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Positioning method and device for moving mechanism

A technology of moving mechanism and positioning method, applied in measuring devices, re-radiation of electromagnetic waves, instruments, etc., can solve the problems of encoder accumulated positioning error, hub slippage, influence of positioning accuracy of moving mechanism, etc., and achieve the calibration of encoder ranging information. Accurate and improve the effect of positioning accuracy

Active Publication Date: 2022-06-17
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, the positioning of the mobile mechanism on the guide rail of the building's outer wall is mainly performed by an encoder. However, this positioning method has certain defects. The phenomenon of slipping, so there will be a cumulative positioning error of the encoder; at the same time, the encoder cannot perform accurate measurement at the turning, and both situations will affect the positioning accuracy of the moving mechanism

Method used

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  • Positioning method and device for moving mechanism
  • Positioning method and device for moving mechanism
  • Positioning method and device for moving mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0058] see figure 1 and figure 2 ,in, figure 1 A schematic flowchart of the positioning method of the mobile mechanism provided by the embodiment of the present application, figure 2 It is a schematic diagram of the guide rail and the moving mechanism of the building exterior wall provided in the embodiment of the present application.

[0059] The positioning method of the moving mechanism in the embodiment of the present application is suitable for the positioning of the moving mechanism on the guide rail of the building exterior wall. In this embodiment, the positioning of the moving mechanism on the building exterior wall guide rail is used for illustration and related explanation.

[0060] It should be noted that, in other embodiments, the moving mechanism may also be in other application scenarios, for example, the moving mechanism may also be located in a guide rail set on the ground.

[0061] In this embodiment, the moving mechanism 2 of the building exterior wall ...

Embodiment 2

[0115] In order to execute the method corresponding to the first embodiment above and achieve corresponding functions and technical effects, a positioning device of a moving mechanism is provided below.

[0116] see Figure 4 , Figure 4 This is a first structural block diagram of the positioning device of the mobile mechanism provided in the embodiment of the present application.

[0117] The positioning device of the mobile mechanism according to the embodiment of the present application includes:

[0118] The calibration module 210 is used to calibrate the path parameters of the total path, the total path includes a straight path and a curve, and the path parameters include the length and sequence of each straight path and each curve;

[0119] The determining module 220 is used to obtain the encoder ranging information of the encoder on the mobile mechanism, and determine the current path where the mobile mechanism is located according to the encoder ranging information a...

Embodiment 3

[0145]An embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is used for storing a computer program, and the processor runs the computer program so that the electronic device executes the above-mentioned positioning method for a moving mechanism.

[0146] Optionally, the above electronic device may be a server.

[0147] In addition, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, implements the above-mentioned positioning method of a moving mechanism.

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Abstract

The application provides a positioning method and device for a mobile mechanism. The positioning method of the mobile mechanism includes: calibrate the path parameters of the total path; determine the current path where the mobile mechanism is located according to the encoder ranging information and path parameters of the encoder on the mobile mechanism ; If the current path is a curve, the measurement information of the curve obtained by the inertial measurement unit on the mobile mechanism, the path parameters and the encoder ranging information are corrected to obtain the calibration encoder ranging information; if the current path is a straight path, by moving The wireless ranging information, path parameters and encoder ranging information obtained by the wireless ranging equipment on the mechanism are corrected to obtain the calibration encoder ranging information; according to the calibration encoder ranging information, the positioning information of the mobile mechanism is obtained. The positioning method and device of the mobile mechanism of the present application can make the distance measurement information of the encoder used for the positioning of the mobile mechanism more accurate by correcting the distance measurement information of the encoder, thereby improving the positioning accuracy of the mobile mechanism.

Description

technical field [0001] The present application relates to the technical field of equipment positioning, and in particular, to a positioning method and device for a mobile mechanism. Background technique [0002] In the field of construction, during the construction of middle and high-rise buildings, it is often necessary to perform various treatments on the exterior walls of buildings, such as scraping, filling, and finishing the exterior walls. In order to better handle the exterior walls of buildings, there are currently mobile platforms for building exterior walls. For this, please refer to the patent application document with the patent application number of 201910824397.9. The mobile platforms for building exterior walls are mainly The end of the moving mechanism (ie the moving platform) is connected to the end effector to process the building exterior wall. [0003] In the mobile platform for building exterior walls, when the mobile mechanism moves on the guide rails ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01S17/86G01S17/08
CPCG01C21/165G01S17/86G01S17/08
Inventor 付磊刘玉平覃佳能
Owner GUANGDONG BOZHILIN ROBOT CO LTD