A kind of laser radar towards mobile robot/INS/ terrestrial reference pine combination navigation system and method |
-
2019
- 2019-01-31 CN CN201920187148.9U patent/CN209446070U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109708632A (en) * | 2019-01-31 | 2019-05-03 | 济南大学 | A kind of laser radar towards mobile robot/INS/ terrestrial reference pine combination navigation system and method |
| CN109708632B (en) * | 2019-01-31 | 2024-05-28 | 济南大学 | Laser radar/INS/landmark-pine combined navigation system and method for mobile robot |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190927 Termination date: 20220131 |
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| CF01 | Termination of patent right due to non-payment of annual fee |