CN104360685B - Omni-directional mobile platform autonomous navigation system based on iGPS - Google Patents
Omni-directional mobile platform autonomous navigation system based on iGPS Download PDFInfo
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- CN104360685B CN104360685B CN201410601809.XA CN201410601809A CN104360685B CN 104360685 B CN104360685 B CN 104360685B CN 201410601809 A CN201410601809 A CN 201410601809A CN 104360685 B CN104360685 B CN 104360685B
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Abstract
The invention relates to an omni-directional mobile platform autonomous navigation system based on an iGPS and belongs to the technical field of indoor mobile robot autonomous navigation. Combined positioning is performed by combining positioning data of an iGPS receiver and motor encoding data of a servo data. The system can be adaptive to light irradiation, temperature, vibration and other environmental factors, has high environment adaption and has the advantages of high positioning accuracy and fine real-time performance.
Description
Technical field
The present invention relates to indoor mobile robot autonomous navigation technology field is and in particular to a kind of omnidirectional based on iGPS moves
Moving platform autonomous navigation system.
Background technology
Mobile Robotics Navigation is to realize relying on sensor senses environment under complex environment, relies on behaviour decision making to control and moves
Mobile robot drives to the process of target location from original position.Common air navigation aid has：Inertial navigation, visual identity are led
Boat, electromagnetic induction navigation, magnetic stripe guiding navigation, laser radar navigation.
In above-mentioned navigation mode, inertial navigation degree of accuracy in short-range navigation is high, good reliability, but because lacks reality
When deviation correcting device and there are cumulative errors, lead to be not suitable with long-range navigation.It is low, by ring to there is precision in other several navigation modes
Border impact is larger, the shortcomings of produce electromagnetic interference to miscellaneous equipment, and needs to fix walking path in advance, there is layout, changes
Make with difficult in maintenance, lack the defect of motility.
Content of the invention
(1) technical problem to be solved
The technical problem to be solved in the present invention is：How to design that a kind of degree of accuracy is high, little Omni-mobile affected by environment
Platform autonomous navigation system.
(2) technical scheme
In order to solve above-mentioned technical problem, the invention provides a kind of Omni-mobile platform independent navigation system based on iGPS
System, including Omni-mobile platform, iGPS receiver, industrial computer, uMac controller, servomotor；
Described iGPS receiver is multiple, is arranged on the vehicle frame of Omni-mobile platform, for obtaining Omni-mobile platform
Position coordinateses, and be sent to industrial computer；
Described servomotor includes motor body, driver and encoder, and described driver is arranged on Omni-mobile platform
Vehicle frame on, described motor body and encoder are arranged in each wheel group of Omni-mobile platform, and described servomotor is used for
Measurement motor body amount of spin is sent to industrial computer as encoder feedback information；
Described industrial computer is used for receiving global path information, and combine the location coordinate information that iGPS receiver sends and
The encoder feedback information that servomotor sends resolves position in global path for the Omni-mobile platform, and sends out to uMac controller
Send corresponding control instruction；
Described uMac controller is put down for controlling servomotor rotation to realize Omni-mobile according to the control instruction receiving
The autonomous traveling of platform.
Preferably, described industrial computer, specifically for receiving the position coordinateses of 4 iGPS receivers every the period 1, and solves
Calculate position and the course of Omni-mobile platform, realize Global localization；Interval second round receives the encoder feedback of 4 servomotors
Calculate Omni-mobile platform local travel distance, as Omni-mobile platform shift position incremental implementation local positioning；And will be complete
Office location data and local location data merge as Omni-mobile platform final position coordinate, and according to final position coordinate with
Next path point in global path information is compared the position knowing Omni-mobile platform in global path, if judging
Omni-mobile platform does not reach critical localisation, then send desired speed control instruction to uMac controller, otherwise to uMac control
Device sends desired locations control instruction, and described critical localisation represents residual displacement, is predetermined threshold value.
Preferably, the vehicle frame of Omni-mobile platform is also equipped with security scanner, for described in Omni-mobile platform
Send scan data to industrial computer in the whole process travelling, make industrial computer carry out safe avoidance in real time.
Preferably, described Omni-mobile platform is provided with 4 Mecanum wheel wheel groups, is used for realizing Omni-mobile platform
Advance, retrogressing, traversing, rotation and other compound motion.
Preferably, described Omni-mobile platform autonomous navigation system also includes the work being arranged on Omni-mobile platform vehicle frame
Control machine switch board, described industrial computer is arranged in described industrial computer switch board.
(3) beneficial effect
The location data based on iGPS receiver for the present invention is combined determining with the motor encoder data fusion of servomotor
Position, adapts to the such environmental effects such as illumination, temperature, vibration, has very strong environmental suitability, possesses positioning precision high, in fact
The advantages of when property is good.
