Pose sensing system and method for mobile robot

Abstract

A position-posture sensing system of movable robot is composed of a photoelectric sensor for detecting the change of position and posture and converting the change to digital signals, an elastic pressing unit for ensuring the proper distance between said photoelectric sensor and ground, and a controlling-processing circuit consisting of a single-chip microprocessor, a communication interface chip, and the firmed programs. Its method is also disclosed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a pose sensing system and method of a mobile robot. Background technique [0002] With the development of computer technology and automatic control theory, robots have been more and more widely used in national defense, industry, agriculture and service industries. The problem of mobile robot pose estimation is one of the most basic problems in robotics. Specifically, it is the problem of determining the position and posture of the robot itself by obtaining environmental information through the internal and external sensors assembled by the robot itself. Robot pose estimation is the premise for the robot to reconstruct the environment map, plan the running path and track the track. Therefore, the pose estimation of the robot is a very important problem. According to public literature, before the present invention, most of the pose estimation methods used by mobile robots were bas...

AI Technical Summary

Problems solved by technology

The disadvantages of this patented technology are: ①Using a general platform, high cost and low reliability; ②Using a visual pose estimation method, the calculation amount is large, and it is difficult to ensure real-time performance; ③This pose estimation based on feature point recognition The error of the method is relatively large, and the visual sensor is very sensitive to environmental color difference, light intensity and other factors

[0004] This patented technology is applied in the field of football robots, but it can only determine the position of the robot, but cannot estimate the attitude of the robot. When the robot moves on a two-dimensional plane, its attitude may change as long as it is slightly disturbed. Therefore, only this A positioning device cannot determine the pose of the robot at all, and must be used in combination with other angle-measuring devices; in addition, its circuit is more complicated and the development cost is higher. The sensor is separated and must be connected by wiring, which is not easy to install and is susceptible to interference

Images