Docking method based on multi-sensor equipment

A multi-sensor, docking direction technology, used in instruments, non-electric variable control, two-dimensional position/channel control and other directions, can solve problems such as low efficiency, reduced positioning accuracy, and data instability

Pending Publication Date: 2021-10-08
GUANGZHOU CRIMINAL SCI & TECH RES INST +1
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, in the field of intelligent robots, there are problems of low positioning efficiency, slow speed, and low stability when the robot docks with auxiliary accessories such as charging and shelves.
The existing methods generally use sensors

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Docking method based on multi-sensor equipment
  • Docking method based on multi-sensor equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0030] refer to figure 1 , the present invention is based on a multi-sensor device docking method, comprising the following steps:

[0031] S1. The robot goes to the preset docking point P1 (x1, y1, yaw1) near the docking device through the built-in navigation system, and P1 (x1, y1, yaw1) is the coordinate relative to the origin of the map.

[0032] S2. Obtain the current coordinates R0 (x0, y0, yaw0) of the robot, where R0 (x0, y0, yaw0) is the coordinates relative to the origin of the map.

[0033] S3. The camera on the robot scans the QR code on the docking device, and calculates the center coordinate Q(x0, y0, yaw0) of the QR code through the aruco algorithm.

[0034] S4. According to the position of the center of the robot relative to the map and the installation position of the camera on the robot, calculate the coordinates Q1 (x1, y1, yaw1) of the two-dimensional code relative to the robot.

[0035] S5. According to the position of the QR code on the docking device, ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a docking method based on multi-sensor equipment, and the method comprises the steps: scanning a two-dimensional code on docking equipment through a camera on a robot, obtaining the center coordinate Q of the two-dimensional code through an aruco algorithm, and obtaining the coordinate Q1 of the two-dimensional code relative to the robot according to the position of the center of the robot relative to a map and the installation position of the camera on the robot; according to the position of the two-dimensional code on the docking equipment, obtaining a coordinate point P2 of the docking equipment relative to the robot, the coordinate point P2 being a target docking point, the current coordinate R0 of the robot and the coordinate P2 of the target docking point being known, taking a transition point P3 in the docking direction of the docking equipment, planning a route from the P2 to the P3 as a path 1 through a Bezier first-order curve, and using a Bezier second-order curve to plan a path from P3 to R0 as a path Path2, combining the path Path1 and the path Path2 into a path Path3, controlling the robot to move along the path Path3, and making the current coordinate R0 of the robot to coincide with the target butt joint point P2. Interference with the side edge of butt joint equipment can be prevented, and the butt joint precision is improved.

Description

technical field [0001] The invention relates to the technical field of mobile robot device docking, in particular to a multi-sensor device docking method. Background technique [0002] At present, in the field of intelligent robots, there are problems of low positioning efficiency, slow speed, and low stability when the robot docks with auxiliary accessories such as charging and shelves. The existing methods generally use two-dimensional code positioning, laser or vision sensors for positioning, and then control while planning, but the data will be unstable during the movement of the robot, resulting in reduced positioning accuracy, low efficiency, and poor stability. Contents of the invention [0003] The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art, and provide a multi-sensor device docking method that can prevent interference with the side of the docking device, avoid docking failure, improve experience and docking ac...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/0225G05D2201/02
Inventor 李越赖志林
Owner GUANGZHOU CRIMINAL SCI & TECH RES INST
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap