A method for reducing step-by-step cumulative error and positioning system

Abstract

The invention provides a method and a positioning system for reducing step-accumulation errors, the method comprising the following steps: segmenting actual position information recorded by a positioning system; taking the dividing point between each segment of actual position information as a marking point, and acquiring the position information of the marking point; when a stepping walking motor arrives at the marking point, comparing the position information of the marking point with the current position information recognized by the stepping walking motor; if it meets the requirements, outputting the result; if it does not meet the requirements, executing a calibration correction process to eliminate the step-accumulation error until the positioning information of the stepping walking motor is the same as the position information of the marking point; the positioning system comprises: a stepping walking motor, the stepping walking motor comprises a step-accumulation module, the step-accumulation module is connected to a correction module, and the correction module is connected to a positioning module; the problem that the step-accumulation positioning method has cumulative errors affecting the recognition accuracy can be effectively solved, and the method is suitable for long-term application in a field environment.

Description

Technical Field

[0001] The present invention relates to the field of patrol inspection and positioning technology, and in particular to a method for reducing step accumulation error. Background Art

[0002] At present, belt conveyors are widely used in the fields of electricity, steel, coal, water conservancy, chemical industry, metallurgy, building materials, etc. At the same time, the belt conveyor system is developing towards large-scale directions with high belt speed, high power, large capacity and long distance.

[0003] In recent years, as various equipment in belt conveyors have become more complex, the requirements for real-time monitoring and inspection have also increased. At present, manual inspection is mainly adopted. However, since the equipment may be in a harsh working environment, manual inspection is dangerous, and there is a possibility of human error in manual monitoring. At the same time, the labor cost continues to rise, making it increasingly necessary for machines to replace manual inspections. The positioning system, as an indispensable key system in the inspection robot, is crucial to the accuracy of the inspection. Currently, the commonly used positioning systems include digital matching, QR code recognition, and step accumulation. Among them, the amount of data required for digital matching is huge, and it is easy to cause misidentification due to noise interference; the QR code method is easily damaged or detached in the field environment for a long time, and the life is short; the step accumulation method is prone to large cumulative errors after long-term operation, affecting the recognition accuracy. Summary of the invention

[0004] The present invention aims to at least solve one of the technical problems in the prior art that a positioning method using step accumulation is prone to accumulate large errors after long-term operation of the device, thereby affecting the positioning result and recognition accuracy.

[0005] To this end, a first aspect of the present invention provides a method for reducing step-accumulation error.

[0006] A second aspect of the present invention provides a positioning system for reducing step-accumulation errors.

[0007] The present invention provides a method for reducing step-accumulation error, comprising the following steps:

[0008] S1. Segment the actual location information recorded by the positioning system;

[0009] S2, taking the dividing point between each segment of actual position information as a marking point, and defining the marking point to obtain the position information of the marking point;

[0010] S3, when the stepping motor reaches the marking point, the position information of the marking point is compared with the current position information recognized by the stepping motor;

[0011] S4. If the comparison result in S3 meets the position determination accuracy requirement, the result is output and the stepping motor continues to run;

[0012] S5. If the comparison result in S3 does not meet the position determination accuracy requirement, the calibration correction process is executed to eliminate the stepping cumulative error until the positioning information of the stepping motor is the same as the position information of the marking point, and then the result is output and the stepping motor continues to run.

[0013] A method for reducing step accumulation error according to the above technical solution of the present invention may also have the following additional technical features:

[0014] Furthermore, the calibration and correction process in S5 includes the following steps:

[0015] S51, obtaining the position information of the middle position between the current position recognized by the stepping motor and the position of the last marking point, and using the position information as the position information of the determination point;

[0016] S52, taking the middle position between the current marking point and the previous marking point as a calibration point, and obtaining position information of the calibration point;

[0017] S53, comparing the position information of the determination point with the position information of the calibration point;

[0018] S54, if the difference between the position information of the determination point and the calibration point does not meet the determination accuracy requirement, continue to obtain the position information of the middle position between the current determination point and the previous marking point, and use the middle position between the current calibration point and the previous marking point as the new determination point, and use the middle position between the current calibration point and the previous marking point as the new calibration point, return to S53, until the difference between the position information of the determination point and the calibration point meets the accuracy requirement, and execute the next step;

[0019] S55. Based on the current calibration point, the identification information of the stepping motor is corrected. After the correction is completed, the positioning information is saved, the step count is restarted, and the counting result is added to the saved positioning information value as the final positioning information output display.

