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Mobile robot navigation offset correction method and device

A mobile robot and deviation correction technology, applied in the field of positioning and navigation, can solve the problems of invalid sensor data, easy to accumulate errors, poor stability, etc., and achieve the effects of high navigation accuracy, stable control, and low cost

Inactive Publication Date: 2018-04-17
台州市吉吉知识产权运营有限公司
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Problems solved by technology

[0004] In the inertial navigation method, due to the offset problem of the inertial navigation sensor itself, it is easy to accumulate errors and become invalid after long-term operation. It also needs other sensor data for correction and cannot work alone.
The photoelectric tracking and deviation correction method also needs to replace the magnetic strip regularly to ensure normal navigation, which is a high-cost solution and is not practical.
The deviation correction method of scanning the QR code can only complete the deviation correction action at the position with the QR code, but in practical problems, it is very likely that the non-QR code area has a large drift, so that the AGV cannot scan the QR code to fail, and the stability is very high. Difference

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  • Mobile robot navigation offset correction method and device
  • Mobile robot navigation offset correction method and device
  • Mobile robot navigation offset correction method and device

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Embodiment Construction

[0030] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments . Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0031] The invention discloses a navigation deviation correction method for a mobile robot, the embodiment of which is as follows figure 1 shown, including:

[0032] S100 obtains the navigation map and mobile planning route of the mobile robot working environment;

[0033] S200 Collect environmental information of the mobile robot during movement, and acquire current pose information of the mobile robot according to the environmental info...

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Abstract

The invention discloses a mobile robot navigation offset correction method comprising the following steps: obtaining a navigation map and mobile programmed routes of the mobile robot work environment;gathering environment information of the mobile robot in a moving process, and obtaining the current pose information of the mobile robot according to the environment information; obtaining navigation offset correction control information according to the mobile programmed route and the current pose information of the mobile robot; correcting the offset of the moving robot in real time accordingto the navigation offset correction control information. In addition, the invention also discloses a mobile robot navigation offset correction device. The method and device can correct the offsets ofthe mobile robot in the moving process, thus enabling the mobile robot to precisely arrive at the destination. The navigation offset correction method and device are simple and practical, low in realization cost, and high in precision.

Description

technical field [0001] The invention relates to the field of positioning and navigation, in particular to a navigation deviation correction method and device for a mobile robot. Background technique [0002] At present, in the field of positioning and navigation of mobile robots, navigation and positioning are mainly carried out through magnetic strip navigation or QR code scanning. For example, at present, the AGV automatic sorting robot has become an important equipment in intelligent manufacturing, advanced logistics and digital factories. It plays a very important role in facilitating factory transportation and improving production efficiency. The so-called automatic guidance means running along a designated track. At present, the common line-finding navigation includes photoelectric navigation, vision, magnetic navigation sensors and so on. For photoelectric sensors, it is cheap and simple to use black and white tape, but the signal is easily unstable due to uneven gro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0257G05D1/0276
Inventor 王泓喆
Owner 台州市吉吉知识产权运营有限公司
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