An orbital robot precise positioning system and precise positioning method

Abstract

The invention provides a rail robot accurate positioning system and method. The rail robot accurate positioning system is characterized in that a plurality of station positioning pieces are mounted on a rail, wherein a piece of magnetic steel and a radio frequency card are arranged on each of the station positioning pieces; the station positioning pieces are distributed at intervals on the rail; a station acquisition card and a motor encoder are mounted on the robot; the robot is driven by a motor; the station acquisition card acquires magnetic steel signals in the station positioning pieces and the encoding information of the radio frequency card; the station serial number of each of the station positioning pieces is determined according to the encoding information of the radio frequency card; and the motor encoder counts the rotation turns of the motor, the displacement distance of the robot is determined according to the rotation turns of the motor and the diameter of the driving wheel of the robot. According to the rail robot accurate positioning system and method, the positions of the stations are accurately located by utilizing the plurality of pieces of magnetic steel, the position serial number of the current station is determined by reading the serial number of the radio frequency card, the radio frequency card can encode arbitrarily, so that the rail robot accurate positioning system and method are applicable to long-distance positioning; besides, as the Hall effect (magnetic detection) and the RF card wireless reading are selected, the rail robot accurate positioning system and method are applicable to humid and dusty places.

Description

Technical field [0001] The invention relates to an orbital robot precise positioning system and an accurate positioning method. Background technique [0002] There are mainly the following methods for orbital positioning of orbital mobile robots: [0003] 1. Track drive motor encoder count. This method has a large cumulative error and cannot achieve long-distance precise positioning. [0004] 2. Two-dimensional codes and barcodes are pasted at fixed intervals on the track, and the walking mechanism reads the two-dimensional codes and barcodes to realize the site position positioning. The two two-dimensional codes and barcodes are counted by the motor encoder to obtain the moving distance positioning. This method cannot be used in harsh environments (such as dusty occasions, where the dust will block the QR code and the barcode will affect the reading). [0005] 3. The special combination of Hall magnets is installed at fixed intervals on the track (the magnets are combined in a bina...

AI Technical Summary

Problems solved by technology

Limited by the combination method of Hall magnets, more magnets are needed for encoding if long-distance station detection is to be realized, and the space of the magnets takes up a lot, which is not conducive to track design

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