Calculating method and system for relationship between robot position and planning path

A technology of planning path and calculation method, which is applied in the calculation method and system field of the relationship between robot position and planning path, and can solve the problems of inability to meet the high-precision requirements of robots, low calculation accuracy of recursive methods, and difficulty in meeting the real-time requirements of lower-position computer control robots, etc. question

Inactive Publication Date: 2018-12-14
ZHIJIU XIAMEN ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the process of using the Raphson-Newton method to find the minimum value, if the initial value is not good, it will lead to a long calculation time, which is difficult to meet the real-t

Method used

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  • Calculating method and system for relationship between robot position and planning path
  • Calculating method and system for relationship between robot position and planning path
  • Calculating method and system for relationship between robot position and planning path

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Embodiment 1

[0058] figure 2 It is a flowchart of a method for calculating the relationship between a robot’s position and a planned path provided by Embodiment 1 of the present invention. This embodiment is applicable to the calculation of the relationship between the robot’s current position and the planned path during the process of controlling the robot’s tracking. In this case, the method can be executed by a device for calculating the relationship between the robot position and the planned path, and the device can be STM32, which is used as a lower computer. The device may consist of hardware and / or software and be integrated in electronic equipment. Such as figure 2 As shown, it specifically includes the following steps:

[0059] S110. Obtain the current position of the robot, the planned path, and a target straight segment approaching the planned path, where the two endpoints of the target straight line segment are on the planned path.

[0060] In this embodiment, the position...

Embodiment 2

[0076] In the above embodiment, when there is only one straight line segment approaching the planned path, the straight line segment can be obtained directly. When there are multiple straight line segments approaching the planned path, the target straight line segment needs to be selected from the multiple straight line segments. This embodiment further optimizes the foregoing embodiment, and specifically defines the process of obtaining a target straight line segment from multiple straight line segments. Figure 3a It is a flowchart of a method for calculating the relationship between a robot position and a planned path provided in Embodiment 2 of the present invention, and specifically includes the following steps:

[0077] S210. Obtain the current position of the robot, the planned path, and multiple straight line segments approaching the planned path, where the two end points of each straight line segment in the multiple straight line segments are on the planned path.

[...

Embodiment 3

[0099] This embodiment further optimizes the foregoing embodiments, Figure 4a It is a flowchart of a method for calculating the relationship between a robot position and a planned path provided in Embodiment 3 of the present invention, and specifically includes the following steps:

[0100] S310. Obtain the current position of the robot, the planned path, and a target straight segment approaching the planned path, where the two end points of the target straight line segment are on the planned path.

[0101] S320. On the target straight line segment, determine a target coordinate point whose distance from the current position satisfies a first preset distance requirement.

[0102] S330. Calculate the target coordinate point and the first target endpoint u s The length L of the first line segment between s .

[0103] S340. Calculate the target coordinate point and the second target endpoint u e The length L of the second line segment between e .

[0104] S350, according t...

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Abstract

The embodiment of the invention discloses a calculating method and system for a relationship between the robot position and a planning path. The calculating method for the relationship between the robot position and the planning path comprises the steps that the current position of the robot, the panning path and a target linear segment approaching the planning path are obtained; on the target linear segment, a target coordinate point is determined, wherein the distance from the target coordinate point to the current position meets the first preset distance requirement; according to the position of the target coordinate point on the target linear segment, and a first target terminal and a second target terminal of the target linear segment, an initial coordinate point is determined in a closed interval constituted by the first target terminal and the second target terminal on the planning path; and by taking the initial coordinate point as an initial value, the distance between the current position and the planning path and the projection point of the current position on the planning path are calculated. According to the calculating method and system, the problem of projection point calculation on the real-time planning path is solved, and the real-time and high-precision requirements of robot control are met.

Description

technical field [0001] Embodiments of the present invention relate to intelligent control technology, and in particular to a method and system for calculating the relationship between a robot position and a planned path. Background technique [0002] Robot tracking refers to the method of controlling the robot to drive according to the planned path. Spline curves are commonly used in tracing to describe paths. Such as figure 1 As shown, for a given spline curve, the control system calculates the relationship between the current position of the robot and the planned path (including distance and vertical feet) in real time, and adjusts the control amount (speed, direction) to achieve the goal of tracking. [0003] In the prior art, the calculation method for the relationship between the position of the robot and the planned path includes the following steps: 1. The upper computer is responsible for route planning, and outputs the planned path to the lower computer responsibl...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 于炀何驭西
Owner ZHIJIU XIAMEN ROBOT TECH CO LTD
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