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Accurate positioning method and system suitable for robot and robot

A precise positioning and robotics technology, applied in the field of robotics, can solve problems such as difficult evaluation of system errors, hardware errors, power unit errors, etc., and achieve the effect of precise positioning

Active Publication Date: 2019-11-29
王艺锦
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the process of UWB base station deployment, it is difficult to evaluate the system error caused by its own hardware error and installation error.
The movement instructions generated by the robot when moving in the active area are based on the actual position information fed back by UWB. This part of the error will cause the robot to deviate when executing the movement instructions.
In addition, during the movement of the robot, the power unit executes the movement command, which will also produce some errors.

Method used

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  • Accurate positioning method and system suitable for robot and robot

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Embodiment Construction

[0047] In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.

[0048] to combine figure 1 , the present invention proposes a precise positioning method suitable for robots, the positioning method comprising:

[0049] S1: Install UWB positioning tags on the robot in one-to-one correspondence, and distribute multiple UWB base stations in the active area of ​​the robot, and set multiple calibration points with known positions in the active area.

[0050] S2: Fix the robots on the calibration points one by one, and send messages to each UWB base station according to the set period to estimate the positioning error of the UWB base station corresponding to the calibration point, and calculate its positioning based on the estimated positioning error of the UWB base station precision.

[0051] S3: Generate multiple movement instructions, and correct the movement instr...

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Abstract

The invention discloses an accurate positioning method suitable for a robot. The method comprises the following steps of by arranging a plurality of calibration points in an activity area; estimatingpositioning errors of UWB base stations; calculating the positioning precision of each UWB base station, correcting the movement instruction of the robot according to the positioning precision, enabling the robot to move between the calibration points, obtaining the movement error of each robot according to the error value of the theoretical position and the actual execution position of the movement instruction, and taking the movement error as a movement instruction correction value. According to the invention, through twice error adjustment, the respective system errors of the UWB base station and the robot are comprehensively considered, so that the robot can obtain a more accurate positioning effect.

Description

technical field [0001] The invention relates to the technical fields of artificial intelligence and robot positioning, in particular to a precise positioning method and system suitable for a robot, and a robot. Background technique [0002] At present, the popularity of robots is getting higher and higher, and the normal operation of robots depends on their ability to control their own precise positions. Only by knowing their own position information in real time can they complete actions such as moving to the target position and performing production operations. [0003] In some scenes, the positioning of the robot is realized by the position sensor arranged in the activity area. The wiring is complicated and the accuracy is low. When there are many robots in the activity scene, it is difficult to distinguish the identity information of the passing robot. The robot is moving. Easily restricted. For this reason, the existing technology proposes that UWB tag positioning can ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W64/00
CPCH04W4/023H04W64/00
Inventor 王艺锦
Owner 王艺锦