Unlock instant, AI-driven research and patent intelligence for your innovation.

Navigation error determining method and device, and navigation control method, device and equipment

A technology for determining methods and controlling equipment, which is applied in the field of navigation and can solve problems such as poor navigation accuracy

Active Publication Date: 2019-03-08
BEIJING KUANGSHI ROBOTICS TECH CO LTD +1
View PDF6 Cites 12 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in actual use, even if the robot performs navigation control according to the positioning results, the navigation accuracy is still poor. In many cases, it is difficult to accurately walk from one positioning mark to the next positioning mark.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Navigation error determining method and device, and navigation control method, device and equipment
  • Navigation error determining method and device, and navigation control method, device and equipment
  • Navigation error determining method and device, and navigation control method, device and equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] First, refer to figure 1 An example electronic device 100 for implementing the navigation error determination method and device, the navigation control method, device and device, and the mobile robot according to the embodiments of the present invention will be described.

[0038] Such as figure 1 Shown is a schematic structural diagram of an electronic device. The electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, an output device 108, and an image acquisition device 110. These components pass through a bus system 112 and / or other forms of connection mechanisms (not shown). It should be noted that figure 1 The components and structure of the electronic device 100 shown are only exemplary, not limiting, and the electronic device may also have other components and structures as required.

[0039] The processor 02 can be implemented in at least one hardware form of a digital signal processor (DSP), a field p...

Embodiment 2

[0046] This embodiment provides a method for determining a navigation error, which can be executed by a navigation control device of a mobile robot, and the navigation control device can be arranged inside the mobile robot, such as the navigation control device can be a navigation controller inside the mobile robot body, in addition , the navigation control device may also be an independent control device capable of controlling the mobile robot, such as a navigation controller externally installed on the mobile robot.

[0047] In order to better understand the technical solution of the present disclosure, the following combination figure 2 First, the application scenarios of the navigation error determination method are described. in, figure 2 It symbolically indicates that there are multiple two-dimensional code marks attached to the navigation path for positioning. The mobile robot is mainly positioned through the two-dimensional code mark, and the two-dimensional code ca...

Embodiment 3

[0113] The average navigation system error obtained based on the navigation error determination method provided in the previous embodiment, the embodiment of the present invention also provides the following Figure 7 The navigation control method shown, the method specifically includes the following steps:

[0114] Step S702, using a navigation error determination method to obtain a navigation system error during the movement of the mobile robot from the first positioning mark to the second positioning mark.

[0115] The navigation system error may be the navigation system error determined by the difference between the second offset error and the theoretical offset error, or the average navigation system error determined by performing weighted average processing on the error learning samples.

[0116]Step S704, correcting the first offset error obtained when the mobile robot moves to the first positioning mark again based on the navigation system error.

[0117] After obtain...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a navigation error determining method and device, and a navigation control method, device and equipment, and relates to the technical field of navigations. The method comprisesthe following steps: acquiring a first offset error between a positioning point of a moving robot and a positioning point of a first positioning identifier when the moving robot moves to the first positioning identifier; controlling the moving robot to move to a second positioning identifier according to the first offset error; acquiring a second offset error and a theoretical offset error betweenthe positioning point of the moving robot and the positioning point of the first positioning identifier when the moving robot moves to the second positioning identifier; determining, according to thesecond offset error and the theoretical offset error, a navigation system error in the process that the moving robot moves from the first positioning identifier to the second positioning identifier.The navigation error determining method can calculate more accurately the navigation system error of the moving robot during moving in the two adjacent positioning identifiers, thereby contributing tosubsequently improving the navigation accuracy of the moving robot based on the navigation system error.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a navigation error determination method and device, a navigation control method, device and equipment. Background technique [0002] Positioning is the most basic link in the navigation process of mobile robots. The accuracy of the positioning results will directly affect whether the mobile robot can navigate accurately according to the path planning. Most mobile robots adopt the way of identification and positioning. For example, taking a mobile (Automated Guided Vehicle) robot as an example, it mainly performs positioning through positioning marks on the navigation path, and performs navigation control based on the positioning results. The multiple positioning signs set on the route are advanced step by step, so that the items are transported to the designated place according to the planned route. However, in actual use, even if the robot performs navigation control accordi...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C25/00G01C21/20
CPCG01C21/20G01C25/005
Inventor 陶涛沈毅
Owner BEIJING KUANGSHI ROBOTICS TECH CO LTD