[0020] Furthermore, the method for correcting the identification information of the stepping motor in step S55 is to replace the position information of the current judgment point with the position information of the current correction point, and use the updated position information of the judgment point to reversely deduce the corresponding identification information of the stepping motor, and save the identification information to complete the correction.

[0021] Furthermore, the determination accuracy requirement in step S54 includes: the difference between the position information of the determination point and the calibration point does not exceed a limit value, and the limit value ranges from 0 to 1.

[0022] Furthermore, the initial position information recorded by the positioning system is used as the first marking point and the starting point for the stepping motor to identify the position information, that is, the stepping motor is positioned and calibrated with the first marking point as the starting point.

[0023] Furthermore, the stepping walking motor adopts a step accumulation method to identify the positioning information.

[0024] Furthermore, the position determination accuracy requirements in steps S4 and S5 include: when the stepping motor reaches the marking point, the difference between the current position information identified by the stepping motor and the position information of the marking point does not exceed a rated value, and the rated value ranges from 0 to 1.

[0025] Furthermore, the actual position information recorded by the positioning system is arranged at unequal intervals.

[0026] The present invention provides a positioning system for reducing step-accumulation errors, comprising a step-by-step walking motor, wherein the step-by-step walking motor comprises a step-by-step accumulator module, wherein the step-by-step accumulator module is connected to a correction module, and the correction module is connected to a positioning module;

[0027] The step accumulation module is used to identify the positioning information of the stepping motor by using a step accumulation method;

[0028] The positioning module is used to obtain the position information on the path and perform segmented processing on the position information;

[0029] The correction module corrects the position information identified by the step-accumulation module according to the position information data of each path segment transmitted by the positioning module.

[0030] A positioning system for reducing step accumulation error according to the above technical solution of the present invention may also have the following additional technical features:

[0031] Furthermore, the correction module uses a calibration correction process to correct the position information identified by the step accumulation module.

[0032] In summary, due to the adoption of the above technical features, the beneficial effects of the present invention are:

[0033] A method and positioning system for reducing step-accumulation error using the above scheme has a simple structure, a reasonable algorithm, and high positioning accuracy. It does not simply correct the results, but reduces the errors generated in the step-accumulation process as much as possible. It can effectively solve the problem of cumulative errors in the step-accumulation positioning method affecting recognition accuracy, and is suitable for long-term application in field environments.

[0034] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1 is a flow chart of a method for reducing step accumulation error according to an embodiment of the present invention;

[0037] Figure 2 is a flow chart of a calibration correction process in a method for reducing step-accumulation error according to an embodiment of the present invention;

[0038] Figure 3 is a flowchart of a method for reducing step-accumulation error according to an embodiment of the present invention;

[0039] Figure 4 It is a flowchart of a calibration correction process in a method for reducing step accumulation error according to an embodiment of the present invention;

[0040] Figure 5 The figure is a schematic diagram of the principle of a method for reducing step accumulation error according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0042] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0043] Refer to the following Figures 1 to 5 A method for reducing step-accumulation error provided according to some embodiments of the present invention is described.

[0044] Some embodiments of the present application provide a method for reducing step-accumulation error.

[0045] like Figures 1 to 5 As shown, the first embodiment of the present invention provides a method for reducing step accumulation error, comprising the following steps:

[0046] S1, segmenting the actual position information recorded by the positioning system; the actual position information recorded by the positioning system is arranged at unequal intervals;

[0047] S2, taking the dividing point between each segment of actual position information as a marking point, and defining the marking point to obtain the position information of the marking point; taking the initial position information recorded by the positioning system as the first marking point and the starting point for the stepping motor to identify the position information, that is, taking the first marking point as the starting point to perform positioning calibration on the stepping motor;

[0048] S3, the stepping motor uses a step accumulation method to identify the positioning information. When the stepping motor reaches the marked point, the position information of the marked point is compared with the current position information identified by the stepping motor;

[0049] S4. If the comparison result in S3 meets the position determination accuracy requirement, the result is output, and the stepping motor continues to run; the determination accuracy requirement includes: when the stepping motor arrives at the marking point, the difference between the current position information recognized by the stepping motor and the position information of the marking point does not exceed the rated value, and the rated value ranges from 0 to 1. As a preferred embodiment, 0.5 can be selected as the rated value;

[0050] S5. If the comparison result in S3 does not meet the position determination accuracy requirement, the calibration correction process is executed to eliminate the stepping cumulative error until the positioning information of the stepping motor is the same as the position information of the marking point, and then the result is output and the stepping motor continues to run.

