Wheeled multi-sensor indoor robot based on single-chip microcomputer system and positioning method thereof

• Main Authors: LIU JUN, HU ZHIQIANG, ZHANG JIAN, HUANG BO, DENG JIALING, ZHANG YAPING, LIAO SHUYE, LIAO YINGHUA, WEI QIMING, CHEN JIE, TANG PENGJU, XU YUN, HU JUN, LIU KANG, LEE HONGANG, LIANG WENCHAO, YANG BO, JIANG XINZHU, MA WENGUI, FENG YAN
• Format: Patent
• Language: Chinese; English
• Published: 05.09.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a wheel type multi-sensor indoor robot based on a single-chip microcomputer system and a positioning method thereof, and the wheel type multi-sensor indoor robot based on the single-chip microcomputer system comprises a robot body, four driving wheel structures and two driven wheel group structures, each driving wheel set comprises a motor, an incremental encoder and a driving wheel, wherein the incremental encoders and the driving wheels are located on two side shafts of the motor. The four driving wheels are diagonally arranged in pairs, and the motor axes of the two diagonally arranged driving wheels coincide. Each driven wheel set structure comprises a tension spring fixed to the robot body, a driven wheel located below the tension spring, an absolute value encoder connected with the driven wheel, a course angle gyroscope located between the tension spring and the driven wheel, and an array accelerometer stacked above the absolute value encoder. The system error can be greatly redu