Magnetic field sensing device and indoor robot direction sensing method

Abstract

The invention discloses a magnetic field sensing device and an indoor robot direction sensing method. The magnetic field sensing device is formed through uniformly arranging N biaxial magnetometers ona ring bracket with the radius R, the N biaxial magnetometers are numbered as 1, 2, 3, ..., N respectively, and the No. 1 biaxial magnetometer mounted is mounted in the direction just facing the robot's movement direction. The indoor robot direction sensing method is an indoor robot direction sensing method based on the artificial neural network. Compared with the prior art, the sensing device and the sensing method are advantaged in that 1, the magnetic field sensing device can detect the surrounding environmental magnetic field in multiple directions and provide the rich environmental information for a neural network model; 2, the artificial neural network technology is adopted, problems that a three-axis magnetometer cannot detect the direction in the room having the chaotic magnetic field and the direction solved from a gyroscope and a visual camera has a cumulative error are overcome, and the absolutely high-precision direction information is provided for indoor robots.

Description

【Technical field】 [0001] The invention belongs to the field of navigation and positioning, and in particular relates to a magnetic field induction device and an indoor robot direction sensing method. 【Background technique】 [0002] With the development of society, indoor robots have important social significance for improving social productivity and liberating human labor force, which has been widely recognized by all walks of life. In recent years, with the rapid development of artificial intelligence, robotics, advanced sensor technology, intelligent control, pattern recognition and other disciplines, the research on indoor robots has become a hot spot for research teams and university laboratories at home and abroad. The famous There are the humanoid robot ASIMO developed by Japan's Honda, the humanoid robot Atlas and the puppy robot SpotMini developed by Boston Dynamics, and the first humanoid robot "Pioneer" independently developed by my country. [0003] Being able to ...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a magnetic field sensing device and a method for sensing the direction of an indoor robot, so as to solve the problem that the direction sensing ability of an indoor robot in the prior art mainly relies on information such as a gyroscope, a visual odometer, and an indoor magnetic field, and accurate information cannot be obtained. The problem of direction estimation; use a new type of magnetic field sensing device to sense the magnetic field information, and use the artificial neural network to process the magnetic field information to realize the real-time perception of the direction of the indoor robot

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