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Ground robot cluster cooperative positioning technology

A collaborative positioning and robotics technology, applied in satellite radio beacon positioning systems, instruments, three-dimensional position/channel control, etc., can solve the problem that the task volume cannot meet the task processing requirements, a single robot lacks coordinated movement, and cannot undertake complex tasks, etc. problem, to achieve formation maintenance and control accuracy and stability, multiple sources of information, and better positioning accuracy

Pending Publication Date: 2022-01-28
FUJIAN QUANZHOU HIT RES INSTIUTE OF ENG & TECH
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Problems solved by technology

[0002] With the rapid development of science and technology, ground robots have been widely used in many fields such as industry and military. However, the amount of tasks that a single robot can handle is small, the work efficiency is low, and the amount of tasks is very limited, which cannot meet the tasks in the actual industry or military fields. However, due to the lack of coordinated movement between multiple single robots, they cannot undertake more complex tasks. Therefore, robot cluster cooperation is the future development trend

Method used

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  • Ground robot cluster cooperative positioning technology
  • Ground robot cluster cooperative positioning technology
  • Ground robot cluster cooperative positioning technology

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Embodiment Construction

[0042] In order to further explain the technical solution of the present invention, the present invention will be described in detail below through specific examples.

[0043] A ground robot cluster collaborative positioning technology, the ground robot includes a leader robot and several follower robots, each follower robot has its own serial number, and the lead robot and the follower robot or the follower robot and the follower robot are transmitted through wireless data, so The leader robot is equipped with a 360 ° multi-line laser radar, which can realize 360 ​​° large-scale scanning and observation, so as to achieve its function of leading and executing tasks. The leader robot is also equipped with GNSS (Global Navigation Satellite System) equipment, and the following robot Laser radar and GNSS equipment are configured, and the laser radar following the robot follows the leading robot, so the technical method according to the present invention can select 180° single-line ...

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Abstract

The invention relates to the technical field of robot positioning, and particularly discloses a ground robot cluster cooperative positioning technology, which comprises a leader robot and a plurality of following robots, wireless data transmission is performed between the leader robot and the following robots or between the following robots, the leader robot is configured with a laser radar, the following robots are configured with laser radars, and the cluster cooperative positioning method comprises the steps that all the robots carry out initial formation with a leading robot at the most front, the positions of all the robots are established, and road signs of all the following robots are established; during traveling, the leader robot performs scaning to realize self positioning, senses and observes the position of each following robot, and describes the position by adopting confidence coefficient; and each following robot observes the road sign, realizes self positioning through positioning sensing fusion, and adjusts the self position according to the confidence coefficient. According to the technical method, information fusion is higher, positioning is higher, and formation control is more accurate and stable.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to the technical field of positioning of ground robot clusters. Background technique [0002] With the rapid development of science and technology, ground robots have been widely used in many fields such as industry and military. However, the amount of tasks that a single robot can handle is small, the work efficiency is low, and the amount of tasks is very limited, which cannot meet the tasks in the actual industry or military fields. Processing requirements, while multiple single robots are limited by the lack of coordinated movement and cannot undertake more complex tasks. Therefore, robot cluster collaboration is the future development trend. [0003] At present, there are some technical disclosures in the field of robot cluster collaborative positioning technology, and the technical methods are different. Various methods are in the aspects of information fusion betwee...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01S17/933G01S17/86G01S19/45G05D1/10
CPCG01C21/20G01S17/933G01S17/86G01S19/45G05D1/104
Inventor 霍光磊李瑞峰李振宏温宽昌黄小春苏昭晖梁凤顺梁培栋
Owner FUJIAN QUANZHOU HIT RES INSTIUTE OF ENG & TECH
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