[0051] The calibration and correction process comprises the following steps:

[0052] S51, obtaining the position information of the middle position between the current position recognized by the stepping motor and the position of the last marking point, and using the position information as the position information of the determination point;

[0053] S52, taking the middle position between the current marking point and the previous marking point as a calibration point, and obtaining position information of the calibration point;

[0054] S53, comparing the position information of the determination point with the position information of the calibration point;

[0055] S54, if the difference between the position information of the determination point and the calibration point does not meet the determination accuracy requirement, continue to obtain the position information of the middle position between the current determination point and the previous marking point, and use the middle position between the current calibration point and the previous marking point as the new determination point, and use the middle position between the current calibration point and the previous marking point as the new calibration point, return to S53, until the difference between the position information of the determination point and the calibration point meets the accuracy requirement, and execute the next step;

[0056] The above determination accuracy requirement includes: the difference between the position information of the determination point and the calibration point does not exceed a limit value, the limit value ranges from 0 to 1, and preferably, 0.5 can be selected as the limit value;

[0057] S55, taking the current calibration point as a reference, correcting the identification information of the stepping motor, saving the positioning information after the correction, re-stepping and counting, adding the counting result and the saved positioning information value as the final positioning information output display;

[0058] The method for correcting the identification information of the stepping motor is: replacing the position information of the current judgment point with the position information of the current correction point, and using the updated position information of the judgment point to reversely derive the corresponding identification information of the stepping motor, and saving the identification information to complete the correction.

[0059] The second embodiment of the present invention proposes a method for reducing step accumulation error, and based on the first embodiment, as Figure 5 As shown, the positioning system records 10 positions arranged at unequal intervals and divides them into 2 sections. Positions 1-5 are the first section, position 1 is the first marking point, and position 5 is the second marking point; positions 5-10 are the second section, and position 10 is the third marking point. First, taking position 1 as the starting point, the stepping motor is positioned and calibrated. After positioning and calibration, position 1, i.e., the first marking point, can be regarded as the starting point for the stepping motor to identify the position information; the stepping motor identifies the positioning information in a step-by-step accumulation manner. When the stepping motor moves to the second marking point, the positioning information identified by the stepping motor is compared with the position information of the second marking point; assuming that at this time the stepping motor identifies the positioning position as 7 due to the cumulative error of step-by-step accumulation, which is different from the position 5 of the second marking point, then the position information of the middle position between position 7 and the first marking point, i.e., position 1, is obtained, that is, position 4 in the recognition result is used as the judgment point; the middle position between the current marking point-the second marking point and the previous marking point-the first marking point is used as the correction point, that is, position 3 in the actual position is used as the correction point; taking 0.5 as the limit value, it is necessary to determine whether the judgment point is between positions 2.5-3.5 at this time;

[0060] Since the judgment point is out of range at position 4, the position information of the middle position between position 4 and the first mark point in the recognition result is continued to be obtained, that is, position 2.5 is used as the judgment point; the middle position between position 3 in the actual position and the first mark point is used as the correction point, that is, position 2 in the actual position is used as the correction point. The correction point and the judgment point can be compared in the following two ways:

[0061] 1. If 0.5 is used as the limit value, it is necessary to determine whether the determination point is between positions 1.5 and 2.5. At this time, if the difference between the determination point and the calibration point meets the limit value requirement, the position information of the current determination point is replaced with the position information of the current calibration point, that is, the determination point position 2.5 in the recognition result is replaced with the calibration point position 2.

[0062] 2. After finding the calibration point, specify the determination calculation range of the determination point. For example, when position 2 is used as the calibration point, the determination calculation range of the determination point can be specified to be between 1.5 and 2.5. At this time, the determination point is at position 2.5, which meets the determination calculation range requirements. Then, the arithmetic mean of the upper and lower limits of the calculation range is calculated and rounded to update the positioning information of the determination point and save it, that is, the positioning information of the determination point is (1.5+2.5) / 2=2;

[0063] After comparing the two methods mentioned above, the position information of the final judgment point is reversely deduced to obtain the identification information of the corresponding stepping motor. Since it has been judged twice, the identification information of the stepping motor can be reversely positioned at the second marking point (position 5); the identification information is saved to complete the correction, the error is cleared, the step count is restarted, and the counting result is added to the saved positioning information as the final positioning information output display.

[0064] Some embodiments of the present application provide a positioning system that reduces step-accumulation errors.

