Method and device of correcting robot terminal driving route deviations

Abstract

The invention provides a method and device of correcting robot terminal driving route deviations. The method comprises: obtaining the position identification information of a robot terminal driving a work place, wherein the work place is provided with a plurality of position points, and the robot terminal collects position identification information at each position; according to obtained position identification information, calculating the driving route angle of the robot terminal in the work place and the current position of the robot terminal; according to the driving route angle and current position of the robot terminal, determining whether the driving route of the robot terminal is consistent with a preset driving route; and correcting the driving route of the robot terminal when detecting that the driving route of the robot terminal deviates the preset driving route. The deviation process can effectively and rapidly obtain the driving states of the robot terminal, and timely corrects deviations in the case of a driving route deviation, thereby substantially improving the work efficiency of the robot terminal, and reducing the fault incidence rate caused by path deviations.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method and a device for correcting deviations of driving routes of robot terminals. Background technique [0002] Mobile robot is a comprehensive system integrating environmental perception, dynamic decision-making and planning, behavior control and execution. One of the most active areas of development. With the increasing improvement of robot performance, mobile robots have been used more and more widely, such as in handling, painting, welding and other operations. [0003] Path planning is an important part of a mobile robot. Its task is to find a collision-free path from the initial state to the target state in an environment with obstacles according to certain evaluation criteria. The above-mentioned path planning design depends on theoretical calculations. Therefore, in order to improve the performance of the mobile robot, the actual error of the end execution of...

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Problems solved by technology

However, due to the influence of manufacturing errors of robot parts, robot installation errors, transmission mechanism errors, and the working environment of the robot, the above-mentioned robots often have route deviations that cannot be overcome by theoretical calculations in the process of path planning.

[0004] The inventor discovered in the research that the path planning in the prior art has the problem of route deviation that cannot be overcome by theoretical calculations. For the above problems, no effective technical solution has been proposed so far.

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