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Initial alignment method of robot based on inertia and two-dimensional code navigation

An initial alignment and two-dimensional code technology, applied in the field of navigation alignment, can solve the problems of complex control algorithm and long alignment time, and achieve the effects of low algorithm complexity, reduced alignment time, and reduced manual intervention.

Active Publication Date: 2019-04-05
CHUTIAN INTELLGENT ROBOT CHANGSHA CO LTD
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Problems solved by technology

[0005] Based on the defects of the existing technology, in order to solve the problems of long alignment time and complicated control algorithm in the initial value alignment of the robot inertial navigation system in the indoor plane, the present invention proposes a robot initial alignment based on inertial and two-dimensional code navigation. Alignment method, which is suitable for fast initial alignment work of AGV trolleys on new entry paths or failure recovery

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  • Initial alignment method of robot based on inertia and two-dimensional code navigation
  • Initial alignment method of robot based on inertia and two-dimensional code navigation
  • Initial alignment method of robot based on inertia and two-dimensional code navigation

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[0068] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0069] The embodiment of the present invention provides a robot initial alignment method based on inertial and two-dimensional code navigation. The robot using the initial alignment method can be a composite AGV (commonly used in logistics and warehousing), which can pass such as figure 1 The flow diagram of the initial alignment method shown in t...

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Abstract

The invention relates to an initial alignment method of a robot based on inertia and two-dimensional code navigation. According to the initial alignment method of the robot based on the inertia and the two-dimensional code navigation, through methods of coarse alignment, fine alignment and translational position alignment, the problems of long alignment time and complex control algorithm existingin the initial value alignment of a robot inertial navigation system in an indoor plane are solved, the Kalman fusion is carried out by combining an inertial sensor with an angle of a car body and a two-dimensional code, the alignment time can be shortened, and the computational complexity is low.

Description

technical field [0001] The invention relates to the field of navigation alignment, in particular to a robot initial alignment method based on inertial and two-dimensional code navigation. Background technique [0002] In the manufacturing production line, robots can efficiently, accurately and flexibly complete the task of material handling, which greatly improves the flexibility of production and the competitiveness of enterprises. The inertial navigation handling robot has high accuracy, strong flexibility, easy combination and compatibility, does not rely on external information, and its work is not affected by meteorological conditions and human interference. It has a wide range of applications, but with long-term operation, the inertial sensor has serious drift. . Therefore, this patent adopts the combined navigation mode of inertial-two-dimensional code navigation. In the inertial-two-dimension code integrated navigation system, initial alignment refers to providing ...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1692
Inventor 王强陈宇龙小军黄科科崔冠冠周正
Owner CHUTIAN INTELLGENT ROBOT CHANGSHA CO LTD
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