MOBILE ROBOT POSITIONING SYSTEM AND POSITIONING METHOD THEREOF

摘要

The present invention discloses a mobile robot positioning system and the positioning method thereof. The positioning system includes a base station, a dead reckoning positioning system, an ultrasonic laser positioning system and a data fusion unit. The dead reckoning positioning system consists of an angular velocity sensor for acquiring the angle information of the mobile robot, and a displacement sensor for acquiring the walking distance information of the mobile robot. The ultrasonic laser positioning system consists of ultrasonic laser emitters mounted on the base station, and ultrasonic laser receivers and an information processing system installed on the mobile robot. The position coordinates of the mobile robot in the ultrasonic laser positioning system are acquired through information exchange between the ultrasonic laser emitters and the ultrasonic laser receivers. The data fusion unit is used for the fusion of the angle information and the walking distance information in the dead reckoning positioning system, and for the fusion of the two position coordinates in the dead reckoning positioning system and the ultrasonic laser positioning system. The application of the data fusion unit enables the ultrasonic laser positioning system to eliminate accumulated errors in the dead reckoning positioning system.