Mileage detection method for magnetic-navigation wheeled autonomous mobile robot

Abstract

The invention discloses a mileage detection method for a magnetic-navigation wheeled autonomous mobile robot, which includes: the first step, determining the laying distance L of magnetic strips or magnetic spikes; the second step, recording the number N1 and N2 of times of failure of a front row of magnetic sensors and a back row of magnetic sensors in terms of detecting magnetic fields when the robot advances; the third step, calculating the current mileage s of the robot according to the following mileage calculation formula: s=[(N1+N2)X(L+A)] / 2 or s= [(N1+N2)X(L+2R)] / 2, wherein the A is the length of the magnetic strips, and the R is the radius of the magnetic spikes. The gap value of the magnetic spikes or the magnetic strips is obtained by setting the laying distance of the magnetic spikes and the magnetic strips scientifically, and then mileage detection is realized according to the number of times of failure of the front row of magnetic sensors and the back row of magnetic sensors in terms of reading the magnetic fields and the laying distance of the magnetic strips or the magnetic spikes. The mileage detection method is simple in calculation, accurate relatively and free of being affected by external environments, overcomes defects of the conventional mileage calculation method to the utmost extent, and saves cost for hardware and software of the wheeled autonomous mobile robot.

Description

technical field [0001] The invention relates to a method for detecting the mileage of a mobile robot, in particular to a method for detecting the mileage of a magnetic navigation autonomous wheeled mobile robot. Background technique [0002] In recent years, autonomous wheeled mobile robots have been more and more widely used in the fields of military, industry, agriculture, medicine and social services, so they have become a research hotspot in the international robotics academic community. [0003] In the research of related technology of autonomous mobile robot, navigation technology is the core of its research. Robots can only move autonomously and complete tasks efficiently if they know where they are and how to get from one location to another. Therefore, the navigation of autonomous mobile robots needs to solve three problems: "Where am I?", "Where am I going?", "How do I get there?". The first problem is the robot positioning problem, which is the premise and basis...

AI Technical Summary

Problems solved by technology

[0006] The invention proposes a mileage detection method suitable for magnetic navigation autonomous wheeled mobile robots that is simple in calculation, high in accuracy, less susceptible to external environment influences and cost-saving, overcomes the defects of traditional odometers as far as possible, and saves magnetic navigation autonomous wheeled movement Robot hardware cost and software cost

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