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Mobile robots have now spread all over the military, industrial, civil and other fields, and are still developing. With the continuous improvement of sensing technology, intelligent technology and computing technology, intelligent mobile robots must be able to play a role in production and life. The role of human beings, so what are the main aspects of AGV mobile robot positioning technology?
AGV mobile robots mainly have the following five positioning technologies:
1. Ultrasonic Navigation and Positioning Technology of Mobile Robots
The working principle of ultrasonic navigation and positioning is also similar to that of laser and infrared. Usually, the transmitting probe of the ultrasonic sensor emits ultrasonic waves, and the ultrasonic waves encounter obstacles in the medium and return to the receiving device.
By receiving the ultrasonic reflection signal transmitted by itself, and calculating the propagation distance S according to the time difference between the ultrasonic wave and the echo receiving time and the propagation speed, the distance from the obstacle to the robot can be obtained, that is, there is a formula: S=Tv/2 In the formula, T - the time difference between ultrasonic transmission and reception; v - the wave speed of ultrasonic waves propagating in the medium.
Ultrasonic sensors have been widely used in the navigation and positioning of mobile robots for a long time due to their low cost, fast information collection rate, and high range resolution. Moreover, it does not require complex image equipment technology when collecting environmental information, so the ranging speed is fast and the real-time performance is good.
At the same time, ultrasonic sensors are not easily affected by external environmental conditions such as weather conditions, ambient light and shadows from obstacles, and surface roughness. Ultrasonic navigation and positioning have been widely used in the perception systems of various mobile robots.
2. Visual Navigation and Positioning Technology of Mobile Robots
In the visual navigation and positioning system, the navigation method of installing vehicle-mounted cameras in robots based on local vision is widely used at home and abroad. In this navigation method, control equipment and sensing devices are mounted on the robot body, and high-level decisions such as image recognition and path planning are completed by the vehicle-mounted control computer.
The working principle of the visual navigation and positioning system is simply to perform optical processing on the environment around the robot, first use the camera to collect image information, compress the collected information, and then feed it back to a neural network and statistical methods. The learning subsystem connects the collected image information with the actual position of the robot to complete the autonomous navigation and positioning function of the robot.
3. GPS Global Positioning System
Nowadays, in the application of navigation and positioning technology of intelligent robots, the pseudo-range differential dynamic positioning method is generally used, and the reference receiver and the dynamic receiver are used to observe 4 GPS satellites together. 3D position coordinates. Differential dynamic positioning eliminates the star clock error. For users at a distance of 1000km from the base station, the star clock error and the error caused by the troposphere can be eliminated, so the dynamic positioning accuracy can be significantly improved.
4. Light reflection navigation and positioning technology for mobile robots
Typical light reflection navigation and positioning methods mainly use laser or infrared sensors to measure distances. Both laser and infrared use light reflection technology for navigation and positioning.
The laser global positioning system is generally composed of a laser rotating mechanism, a mirror, a photoelectric receiving device, and a data acquisition and transmission device. Although infrared sensor positioning also has the advantages of high sensitivity, simple structure and low cost, but because of their high angular resolution and low distance resolution, they are often used as proximity sensors in mobile robots to detect approaching or sudden movements. obstacle, which is convenient for the robot to stop the obstacle in an emergency.
5. The current mainstream robot positioning technology is SLAM technology
Most of the industry-leading service robot companies have adopted SLAM technology. Only (SLAMTEC) Silan Technology has an exclusive advantage in SLAM technology. What exactly is SLAM technology? Simply put, SLAM technology refers to the entire process of positioning, mapping, and path planning for robots in an unknown environment.
SLAM (Simultaneous Localization and Mapping, real-time localization and map construction), since it was proposed in 1988, is mainly used to study the intelligence of robot movement. For a completely unknown indoor environment, equipped with core sensors such as lidar, SLAM technology can help robots build indoor environment maps and assist robots to walk autonomously.