High-precision moving robot positioning system and method

A mobile robot and positioning system technology, applied to instruments, navigation through speed/acceleration measurement, and measurement devices, can solve problems such as gyroscope zero drift, insufficient real-time control of two-dimensional codes, hidden dangers of encoder indirect measurement, etc., to achieve The effect of improving navigation accuracy

Inactive Publication Date: 2017-02-08
SHENZHEN PUZHILIANKE ROBOT TECH CO LTD
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, provide a high-precision mobile robot positioning system and method, solve

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  • High-precision moving robot positioning system and method

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Embodiment Construction

[0039] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0040] A high-precision mobile robot positioning system, such as figure 1 As shown, it includes a positioning controller installed on a mobile robot (AGV), a two-dimensional code reader and two-dimensional code labels distributed in an indoor environment. The positioning controller is composed of a microprocessor, an encoder, a gyroscope and The communication interface is connected, and the communication interface is connected with the two-dimensional code reader. The microprocessor reads the angle data through the encoder and the gyroscope, reads the two-dimensional code image through the two-dimensional code reader and performs calculation to realize the precise positioning function. The two-dimensional code label can be a single two-dimensional code label, or a two-dimensional code array label composed of two-dimensional codes, and there are on...

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Abstract

The invention relates to a high-precision moving robot positioning system and method. The system and the method are technically characterized in that a positioning controller of the system comprises a microprocessor, a coder, a gyroscope and a communication interface; the coder, the gyroscope and the communication interface are connected with the microprocessor; the microprocessor respectively reads angle data through the coder and the gyroscope, reads two-dimensional code images through a two-dimensional code reader and performs calculation to realize the positioning function. The method comprises the following steps that (1) the positioning controller integrally calculates the AGV(Automatic guided vehicle) angle change according to the weight of the coder and the gyroscope; (2) the positioning controller obtains the AGV angle and the position through the two-dimensional code reader, corrects the angle deviation of the gyroscope, and corrects the relative displacement errors of the coder. According to the through the method provided by the invention, the two-dimensional code reader, the coder and the gyroscope are organically combined, so that the AGV angle precision reaches +/-0.1 degree; the position precision reaches +/-0.2mm; the navigation precision is greatly improved; the influence of angle drift of the gyroscope and the displacement errors of the coder on the angle change can be avoided.

Description

technical field [0001] The invention belongs to the technical field of mobile robot navigation, in particular to a high-precision mobile robot positioning system and method. Background technique [0002] With the development of the fourth industrial revolution, intelligent logistics and intelligent manufacturing have become an inevitable trend in the development of manufacturing and factories. The automatic handling function of AGV (Automatic Guided Vehicle) in the logistics system plays a very important role in production efficiency and production management. [0003] In the AGV navigation system, three kinds of measuring devices are generally inseparable. These three measuring devices are used to measure the position deviation and angle deviation during the operation of the AGV. They are: two-dimensional code measuring device, encoder measuring device, gyroscope measuring device. The common feature of the above three measuring devices is that they can all be used to meas...

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Application Information

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IPC IPC(8): G01C21/20G01C21/34G01C21/16
CPCG01C21/20G01C21/165G01C21/3415
Inventor 刘征
Owner SHENZHEN PUZHILIANKE ROBOT TECH CO LTD
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