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A self-navigation method of omnidirectional mobile manipulator based on igps

An omnidirectional mobile and autonomous navigation technology, applied in the direction of manipulators, program-controlled manipulators, instruments, etc., to achieve strong environmental adaptability, high precision, and good real-time performance

Inactive Publication Date: 2017-11-17
HEBEI UNIV OF TECH
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Problems solved by technology

[0003] The purpose of the present invention is to make up for the deficiencies of the prior art and provide an iGPS-based omnidirectional mobile manipulator autonomous navigation method. The positioning method completes platform navigation by fusing the data of various sensors under the high-precision positioning data of iGPS , to solve the problem of autonomous navigation of indoor mobile robots in complex environments

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  • A self-navigation method of omnidirectional mobile manipulator based on igps
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  • A self-navigation method of omnidirectional mobile manipulator based on igps

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Embodiment Construction

[0016] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0017] An iGPS-based omnidirectional mobile manipulator autonomous navigation method is realized on the iGPS-based omnidirectional mobile manipulator autonomous navigation system. The navigation system includes an iGPS system, road signs installed in areas where iGPS signals are normal, and an iGPS receiver installed on an omnidirectional mobile platform, a gyroscope, a follower wheel system, a rotary encoder, an infrared sensor, a visual sensor and a control machine.

[0018] The iGPS system is composed of a plurality of iGPS transmitters installed in different positions indoors, and at least three or more iGPS transmitters must be installed in order to meet the requirement of accuracy. The iGPS receiver needs to be installed with two or more to obtain real-time position data and heading angle data of the omnidirectional mobile platform.

[0019]...

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Abstract

The invention relates to an omni-directional mobile manipulator autonomous navigation method based on an iGPS. According to the main technical characteristics, the omni-directional mobile manipulator autonomous navigation method comprises the steps that an omni-directional mobile platform acquires start point information and target point information, plans a path and acquires positioning data of the iGPS in real time; if the positioning data are effective iGPS positioning dada, navigation is conducted according to the positioning data of the iGPS; and otherwise, navigation is conducted through the combination of a visual sensor and a rotary encoder. By means of the omni-directional mobile manipulator autonomous navigation method based on the iGPS, integrated positioning is conducted through the iGPS, an iGPS receiver, a follower wheel system, the rotary encoder, an infrared sensor and the visual sensor, and navigation can be conducted under the complex indoor environment; and the advantages of being high in precision, good in real-time performance and high in environmental suitability are achieved, the situation that an iGPS signal is shielded can be adapted, and autonomous navigation of an indoor mobile robot under the complex environment is achieved.

Description

technical field [0001] The invention belongs to the technical field of autonomous navigation of indoor mobile robots, in particular to an iGPS-based omnidirectional mobile robot autonomous navigation method. Background technique [0002] The navigation system of an indoor mobile robot refers to the process in which the system obtains the real-time position of the robot and guides the robot to the target position. The navigation methods of mobile robots mainly include inertial navigation, laser radar navigation, magnetic stripe navigation and visual navigation. Among the above navigation methods, the installation cost of magnetic stripe navigation is high, the maintenance cost is high, and it can only walk in the magnetic stripe area; lidar navigation needs to be used in an unobstructed environment, and inertial navigation has been proven to have large cumulative errors, which cannot When used for a long time, the processing speed and accuracy of visual navigation have big p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697G05B2219/40523
Inventor 张小俊徐子寒孙凌宇张建华
Owner HEBEI UNIV OF TECH
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