一种移动机器人的位姿传感系统及其方法
谭湘敏; 易建强; 赵冬斌
2006-04-05
Date Available2007-10-10
CountryCN
Subtype发明
Abstract本发明涉及机器人技术领域,特别是一种移动机器人的位姿传感系统及其方法。由光电传感器、传感器弹压机构、控制处理电路三部分组成,光电传感器通过图像处理探测到机器人的位姿变化,然后把这种变化转换成数字信号;传感器弹压机构保证光电传感器与地面保持合适的距离;控制处理电路包括一块单片机和通讯接口芯片,各种处理的程序固化在单片机中,对光电传感器送来的信息滤波,融合以及位姿估计处理以及与上位机的通讯。单片机采用位姿估计算法进行位姿估计;最后,通过通信端口把实时位姿发送给上位机,从而实现实时位姿估计。采用模块化设计,能够独立工作,电路简单可靠,抗干扰能力强,性价比很高。
Patent NumberCN200610011732.6
Status授权
Document Type专利
Identifierhttp://ir.ia.ac.cn/handle/173211/8204
Collection复杂系统管理与控制国家重点实验室_先进控制与自动化
Affiliation中国科学院自动化研究所
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
谭湘敏,易建强,赵冬斌. 一种移动机器人的位姿传感系统及其方法. CN200610011732.6[P]. 2006-04-05.
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