Brief description
Fig. 1 is the part-structure schematic diagram in the system of the present invention；
Fig. 2 is the workflow diagram of the system of the present invention；
Fig. 3 is that sensing data (iGPS and encoder data) is shown with control data (speed or Bit andits control instruction) circulation
It is intended to；
Fig. 4 is the key algorithm schematic diagram in the workflow of system of the present invention.
Wherein, 1-iGPS receiver, 2- industrial computer switch board, 3- security scanner, 4- Mecanum wheel wheel group, 5-uMac
Controller, 6- driver, 7- Omni-mobile platform vehicle frame.
Specific embodiment
For making the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Specific embodiment is described in further detail.
As shown in figure 1, the invention provides a kind of Omni-mobile platform autonomous navigation system based on iGPS, including omnidirectional
Mobile platform, iGPS receiver 1, industrial computer, uMac controller 5, servomotor；
Wherein, described Omni-mobile platform includes 4 Mecanum wheel wheel groups and vehicle frame, and Mecanum wheel wheel group is used for real
The advance of existing Omni-mobile platform, retrogressing, traversing, rotation and other compound motion.
Described iGPS receiver 1 is multiple, is arranged on the vehicle frame 7 of Omni-mobile platform, puts down for obtaining Omni-mobile
The position coordinateses of platform, and it is sent to industrial computer；
Described servomotor includes motor body, driver 6 and encoder, and described driver 6 is arranged on Omni-mobile and puts down
On the vehicle frame 7 of platform, described motor body and encoder are arranged in each wheel group of Omni-mobile platform, and described servomotor is used
It is sent to industrial computer in measurement motor body amount of spin as encoder feedback information；
Described industrial computer is used for receiving, by wireless network UDP/IP agreement, the global path information that live console sends
(this global path information is made up of a series of coordinate points with course), and combine the position coordinateses letter that iGPS receiver 1 sends
The encoder feedback information of breath and servomotor transmission resolves position in global path for the Omni-mobile platform, and to uMac control
Device 5 processed sends corresponding control instruction；
Described uMac controller 5 is put down for controlling servomotor rotation to realize Omni-mobile according to the control instruction receiving
The autonomous traveling of platform.
With reference to Fig. 2～Fig. 4, described industrial computer is specifically for passing through 485 4 iGPS receivers 1 of interface every 2s
Position coordinateses, and resolve position and the course (obtaining by slope calculations) of Omni-mobile platform, realize Global localization；Interval
The encoder feedback (for amount of motor rotation) that 100ms receives the encoder of 4 servomotors calculates the walking of Omni-mobile platform local
Distance (amount of motor rotation in a upper moment and this moment amount of motor rotation are compared and draw), moves as Omni-mobile platform
Positional increment realizes local positioning (being similarly obtained position and course)；And Global localization data is merged work with local location data
For Omni-mobile platform final position coordinate, (mode of data fusion is：Local positioning mode is carried out in real time, does not connect in industrial computer
Receive iGPS receiver location coordinate information when, using local positioning result as final result, otherwise, by Global localization mode
The Global localization data obtaining is rectified a deviation to local location data as reference data, will Global localization mode obtain complete
Office's location data, as the position coordinateses in a upper moment, was compared with this moment amount of motor rotation and obtains local travel distance),
And be compared according to next path point in final position coordinate and global path information and know Omni-mobile platform in the overall situation
Position in path, if judging, Omni-mobile platform does not reach critical localisation, sends desired speed control to uMac controller 5
System instruction (velocity amplitude according to default size is walked according to the coordinate points in described global path information), otherwise to uMac control
Device 5 sends desired locations control instruction (the displacement vector walking according between critical localisation and point of destination), described critical localisation table
Show residual displacement, be predetermined threshold value.
Security scanner 3 is also equipped with the vehicle frame of Omni-mobile platform, for described Omni-mobile platform travel
Send scan data to industrial computer in whole process, make industrial computer carry out safe avoidance in real time.
Described Omni-mobile platform autonomous navigation system also includes the industrial computer control being arranged on Omni-mobile platform vehicle frame 7
Cabinet 2 processed, described industrial computer is arranged in described industrial computer switch board 2, industrial computer switch board can also be installed display screen etc. and set
Standby.
