CN203217375U - Multi-sensor information fusion dead-reckoning positioning system - Google Patents

Abstract

The utility model relates to a robot positioning system, in particular to a multi-sensor information fusion dead reckoning positioning system, which includes a frame, a wheel, a stepping motor, a vehicle sensor, a Kalman filter, a motor controller, and a ground laser reflection system. mirror. The vehicle-mounted sensor includes an accelerometer, a gyroscope, an electronic compass, and a laser positioning transmitter, which are vertically installed on the middle mechanical shaft of the two wheel connecting lines. The on-board sensors measure various vehicle driving parameters, and send the parameters to the Kalman filter for processing, and the results are sent to the motor controller to control the stepping motor to drive the wheels to rotate. The Kalman filter regularly obtains the position value of the frame, and marks the point position on the plane Cartesian coordinates, and connecting the points into a line is the dead reckoning result of the frame. The utility model introduces a Kalman filter for information fusion, completes track calculation, and adjusts the installation positions of each sensor at the same time to realize precise positioning of the robot.

Description

A dead reckoning positioning system based on multi-sensor information fusion

technical field

The utility model relates to a robot positioning system, in particular to a track reckoning positioning system for multi-sensor information fusion.

Background technique

At present, robot technology has been developed rapidly and widely used. Industrial robots are relatively mature in technology, and have achieved satisfactory results in application. However, service robots, especially mobile robots, are still far behind the development of industrial robots, plagued by multiple technical problems, and are almost still in the laboratory stage. Among them, the problems of robot self-localization and dead reckoning are particularly prominent.

The current dead reckoning positioning technology is relatively simple in terms of means, mainly satellite positioning, magnetic positioning, acoustic positioning and optical positioning. Each positioning method has its own advantages and disadvantages. The positioning technology based on multi-sensor fusion is obviously superior to single positioning technology, so the positioning technology based on multi-sensor fusion has become a new hot spot in the design of dead reckoning systems.

The disclosed ZL201120578187.5 robot positioning system based on multi-sensor fusion uses dual encoders, electronic gyroscopes, and geomagnetic sensors. There are many sensors in this system, and the limited precision is not enough, and the disclosed patent does not mention the technical defect of overcoming the positioning accuracy error caused by the placement position.

Contents of the invention

The utility model solves the problems of the above-mentioned prior art by adding an accelerometer and a laser positioning device. At the same time, the Kalman filter is used to greatly improve the accuracy of information fusion, and the adjustment of the installation position satisfies the positioning requirements of the high-precision robot system. Require.

The technical solution adopted by the utility model to solve its technical problems: the dead reckoning positioning system of this multi-sensor information fusion includes a vehicle frame, a wheel, a stepping motor, an on-board sensor, a Kalman filter, a motor controller, and a ground laser reflector , the vehicle-mounted sensor measures various driving parameters of the vehicle, and sends the parameters to a Kalman filter for processing, the Kalman filter is connected to a motor controller, and the motor controller is connected to a stepper motor, and the stepper The motor is connected to the wheel, and the wheel carries the frame through a mechanical connection mechanism. The Kalman filter regularly obtains the position value of the frame, and marks the position of the point on the plane Cartesian coordinates. Connecting the points into a line is Dead reckoning results for the frame.

The vehicle frame carries on-board sensors.

The vehicle-mounted sensor includes an accelerometer, a gyroscope, an electronic compass, and a laser positioning transmitter, and the sensors are vertically installed on the same mechanical axis.

Described accelerometer, gyroscope, electronic compass, laser positioning transmitter are vertically installed in the middle of two wheel connection lines.

The accelerometer measures the acceleration of the vehicle frame.

The gyroscope measures the angular velocity of the frame.

The electronic compass measures the magnetic declination in the forward direction of the vehicle frame.

The laser positioning transmitter emits laser light to the ground laser reflector, and receives the returned laser light to measure the distance between the vehicle frame and the ground reflector.