[0065] The third embodiment of the present invention provides a positioning system for reducing step-accumulation error, and based on any of the above embodiments, as Figures 1 to 5 As shown, it includes a stepping walking motor, the stepping walking motor includes a stepping accumulation module, the stepping accumulation module is connected to the correction module, and the correction module is connected to the positioning module;

[0066] The step accumulation module is used to identify the positioning information of the stepping motor by using a step accumulation method;

[0067] The positioning module is used to obtain the position information on the path and perform segmented processing on the position information;

[0068] The correction module corrects the position information identified by the step-accumulation module according to the position information data of each path segment transmitted by the positioning module.

[0069] The correction module uses the calibration correction process in the above-mentioned embodiment 1 or 2 to correct the position information recognized by the step accumulation module.

[0070] In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0071] Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for reducing step-accumulation error, characterized in that: The following steps are involved: S1. Segment the actual location information recorded by the positioning system; S2, taking the dividing point between each segment of actual position information as a marking point, and defining the marking point to obtain the position information of the marking point; S3, when the stepping motor reaches the marking point, the position information of the marking point is compared with the current position information recognized by the stepping motor; S4. If the comparison result in S3 meets the position determination accuracy requirement, the result is output and the stepping motor continues to run; S5. If the comparison result in S3 does not meet the position determination accuracy requirement, the calibration correction process is executed to eliminate the stepping cumulative error until the positioning information of the stepping motor is the same as the position information of the marking point, and the result is output, and the stepping motor continues to run; The calibration and correction process described in S5 includes the following steps: S51, obtaining the position information of the middle position between the current position recognized by the stepping motor and the position of the last marking point, and using the position information as the position information of the determination point; S52, taking the middle position between the current marking point and the previous marking point as a calibration point, and obtaining position information of the calibration point; S53, comparing the position information of the determination point with the position information of the calibration point; S54, if the difference between the position information of the determination point and the calibration point does not meet the determination accuracy requirement, continue to obtain the position information of the middle position between the current determination point and the previous marking point, and use the middle position between the current calibration point and the previous marking point as the new determination point, and use the middle position between the current calibration point and the previous marking point as the new calibration point, return to S53, until the difference between the position information of the determination point and the calibration point meets the accuracy requirement, and execute the next step; S55. Based on the current calibration point, the identification information of the stepping motor is corrected. After the correction is completed, the positioning information is saved, the step count is restarted, and the counting result is added to the saved positioning information value as the final positioning information output display.

2. A method for reducing step-accumulation error according to claim 1, characterized in that: The method for correcting the identification information of the stepping motor in step S55 is to replace the position information of the current determination point with the position information of the current correction point, and use the updated position information of the determination point to reversely deduce the corresponding identification information of the stepping motor, and save the identification information to complete the correction.

3. A method for reducing step-accumulation error according to claim 1, characterized in that: The determination accuracy requirement in step S54 includes: the difference between the position information of the determination point and the calibration point does not exceed a limit value, and the limit value ranges from 0 to 1.

4. A method for reducing step-accumulation error according to any one of claims 1 to 3, characterized in that: The initial position information recorded by the positioning system is used as the first marking point and the starting point for the stepping motor to identify the position information, that is, the stepping motor is positioned and calibrated with the first marking point as the starting point.

5. A method for reducing step-accumulation error according to any one of claims 1 to 3, characterized in that: The stepping walking motor adopts a step accumulation method to identify the positioning information.

6. A method for reducing step-accumulation error according to any one of claims 1 to 3, characterized in that: The position determination accuracy requirements in steps S4 and S5 include: when the stepping motor reaches the marking point, the difference between the current position information identified by the stepping motor and the position information of the marking point does not exceed a rated value, and the rated value ranges from 0 to 1.

7. A method for reducing step-accumulation error according to any one of claims 1 to 3, characterized in that: The actual position information recorded by the positioning system is arranged at unequal intervals.

8. A positioning system for reducing step-accumulation error, characterized in that: It includes a stepping walking motor, the stepping walking motor includes a stepping accumulation module, the stepping accumulation module is connected to the correction module, and the correction module is connected to the positioning module; The step accumulation module is used to identify the positioning information of the stepping motor by using a step accumulation method; The positioning module is used to obtain the position information on the path and perform segmented processing on the position information; The correction module corrects the position information identified by the step-accumulation module according to the position information data of each path segment transmitted by the positioning module; wherein the correction module uses the calibration correction process described in any one of claims 2-4 to correct the position information identified by the step-accumulation module.

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