Real-time ground robot heading angle acquisition method based on laser tracking total station

Abstract

The invention discloses a real-time ground robot heading angle acquisition method based on a laser tracking total station. The real-time ground robot heading angle acquisition method comprises the following steps: establishing a Cartesian coordinate of the total station, enabling the total station to be aligned with a prism and tracking the prism rotation; measuring an included angle a between laser emitted by the total station and an X axis; shooting an image of laser emitted by a laser emitter by utilizing an industrial camera and transmitting the image to a controller; analyzing the offsetof a laser emission point in the image by utilizing the controller, obtaining the angular velocity w of a turntable through PID calculation and transmitting to a turntable driver to adjust an angle beta of the electric turntable; obtaining the real-time heading angle theta of the robot. Through the scheme, the real-time acquisition method disclosed by the invention has the advantages of being accurate in measurement and fewer in calculation workload and the like and has high practical values and popularization values in the technical field of airport pavement detection.

Description

technical field [0001] The invention relates to the technical field of airport pavement detection, in particular to a method for real-time acquisition of the course angle of a ground robot based on a laser tracking total station. Background technique [0002] At present, the basis for autonomous movement of traditional ground robots is to store a map and know the position and attitude (ie heading angle) of the ground robot in the map. For a translational robot, its position is the coordinate in the plane coordinate system. The traditional method of obtaining the pose of ground robots mainly includes lidar and GPS positioning; specifically, for indoor robots, it uses lidar detection and combines Slam technology to obtain its real-time pose. For ground robots in outdoor open areas, the short range of lidar can no longer meet the actual requirements. Therefore, outdoor ground robots often use GPS positioning to obtain their poses. In general, a robot with a GPS module instal...

AI Technical Summary

Problems solved by technology

However, the GPS signal is easily interfered by many factors, such as high-rise buildings in the urban area, bridges erected with steel bars, dense trees, etc. The GPS signal in these places is very poor, and the position of the antenna cannot be obtained, and the pose of the robot cannot be calculated.

At present, there are already methods to accurately position the robot in an outdoor environment without GPS (such as a total station with target tracking), but there is no good way to obtain the heading angle. The direction of the earth's magnetic field can be obtained by adding a magnetic compass. However, magnetic induction is more affected by the external environment, and it is basically impossible to use it in practice.

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