基于光电传感器的移动机器人室内定位

设计了一种基于光电鼠标和电子罗盘的机器人定位系统.通过放置在小车尾部中央位置的光电鼠标芯片测出X和Y的单位时间内的位移数据,经过STM32处理得到坐标值,并将小车的坐标值等信息显示在液晶屏上.通过电子罗盘得到小车的航向.在获取小车坐标与方向后,上位机通过无线模块向小车发送控制命令,从而控制小车的行驶轨迹,并将行其显示在上位机界面.经实验测试,测量位移的定位误差在0.45％,可以达到满足机器人室内定位系统的要求.

Mobile Robot Indoor Positioning Based on Optical Mouse

A robot positioning system based on optical mouse and e-compass is designed. The displacement data in the unit time of X and Y are measured by optical mouse chip placed on the tail of the central location in the cart and processed by STM32 MCU so as to form the coordinate values, and the information such as coordinate values etc. are displayed on the LCD screen. Heading is obtained by the e-compass. The computer sends a control signal to the cart by the wireless module after getting the coordinates and the direction of cart, thus controlling the cart＇s trajectory, and trajectory is shown in the computer interface. The experimental test results show the positioning error of the displacement less than 0.45%, it can be achieved to meet the requirements of indoor positioning system.