Method for controlling plastering robot to move by hand-drawing trajectory

A trajectory control and robot technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of poor real-time performance, large amount of calculation, high hardware requirements, etc., and achieve the effect of reducing the amount of calculation, reducing the amount of calculation, and simple operation mode

Pending Publication Date: 2022-04-08
CHINA FIRST METALLURGICAL GROUP
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method has the problems of poor real-time performance, large amount of calculation, and high hardware requirements.

Method used

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  • Method for controlling plastering robot to move by hand-drawing trajectory
  • Method for controlling plastering robot to move by hand-drawing trajectory
  • Method for controlling plastering robot to move by hand-drawing trajectory

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0028] Such as figure 1 As shown in the figure, a method for controlling the movement of a plastering robot with a hand-drawn trajectory adopts the upper computer system and the lower computer system; For the lower computer system; the lower computer system includes the mobile control module and the sensor module of the robot, the function is to receive the trajectory data sent by the upper computer, control the robot to move according to the trajectory data after processing, and collect environmental information in real time during the movement , to realize the obstacle avoidance of the robot to dynamic obstacles; the working steps include:

[0029] Step 1. Map the environmental map collected by the robot to the touch screen of the mobile phone, and the operator draws the trajectory of the robot by hand;

[0030] Step 2. Systematically evaluate the s...

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Abstract

The invention discloses a method for controlling a plastering robot to move through a hand-drawn track, and the method comprises the steps: 1, mapping an environment map collected by the robot to a touch screen of a mobile phone, and enabling an operator to draw the motion track of the robot; step 2, the system evaluates the safety of the hand-drawn track and corrects an unreasonable track segment; thirdly, the robot moves according to the corrected hand-drawn track; and 4, when the robot moves, whether a dynamic obstacle blocks the moving path or not is judged according to the environment data collected by the sensor, and emergency obstacle avoidance is carried out according to the situation. According to the invention, the calculation amount is reduced and the real-time performance is improved while a good path planning effect is ensured.

Description

technical field [0001] The invention relates to automatic plastering technology, in particular to a method for controlling the movement of a plastering robot with a hand-drawn trajectory. Background technique [0002] At present, most of the mobile plastering robots lack the ability of obstacle avoidance and path planning, and the working environment of the plastering robot is particularly complex, and the first prerequisite for the plastering robot to complete the plastering task is to move to the designated target position , so the path planning technology is one of the key technologies in the intelligentization of plastering robots. [0003] At present, robot path planning algorithms can be divided into two categories: global path planning and local path planning. The global path planning algorithm usually needs to obtain the global map information in advance, which is suitable for the path planning of the static working environment; the local path planning can correct t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 廖红玉鲁丙奎王越
Owner CHINA FIRST METALLURGICAL GROUP
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