As can be seen that in the working-flow of the present invention, after independent navigation pattern starts, receiving path point, leading
Boat algorithm judges the effective simultaneously calculating platform position in the paths in path.After receiving enabled instruction, navigation algorithm relies on platform to work as
Relativeness between front position and path point, calculating platform rate controlling amount, and it is sent to the rotation of uMac controller controlled motor,
Realize platform to move.After impact point, for ensureing positioning precision, navigation algorithm carries out position control mode, to uMac control
Device sends platform displacement control instruction.After driving to impact point, if positioning precision meets error requirements, independent navigation terminates,
Waiting navigation task next time.Wherein it is based on iGPS receiver to be combined positioning with motor encoder data fusion, adapt to light
According to such environmental effects such as, temperature, vibrations, there is very strong environmental suitability, possess that positioning precision is high, it is excellent that real-time is good etc.
Point.Live console can control platform transport condition at any time, the therefore present invention possesses the flexible advantage of walking path.Omni-mobile
Platform, due to being mounted with Mecanum wheel group, can adapt to the movement in small range place to the motion of any direction.System is also joined
Have security scanner it is ensured that platform can safe avoidance when walking.
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, on the premise of without departing from the technology of the present invention principle, some improvement can also be made and deform, these improve and deform
Also should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of Omni-mobile platform autonomous navigation system based on iGPS is it is characterised in that include Omni-mobile platform, iGPS
Receiver, industrial computer, uMac controller, servomotor；
Described iGPS receiver is multiple, is arranged on the vehicle frame of Omni-mobile platform, for obtaining the position of Omni-mobile platform
Put coordinate, and be sent to industrial computer；
Described servomotor includes motor body, driver and encoder, and described driver is arranged on the car of Omni-mobile platform
On frame, described motor body and encoder are arranged in each wheel group of Omni-mobile platform, and described servomotor is used for measuring
Motor body amount of spin is sent to industrial computer as encoder feedback information；
Described industrial computer is used for receiving global path information, and combines location coordinate information and the servo that iGPS receiver sends
The encoder feedback information that motor sends resolves position in global path for the Omni-mobile platform, and sends phase to uMac controller
The control instruction answered；
Described uMac controller is used for controlling servomotor rotation to realize Omni-mobile platform according to the control instruction receiving
Autonomous traveling；Described industrial computer specifically for receiving the position coordinateses of 4 iGPS receivers every the period 1, and resolves omnidirectional
The position of mobile platform and course, realize Global localization；The encoder feedback that interval second round receives 4 servomotors calculates entirely
To mobile platform local travel distance, as Omni-mobile platform shift position incremental implementation local positioning；And by Global localization
Data is merged as Omni-mobile platform final position coordinate with local location data, and according to final position coordinate and overall road
Next path point in the information of footpath is compared the position knowing Omni-mobile platform in global path, if judging, omnidirectional moves
Moving platform does not reach critical localisation, then send desired speed control instruction to uMac controller, otherwise sends to uMac controller
Desired locations control instruction, described critical localisation represents residual displacement, is predetermined threshold value.
2. the Omni-mobile platform autonomous navigation system based on iGPS as claimed in claim 1 is it is characterised in that Omni-mobile
Be also equipped with security scanner on the vehicle frame of platform, for described Omni-mobile platform travel whole process in industrial computer
Send scan data, make industrial computer carry out safe avoidance in real time.
3. the Omni-mobile platform autonomous navigation system based on iGPS as claimed in claim 1 is it is characterised in that described omnidirectional
4 Mecanum wheel wheel groups are provided with mobile platform, for realize the advance of Omni-mobile platform, retrogressing, traversing, rotation with
And other compound motion.
4. the Omni-mobile platform autonomous navigation system based on iGPS as any one of claims 1 to 3, its feature exists
In, described Omni-mobile platform autonomous navigation system also includes the industrial computer switch board being arranged on Omni-mobile platform vehicle frame,
Described industrial computer is arranged in described industrial computer switch board.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104765364A (en) * | 2015-03-06 | 2015-07-08 | 苏州大方特种车股份有限公司 | Automatic navigation truck based on iGPS |
| CN105068552B (en) * | 2015-08-31 | 2018-12-11 | 致导科技（北京）有限公司 | A kind of UAV autopilot |
| CN105278533B (en) * | 2015-11-10 | 2018-05-18 | 北京特种机械研究所 | A kind of Omni-mobile platform navigation method |
| CN106495056B (en) * | 2016-11-10 | 2018-10-12 | 北京特种机械研究所 | The omni-directional mobile robots to change the outfit for platen |
| CN107242866B (en) * | 2017-05-05 | 2020-11-10 | 北京东软医疗设备有限公司 | Medical device and method for controlling movement of medical device |
| CN108876857B (en) * | 2018-07-02 | 2020-09-29 | 上海西井信息科技有限公司 | Method, system, device and storage medium for positioning unmanned vehicle |
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