Automatic counterpoint method and system
An automatic alignment and pose technology, applied in the field of positioning, can solve the problems of high price, complex algorithm, increased cost, etc., and achieve the effect of low cost, simple algorithm and easy installation.
Inactive Publication Date: 2019-08-02
上海木木聚枞机器人科技有限公司
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Problems solved by technology
In order to improve the alignment accuracy, the use of multi-line laser radar will improve, but because the multi-line laser radar is expensive, it will greatly increase the cost
The visual positioning method, due to the complexity of the algorithm, will increase the development cost
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[0067] 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.
[0068] The invention discloses an automatic alignment method, the embodiment is as follows figure 1 shown, including:
[0069] S101, detecting the positions of the reflective strips preset at both ends of the auxiliary positioning board through the laser radar sensor installed on the robot; Highly consistent settings;
[0070] Specifically, the lidar sensor installed on the robot can be a single-line lidar instead of multi-line lidar, wh...
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The invention discloses an automatic counterpoint method. The method comprises the following steps of detecting positions of reflective strips preset on two ends of an auxiliary positioning plate through using a laser radar sensor installed on a robot; obtaining a central posture of the auxiliary positioning plate according to the positions of the reflective strips at the two ends of the auxiliarypositioning plate; obtaining a current posture of the robot; and according to the central posture of the auxiliary positioning plate, through combining the current posture of the robot, making the robot arrive at a counterpoint target point position, and completing counterpoint. In addition, the invention also discloses an automatic counterpoint system. The system comprises the auxiliary positioning plate with the reflective strips at the two ends and the robot with the laser radar sensor. In the invention, under the condition that a single line laser radar is adopted and an extra expensive detection sensor is not added, high precision counterpoint is realized.
Description
technical field [0001] The invention relates to the technical field of positioning, in particular to an automatic alignment method and system. Background technique [0002] With the development and innovation of technology, robots are more and more widely used in practical scenarios. The common ones are single-line lidar as the detection sensor and laser slam positioning, and the accuracy is usually at the centimeter level. In order to make the robot more intelligent and realize the function of automatically transferring items with other robots, or conveyor belts and other equipment, the robot needs to have a high alignment accuracy, usually less than 5mm, otherwise the item handover will fail The problem. In order to improve the alignment accuracy, the use of multi-line lidar will improve, but because multi-line lidar is expensive, it will greatly increase the cost. As for the visual positioning method, due to the complexity of the algorithm, it will increase the develop...
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IPC IPC(8): G01S17/42G01S17/88B25J9/12
CPCB25J9/12G01S17/42G01S17/88
Inventor 高本能
Owner 上海木木聚枞机器人科技有限公司