The ground laser reflector is a common mercury glass mirror.

The Kalman filter receives the signal sent by the vehicle sensor and performs Kalman filter processing to obtain a relatively accurate measurement value of the frame position, and sends the measurement value to the stepping motor controller.

The stepper motor controller receives the measurement value sent by the Kalman filter, and controls the rotation of the stepper motor according to the measurement value to move the vehicle frame.

The beneficial effects of the utility model are: the utility model adopts multi-sensors such as accelerometer, gyroscope, electronic compass, laser positioning transmitter, etc., introduces a Kalman filter for information fusion, and adjusts the installation position of each sensor at the same time, realizing the robot precise positioning. The device has a reasonable structural design, is easy to realize, and is favorable for wide application.

Description of drawings

Fig. 1 is the structural installation drawing of the present utility model;

Fig. 2 is a block diagram of the utility model.

Explanation of reference signs: accelerometer 1, gyroscope 2, electronic compass 3, laser positioning transmitter 4, wheel 5, stepper motor 6, rotary photoelectric encoder 7, vehicle frame 8, axle 9, Kalman filter 10, Motor controller 11, ground laser reflector 12, vehicle sensor 13.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described:

Referring to the accompanying drawings: this multi-sensor information fusion dead reckoning positioning system includes frame 8, wheels 5, stepping motor 6, vehicle-mounted sensor 13, Kalman filter 10, motor controller 11, ground laser reflector 12. The vehicle sensor includes an accelerometer 1, a gyroscope 2, an electronic compass 3, and a laser positioning transmitter 4. The on-board sensor 13 measures various parameters in driving, and sends the parameters to the Kalman filter 10 for processing, and the result is sent to the motor controller 11 to control the stepper motor 6 to drive the wheels 5 to rotate. The Kalman filter regularly obtains the position value of the frame, and marks the point position on the plane Cartesian coordinates, and connecting the points into a line is the dead reckoning result of the frame. The vehicle frame 8 of this embodiment has two wheels 5, and these two wheels 5 are respectively connected with a stepping motor 6.

This implementation example can also be improved as follows:

The on-vehicle sensor 13 also includes two rotary photoelectric encoders 7 , respectively connected to the two wheels 5 of this embodiment, to detect the rotation speed of the wheels 5 , and send the speed signal to the Kalman filter 10 .

The utility model introduces a Kalman filter for information fusion, completes track calculation, and adjusts the installation position of each sensor at the same time, realizing the precise positioning of the robot. The device has a simple structure, is easy to realize, and is very suitable for wide promotion.

Claims (3)

1. A dead reckoning positioning system based on multi-sensor information fusion, comprising vehicle frame (8), wheels (5), stepping motor (6), vehicle-mounted sensor (13), Kalman filter (10), motor control Device (11), ground laser reflector (12), are characterized in that: described vehicle-mounted sensor (13) measures various driving parameters of vehicle, and sends parameter into Kalman filter (10) to process, and described Kalman filter (10) connects motor controller (11), and described motor controller (11) connects stepping motor (6), and described stepping motor (6) connects wheel (5), and described wheel (5 ) carries the vehicle frame (8) through a mechanical connection mechanism, and the Kalman filter (10) regularly obtains the position value of the vehicle frame (8), and marks the point position on the plane Cartesian coordinates, and connects the points into a line That is the dead reckoning result of the vehicle frame (8). 2. The dead reckoning positioning system of a kind of multi-sensor information fusion according to claim 1, is characterized in that: described vehicle sensor (13) includes accelerometer (1), gyroscope (2), electronic compass (3) Laser positioning transmitter (4), the sensor is vertically installed on the same mechanical axis. 3. The dead reckoning positioning system of a kind of multi-sensor information fusion according to claim 2, characterized in that: said accelerometer (1), gyroscope (2), electronic compass (3), laser positioning transmitter (4) be installed vertically in the middle of the connection line of the two wheels (5).

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