2results about How to "Correct position offset" patented technology

This application belongs to the field of robot control technology, and relates to a robot control method, device, computer equipment, and storage medium, including: acquiring a target station to be reached by the robot; determining an initial planned path for the robot to reach the target station based on the target station; scanning multiple reflective pillars preset on the initial planned path to obtain multiple point cloud data of the multiple reflective pillars, with one reflective pillar corresponding to a set of point cloud data; adjusting the initial planned path based on the multiple point cloud data to obtain a target planned path; controlling the robot to reach the target station based on the target planned path; acquiring a target material to be grasped by the robot; controlling the robotic arm to photograph a preset QR code on the target material at the target station to obtain a QR code image; determining the movement compensation value of the robotic arm based on the QR code image; and controlling the robotic arm to grasp the target material based on the movement compensation value. This application effectively improves the handling accuracy of composite handling equipment in material handling.

The present application belongs to the field of unmanned aerial vehicle precise landing control, and specifically proposes an unmanned aerial vehicle precise landing delay compensation control method; first, the sampling time and output time of the on-board sensor of the unmanned aerial vehicle are obtained, the input and output time of the calculation module is calculated, and the input and output time of the control instruction transmission process is calculated, so as to obtain the delay time length of the whole process; then, the segmented approximate accumulation method is used to calculate the position of the unmanned aerial vehicle in the delay stage; then, the moving target position of the unmanned aerial vehicle is corrected; finally, according to the corrected target position, the speed and acceleration of the unmanned aerial vehicle are determined in combination with the rule base. Using the position compensation method, the position deviation of the unmanned aerial vehicle in the delay stage can be corrected, which provides a basis for position control. The fuzzy control strategy better suppresses the overshoot, reduces the horizontal position oscillation of the unmanned aerial vehicle during landing, and shortens the landing time.