Robot moving path coverage rate measuring method and system

A technology of moving paths and measuring methods, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inefficiency, low precision, and difficulty in eliminating repeated paths, so as to improve accuracy and efficiency, and test work is simple, easy, and fast Measuring the effect of coverage

Pending Publication Date: 2020-11-17
上海机器人产业技术研究院有限公司 +1
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Problems solved by technology

However, for the measurement of this indicator, the use of manual measurement methods not only has the disadvanta

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  • Robot moving path coverage rate measuring method and system
  • Robot moving path coverage rate measuring method and system
  • Robot moving path coverage rate measuring method and system

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Embodiment Construction

[0022] In order to make the present invention more comprehensible, preferred embodiments are described in detail below with accompanying drawings.

[0023] see image 3 , the technical solution adopted by a method for measuring the coverage rate of a robot moving path in the present invention is: build a robot model and a scene model in a simulation environment, and connect the robot movement control algorithm with the robot model in the simulation environment, so that the robot model can be completely in accordance with the real The control algorithm of the robot moves in the simulated environment. While the robot model is moving, draw its trajectory on the ground of the simulation environment, and the width of the trajectory is equal to the width of the robot model. After waiting for the robot model to move for a certain period of time, measure the coverage area of ​​the robot model’s movement trajectory, and compare it with the actual total movable area of ​​the scene mode...

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Abstract

The invention discloses a robot moving path coverage rate measuring method and system. The robot moving path coverage rate measuring method comprises the following steps: building a robot model and ascene model in a simulation environment, and enabling a robot movement control algorithm to be in butt joint with the robot model in the simulation environment. The robot model can move in the simulation environment completely according to the control algorithm of the real robot, the motion trail of the robot model is drawn on the ground of the simulation environment while the robot model moves, and the coverage area of the motion trail of the robot model is measured after the robot model moves for a certain period of time. Compared with the actual total movable area of the scene model, the coverage rate of the moving path of the robot can be obtained. According to the robot moving path coverage rate measuring method, the problem that the coverage rate of the moving path of the robot is difficult to measure in reality is solved, the measuring precision and efficiency of the coverage rate are improved, and the path coverage rate measuring requirements of various types of robots under different environmental conditions can be met.

Description

technical field [0001] The invention relates to a method and system for measuring the coverage ratio of a moving path of a robot, and belongs to the technical field of robot index measurement. Background technique [0002] With the deepening of aging, the continuous increase of labor costs, and the development and progress of technology, robots have entered people's lives in many fields and replaced manpower to a certain extent. In particular, service robots such as sweeping and cleaning robots are increasingly entering ordinary families and becoming excellent helpers in our lives. [0003] An important indicator to measure the performance of service robots such as sweeping and cleaning robots is the ratio between the robot's moving path coverage area and the total area that can be moved in the entire room per unit time, that is, the path coverage rate. However, for the measurement of this indicator, the use of manual measurement methods not only has the disadvantages of lo...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 沈文婷孙竞郑军奇
Owner 上海机器人产业技术研究院有限公司
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