基于5G通信技术的巡逻机器人定位误差自动补偿方法

Automatic compensation method of patrol robot positioning error based on 5G communication technology

摘要:

以提升巡逻机器人执行巡逻任务能力为目的,提出基于5G通信技术的巡逻机器人定位误差自动补偿方法。该方法在巡逻机器人工作区域架设5G无线通信网络,并将AD7380型号位置传感器安装在巡逻机器人上,利用位置传感器获取巡逻机器人工作时的位置信息后,利用5G无线通信网络将其传输到用户PC端,得到巡逻机器人位置采样点数据；以该数据为基础,使用拉丁超立方采样方法描述巡逻机器人在其巡逻空间内的位置,得到巡逻机器人空间位置数据；再依据巡逻机器人空间位置数据,计算该机器人预设目标点误差矢量,并构建巡逻机器人定位误差补偿模型,利用该模型补偿巡逻机器人定位误差。实验结果表明：该方法可全面获取巡逻机器人在其巡逻空间内的位置信息,可有效且精准的对其定位误差进行自动补偿,使巡逻机器人定位误差保持在可允许范围内,应用效果较为显著。

Abstract:

In order to improve the patrol robot"s ability to perform patrol tasks, an automatic compensation method for patrol robot"s positioning error based on 5G communication technology is proposed. This method sets up a 5G wireless communication network in the working area of the patrol robot, installs the AD7380 position sensor on the patrol robot, uses the position sensor to obtain the position information of the patrol robot when it works, and uses the 5G wireless communication network to transmit it to the user"s PC to obtain the position sampling point data of the patrol robot; Based on this data, the Latin hypercube sampling method is used to describe the position of the patrol robot in its patrol space, and the spatial position data of the patrol robot is obtained; Then, according to the spatial position data of the patrol robot, the error vector of the preset target point of the robot is calculated, and the positioning error compensation model of the patrol robot is constructed, which is used to compensate the positioning error of the patrol robot. The experimental results show that this method can fully obtain the position information of the patrol robot in its patrol space, and can effectively and accurately compensate its positioning error, so that the positioning error of the patrol robot can be kept within the allowable range, and the application effect is relatively significant.