全向底盘机器人智能定位和姿态检测系统——基于正交编码器和陀螺仪  

Intelligent Positioning and Attitude Detection on Omnidirectional Chassis Robot--Based on Orthogonal Encoder and Gyroscope

作　　者：赵晋秀 刘文杰 ZHAO Jin-xiu;LIU Wen-jie(Dept.of Mechanical Engineering,Taiyuan Institute of Technology,Taiyuan 030000,China)

机构地区：[1]太原工业学院机械工程系,山西太原030000

出　　处：《工业技术创新》2020年第5期33-37,共5页Industrial Technology Innovation

摘　　要：基于正交编码器、陀螺仪等传感装置,为全向底盘机器人设计一套智能定位和姿态检测系统。将陀螺仪安装于全向底盘转动中心处,通过对角速度进行积分运算,得到行驶轨迹偏离原坐标系的角度;将编码器正交布置,作为机器人测速、计路程传感器;使用定位算法,确认机器人所处位置的坐标和姿态信息,由主控芯片作出判断,控制机器人到达目标坐标点和姿态。制作了实物模型,进行了系统应用,通过改变PID权重初步解决了PID算法造成全向底盘震荡的问题。系统误差仅为5 mm/m左右,可满足机器人竞赛和室内物料搬运等应用场景的精度要求。An intelligent positioning and attitude detection system for omnidirectional chassis robot is designed based on the sensing devices including orthogonal encoder and gyroscope.The gyroscope is installed at the rotating center of the omnidirectional chassis,and the angle of the travel trajectory deviated from the original coordinate system is obtained by integrating the angular velocity;the encoder is arranged in an orthogonal order as the speed and distance sensor of the robot;the positioning algorithm is used to confirm the coordinate and attitude information of the robot,and the master chip makes judgment to control the robot to reach the target coordinate point and attitude.By changing the weight of PID,the problem of omnidirectional chassis vibration caused by the PID algorithm is solved.The system error is only about 5 mm/m,which can meet the requirements of robot competition and indoor material handling.

关 键 词：全向底盘机器人 正交编码器 陀螺仪 智能定位 姿态检测 PID权重 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]