Mobile robot navigation offset correction method and device

Abstract

The invention discloses a navigation deviation correction method for a mobile robot, comprising: obtaining a navigation map of the working environment of the mobile robot and a planned movement route; collecting environmental information of the mobile robot during the moving process, and obtaining current pose information of the mobile robot according to the environmental information; According to the mobile planning route and the current position and orientation information of the mobile robot, the navigation deviation correction control information is obtained; according to the navigation deviation correction control information, the deviation generated when the mobile robot moves is corrected in real time. In addition, the invention also discloses a navigation deviation correction device for a mobile robot. Through the present invention, the deviation generated during the movement of the mobile robot can be corrected in real time, so that the mobile robot can accurately arrive at the destination. The navigation deviation correction method and the navigation deviation correction device of the present invention are simple and practical, low in implementation cost and high in accuracy.

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...

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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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