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Following track planning method and system of moving and overturning mechanism

A technology of turning over the mechanism and following the trajectory, which is applied in the field of intelligent robots to achieve the effect of not damaging the mechanism

Inactive Publication Date: 2022-03-11
上海景吾酷租科技发展有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Now in the field of cleaning, the use of intelligent robots to clean guest rooms is a blank field, especially for robots to open and close doors, there are certain technical difficulties

Method used

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  • Following track planning method and system of moving and overturning mechanism
  • Following track planning method and system of moving and overturning mechanism

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Embodiment 1

[0076] Aiming at the defects existing in the prior art, the technical problems to be solved in the present invention include: the initial position of the axis line of the door turning track and the clamping point of the mechanical arm are obtained by combining the calculation of the vision system, and the posture of the turning action is automatically calculated; at the same time, due to the In the process of door opening, there is still a degree of freedom of movement, so the opening action of the door cannot be planned by a simple arc path, so the turning action of the door needs to consider the speed of the degree of freedom of movement and then adjust the planned pose of the end of the mechanical arm. The present invention Use the camera to take photos and return the local map position of the mobile flipping mechanism. The robotic arm control system automatically calculates the planned path according to the position data of the camera. The end pose of the mechanical arm is ...

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Abstract

The invention provides a following track planning method and system for a moving and overturning mechanism. The following track planning method comprises the steps that S1, a mechanical arm is navigated to the position within the preset range of a moving sliding door through a moving chassis; s2, the mechanical arm controls the visual system to collect surrounding environment information, and the mechanical arm calculates and generates the starting pose and the ending pose of the door opening process according to the surrounding environment position collected by the visual system through an automatic path planning method; and S3, on the basis of the generated starting pose and ending pose of the door opening process, a mechanical arm controller conducts speed planning and trajectory interpolation, the planned position of the tail end of a mechanical arm is calculated through a vector synthesis method, and finally the overturning trajectory of door opening is obtained through planning.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a tracking trajectory planning method and system for a moving plus turning mechanism. Background technique [0002] Now in the field of cleaning, the use of intelligent robots to clean guest rooms is a blank field, especially for robots to open and close doors, there are certain technical difficulties. The biggest difficulty of opening and closing the reversing door is that the opening action of the door is not a simple arc trajectory. The door is still moving while reversing. This requires the robot to be able to automatically adjust the opening and reversing trajectory of the door to complete the opening task of the reversing door. How to provide a trajectory planning method to solve the problem of opening the mobile reversing door is a technical problem that needs to be solved at present. [0003] Patent document CN107953303A (application number: 201711499378.0) di...

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Application Information

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IPC IPC(8): B25J9/16B25J18/00
CPCB25J9/1664B25J9/1697B25J18/00
Inventor 谢能达郭震
Owner 上海景吾酷租科技发展有限公司