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Pose determination method and device and robot

A determination method and robot technology, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex and complex robot system models, and low efficiency of pose determination, so as to reduce the amount of calculation, the method is simple, and the determination efficiency is improved. Effect

Active Publication Date: 2021-01-01
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing pose determination method needs to comprehensively consider the measurement values ​​of various sensors, and a robot with 8 controllable input drive chassis, due to the mutual coupling between the control variables of its 8 controllable inputs, that is, the system model of the robot It is more complex, so it is more complicated for the robot to determine its own pose during the movement, which in turn leads to inefficiency in pose determination

Method used

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  • Pose determination method and device and robot
  • Pose determination method and device and robot
  • Pose determination method and device and robot

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Experimental program
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Effect test

Embodiment 1

[0036] Currently, existing pose determination methods usually need to incorporate complex models, which are computationally intensive, resulting in inefficient pose determination. To this end, the embodiment of the present application provides a new pose determination method. In the embodiment of the present application, the pose is calculated in combination with the steering angle and rotation speed of at least 3 wheels of the chassis of the robot. Since at least 3 The steering angle and rotation speed of the wheel are all located in the same chassis coordinate system, and the model is simple, so the computational complexity is reduced, thereby greatly improving the efficiency of determining the pose. The details are as follows:

[0037] figure 2 Shows a flow chart of a pose determination method provided by an embodiment of the present application, the pose determination method of the embodiment of the present application is applied to a robot, and the chassis of the robot i...

Embodiment 2

[0117] Corresponding to the pose determination method described in the above embodiment, Figure 7 Shows the structural block diagram of the pose determination device provided by the embodiment of the present application. The pose determination device 7 is applied to a robot, and the chassis of the robot includes a controllable input for independent steering of at least 3 wheels and at least 3 wheels For the controllable input of independent rotation, for the convenience of description, only the part related to the embodiment of the present application is shown.

[0118] refer to Figure 7 , the pose determination device 7 includes: a steering angle acquisition unit 71, a linear velocity calculation unit 72, a pose transformation matrix determination unit 73 at adjacent moments, and a pose determination unit 74. in:

[0119] The steering angle acquiring unit 71 is used to respectively acquire the steering angle and rotation speed of each wheel in the chassis coordinate syste...

Embodiment 3

[0143] Figure 8 It is a schematic structural diagram of a robot provided by an embodiment of the present application. like Figure 8 As shown, the robot 8 of this embodiment includes: at least one processor 80 ( Figure 8 Only one processor is shown in the figure), a memory 81, and a computer program 82 stored in the memory 81 and operable on the at least one processor 80. When the processor 80 executes the computer program 82, the above-mentioned Steps in any of the various method embodiments:

[0144] Respectively obtain the steering angle and rotational speed of each wheel in the chassis coordinate system, the chassis coordinate system is a coordinate system established with the chassis;

[0145] calculating the linear velocity and angular velocity of the chassis according to the steering angle and rotational velocity of each wheel;

[0146] Determine the pose transformation matrix of the chassis at adjacent moments according to the linear velocity and angular velocity...

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Abstract

The invention is suitable for the technical field of pose determination of robots, and provides a pose determination method and device and a robot. The pose determination method comprises the following steps of: respectively acquiring the steering angle and the rotating speed of each wheel in a chassis coordinate system, wherein the chassis coordinate system is a coordinate system established by achassis; calculating the linear speed and the angular speed of the chassis according to the steering angle and the rotating speed of each wheel; determining a pose transformation matrix of the chassis at adjacent moments according to the linear speed and the angular speed of the chassis; determining the pose of the chassis at the designated moment under the global coordinate system according to the initial pose and the pose transformation matrix of the chassis at the adjacent moments, wherein the pose of the chassis at the designated moment under the global coordinate system is the same as the pose of the robot at the designated moment under the global coordinate system, and the initial pose is the pose of the chassis in the initial state, and when the chassis is in an initial state, thechassis coordinate system coincides with the global coordinate system. Through the method, the pose determination efficiency and accuracy can be improved.

Description

technical field [0001] The present application belongs to the technical field of pose determination of robots, and in particular relates to a pose determination method, device, robot and computer-readable storage medium. Background technique [0002] In order to meet different user needs, there are more and more robots with different functions. The chassis with four independent wheels and independent steering has been more and more widely used in robots due to its high flexibility and adaptability. like figure 1 As shown, this kind of chassis has 8 controllable inputs: 4 wheel independent steering controllable inputs and 4 wheel independent rotation controllable inputs. [0003] In order to complete the target task, the robot needs to determine its own pose during the movement process. The existing pose determination methods need to comprehensively consider the measurement values ​​of various sensors, and a robot with 8 controllable input drive chassis, due to the mutual ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J5/00
CPCB25J9/1651B25J5/007
Inventor 徐文质黄祥斌张木森熊友军
Owner UBTECH ROBOTICS CORP LTD