Research On Indoor Mobile Robot Based On Ground Feature Navigation

In recent years,with the increase in employment costs and the development of science and technology,more and more industries or types of work have been replaced by robots.Mobile robots have irreplaceable advantages in the field of cargo handling due to their high efficiency,high cost performance,high reliability,and high degree of automation.Laser navigation and electromagnetic navigation as the main navigation methods of mobile robots have a variety of disadvantages:the cost of laser sensors is high,it is difficult to achieve large-scale promotion and application,the cost of path laying and subsequent maintenance in electromagnetic navigation is high,and the flexibility of path reconstruction is poor.In view of the above-mentioned shortcomings of laser navigation and electromagnetic navigation,this subject is based on vision technology,using continuous ground images to construct a virtual movement path,to achieve natural navigation and movement of mobile robots on the ground without markers.The specific research content is as follows:1.Indoor mobile robot mechanical system design and motion performance analysis.Aiming at the application scenarios of indoor mobile robots,a robot chassis suspension structure is designed.The front and rear universal wheels are used to support the weight,and the middle differential wheels provide the driving force.The suspension structure can adaptively adjust the suspension stroke according to the undulating road surface,and has good obstacle crossing and climbing capabilities.According to the performance requirements,the chassis structure of the mobile robot is designed,and the parameters of the key components are calculated.The kinematics model of the robot was established and its obstacle-crossing and climbing performance were analyzed and verified.2.Research on visual navigation methods based on ground features.Using image registration technology,a visual navigation method for mobile robots in natural environment based on ground features is proposed.This method can establish virtual movement paths on the ground without markers and has good applicability to various ground forms.The feature point extraction algorithm of a single image and the feature matching algorithm of multiple images are studied respectively.By comparing the actual processing effects of various ground processing algorithms,it is verified that the Harris_binomial algorithm selected in this subject has fast processing speed and feature points.Features such as large number of extraction and wide matching range.The Blob analysis method is used to obtain the relative pose relationship of the stitched images to establish a virtual movement path on the ground.A visual navigation scheme similar to the trajectory guidance method is designed,and the pure path algorithm and inertial navigation are used to complete the path tracking of the robot.3.Construction and experimental research of indoor mobile robot control system.Based on the idea of establishing a virtual movement path based on ground features,a visual navigation module is designed,a motion control module is designed based on the principle of pure tracking algorithms,and a remote control module is designed based on the idea of controlling the robot to scan the driving path and coordinate the work of multiple modules to build a complete movement Robot system;then wrote the indoor mobile robot motion control module software,remote control module software and visual navigation module software.Finally,the virtual mobile path establishment and path tracking experiments of indoor mobile robots are performed.The experimental results show that the proposed visual navigation method for mobile robots in natural environments based on ground features can be applied to a variety of ground forms.There is no need to perform special processing on the ground or paste logo graphics,and the continuous path of the ground can establish the movement path of the robot.Using pure tracking algorithm and inertial navigation can achieve path tracking,the mobile robot's driving speed can be controlled at 1.5m/min,the load can reach 50KG,and the positioning accuracy can reach more than 1.5cm.