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Mobile robot system based on artificial road sign and docking method thereof and storage medium

A technology of mobile robots and road signs, which is applied in the direction of control/regulation systems, instruments, motor vehicles, etc., can solve the problem of the small range of accurate docking of robots, and achieve a large working range, simple and convenient system installation and setting, and a small degree of transformation Effect

Inactive Publication Date: 2018-08-10
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

Some systems install auxiliary devices such as infrared sensors at the docking points, but limited by the power of the sensors, the range in which the robot can accurately dock is very small

Method used

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  • Mobile robot system based on artificial road sign and docking method thereof and storage medium
  • Mobile robot system based on artificial road sign and docking method thereof and storage medium
  • Mobile robot system based on artificial road sign and docking method thereof and storage medium

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Experimental program
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Embodiment approach

[0053] According to the work tasks of the mobile robot, the mobile robot needs to stop at a certain point directly in front of the artificial landmark 2, with a posture facing the artificial landmark 2, such as figure 2 shown. During the docking process of the mobile robot, the sensors on the mobile robot are used to collect the surrounding environment data. The landmark recognition module 101 recognizes the artificial landmarks 2 placed near the docking point. The positioning module 102 takes the recognition result as input and calculates the relative The real-time pose of the artificial landmark 2, and then obtain the deviation from the docking target pose obtained through teaching. The navigation control module 103 takes the pose deviation as input, and calculates the navigation control command to control the structure body 110 to move to the desired docking position. target point and stop in the desired direction.

[0054] Before using the mobile robot system based on ar...

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Abstract

The invention provides a mobile robot system based on an artificial road sign. The mobile robot system comprises the artificial road sign and the mobile robot. The mobile robot comprises a structuralbody, a sensor and a controller. The sensor and the controller are installed on the structural body. The controller comprises the following modules: a road sign identification module which acquires the surrounding environment data from the sensor and identifies the artificial road sign; a positioning module which calculates and acquires the real-time pose of the structural body relative to the artificial road sign and calculates the deviation data between the real-time pose and the target pose; and a navigation control module which generates a navigation control instruction according to the deviation data. The invention also correspondingly provides a docking method, a mobile robot positioning system based on the artificial road sign and a computer readable storage medium. The robot is enabled to be docked at different positions and orientations in the area where the road sign can be observed, the degree of environmental reconstruction is low and the position of the road sign does notneed to be accurately calibrated.

Description

technical field [0001] The present invention relates to the technical field of positioning and navigation of mobile robots, in particular to a mobile robot system based on artificial landmarks, a docking method and a storage medium. Background technique [0002] With the development of intelligent manufacturing, mobile robots, as an important part of intelligent warehousing and flexible manufacturing, have been highly valued and widely used in recent years. In application scenarios such as forklifting and handling of goods, logistics picking and grabbing, and automatic charging, mobile robots need to complete docking frequently. The accuracy of docking is crucial to the completion of tasks of mobile robots, and it also limits the application of mobile robots in industrial scenarios. one of the main factors. [0003] Docking of a mobile robot refers to reaching and stopping actions at a certain position relative to another object, and precise positioning and navigation contr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0234
Inventor 王景川方宇凡陈卫东
Owner SHANGHAI JIAO TONG UNIV
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