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A mobile robot autonomous following method based on multi-sensor fusion

A technology of multi-sensor fusion and mobile robot, which is applied in the direction of target search control, two-dimensional position/channel control, etc., can solve the problems of insufficient stability, signal drift data information of the beacon system, etc., and achieve wide application range and application The effect of strong and stable personnel following independently

Active Publication Date: 2021-06-29
NORTHEASTERN UNIV LIAONING
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

It can be applied to situations where people are blocked by obstacles and cannot be recognized by visual and laser sensors, but the signal of the beacon system sometimes drifts greatly and the data information is not stable enough

Method used

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  • A mobile robot autonomous following method based on multi-sensor fusion
  • A mobile robot autonomous following method based on multi-sensor fusion
  • A mobile robot autonomous following method based on multi-sensor fusion

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Embodiment Construction

[0047] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0048] A mobile robot autonomous following system based on multi-sensor fusion, such as figure 1 As shown, it includes an upper navigation unit, a bottom motion control unit and a power supply unit; the upper navigation unit includes a two-dimensional laser radar, a router, an AOA beacon system, a camera, an industrial computer and a TTL to USB module; the bottom motion control unit It includes a robot body, an embedded development board and a photoelectric encoder; the robot body uses a two-wheel differential trolley.

[0049] The two-dimensional laser radar is used to detect plane control position information within a fixed range, and is connected to the industrial comp...

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Abstract

The invention provides an autonomous following method for a mobile robot based on multi-sensor fusion, and relates to the technical field of industrial automation. The system includes an upper-level navigation unit, a bottom-level motion control unit, and a power supply unit; the upper-level navigation unit obtains the positioning information of the target person through sensors, plans and calculates the trajectory of the robot moving to the target person, and selects the optimal planning trajectory of the local path , and send control commands to the bottom motion control unit; the bottom motion control unit controls the robot to move towards the target person according to the control commands of the upper navigation unit; the power supply unit supplies power to the entire system; method. The mobile robot autonomous following method based on multi-sensor fusion provided by the present invention can enable the mobile robot to realize a stable personnel autonomous following function in a dynamic occlusion environment, including the case that a target person is blocked by an obstacle.

Description

technical field [0001] The invention relates to the technical field of industrial automation, in particular to an autonomous following method of a mobile robot based on multi-sensor fusion. Background technique [0002] As robots gradually transition from industrial environments to household or personal applications, the direct interaction between humans and robots has become a new field of research where detecting and following humans is a necessary skill. In recent years, the research and application of follower robots have been deepened, and they are widely used in hospitals, shopping malls and battlefields to help ordinary people complete some simple tasks in their daily life or work environment. If the robot is to follow pedestrians quickly and stably, it must be able to obtain accurate location information of the target person. [0003] Currently common positioning technologies include indoor and outdoor positioning technologies: based on real-time positioning and map...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G05D1/12
Inventor 方正周思帆曾杰鑫张伟义
Owner NORTHEASTERN UNIV LIAONING
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