Correction method and system for grabbing and positioning errors of mobile robot and robot

A mobile robot, grasping and positioning technology, applied in the field of mobile robots, can solve the problems of insufficient positioning accuracy, limited practicality, high cost of positioning technology equipment, etc., and achieve the effect of low hardware cost, simple structure and fast speed

Active Publication Date: 2021-12-28
SHENZHEN INST OF ADVANCED TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the process of practical application, it is found that these methods have limitations in practicability:
[0012] As mentioned above, the positioning technology mainly used in the prior art is affected by the number of camera equipment, the amount of calculation and the data processing system, and there are generally problems such as high cost of positioning technology equipment for mobile robots, and insufficient positioning accuracy.

Method used

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  • Correction method and system for grabbing and positioning errors of mobile robot and robot
  • Correction method and system for grabbing and positioning errors of mobile robot and robot
  • Correction method and system for grabbing and positioning errors of mobile robot and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0123] The content of the following embodiments is illustrated as an example. The mobile robot mainly includes: an automatic navigation car, a robotic arm, an electric gripper, an industrial camera, a two-dimensional code identification, and a shelf at a site. Among them: the robotic arm is installed on the AGV, the electric gripper and industrial camera are installed on the robotic arm, and the QR code logo is installed on the station shelf, which is the shelf where the robot needs to pick up or store goods.

[0124] The invention mainly corrects the alignment error when the mobile robot stops at the station, and improves the accuracy of the mechanical arm grabbing items on the station shelf. The specific process of correcting the robot positioning error is as follows:

[0125] The first step: site parameter calibration

[0126] 1. The AGV is parked at a fixed point at the station, and the position and posture of the AGV are manually adjusted so that the AGV body is parallel...

Embodiment 2

[0196] Such as Figure 4 As shown, according to a method for correcting robot positioning errors, a system for realizing the correction of mobile robot grasping and positioning errors is provided, which makes the invention more systematic. A system for realizing the correction of mobile robot grasping and positioning errors includes multiple storage Bit storage device 1 and robot 2;

[0197] Droid 2 includes:

[0198] Image acquisition device 21: used to acquire the characteristic image of the characteristic identifier;

[0199] Processor 22: used to calculate the coordinate value of the feature image and obtain the offset;

[0200] Grabbing mechanical arm 23: used to move the position of the driving mechanism according to the driving instruction sent by the processor;

[0201] Moving mechanism 24: used for moving the vehicle body of the robot according to the moving instruction sent by the processor.

[0202] Wherein, processor 22 includes:

[0203] Picking coordinate mo...

Embodiment 3

[0208] Such as Figure 5 As shown, the present invention also provides a robot, including an image acquisition device, a processor, a driving mechanism, a gripping mechanism, a car body and a moving mechanism, a driving mechanism is provided above the car body, a moving mechanism is provided below the car body, and the moving mechanism It is used to control the movement of the car body. The top of the driving mechanism is equipped with a clamping mechanism, and an image acquisition device is installed above the clamping mechanism. The processor is installed inside the robot, and the processor is used for error correction of positioning errors.

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Abstract

A correction method for grabbing and positioning errors of a mobile robot is characterized in that the method is applied to the mobile robot with a grabbing mechanical arm, and the grabbing mechanical arm is provided with an image obtaining device; and the method comprises the specific steps that the robot moves to a first position, and the first position is located in front of a storage device; the grabbing mechanical arm is adjusted, so that the image obtaining device is located at the first shooting point, and a feature image of a feature marker located on the storage device is obtained; a space rectangular coordinate system is established, and coordinates of feature sites of the feature marker are obtained in combination with data of the feature image; and the offset of the grabbing mechanical arm and a preset standard position is calculated according to the coordinates of the feature sites and the actual size numerical value of the feature marker, and the grabbing point coordinates and the posture of the grabbing mechanical arm relative to the storage device are corrected. The invention further provides a correction system for grabbing and positioning errors and a robot. The problems that the positioning precision is not high enough, the hardware cost is high, and the positioning speed is low are solved through the provided correction method, system and robot.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and in particular relates to a method, system and robot for correcting grasping and positioning errors of a mobile robot. Background technique [0002] Delivery robots currently have five major positioning technologies: (1) ultrasonic navigation and positioning technology, (2) visual navigation and positioning technology, (3) GPS global positioning system, (4) laser navigation and positioning technology, (5) UWB positioning technology. However, in the process of practical application, it is found that these methods have limitations in practicability: [0003] (1) Ultrasonic navigation and positioning technology. Ultrasonic transmitters and receivers are installed on the robot. The distance between the robot and the obstacles in front is calculated through the time difference between ultrasonic transmission and reception. It is necessary to install multiple pairs of ultrasonic transmitters a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J11/00B25J19/00
CPCB25J9/1679B25J11/00B25J19/00Y02P90/02
Inventor 黄祖成侯至丞王卫军袁海
Owner SHENZHEN INST OF ADVANCED TECH
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