CN-121979100-A - Error adjustment method and device for mobile robot and electronic equipment

CN121979100ACN 121979100 ACN121979100 ACN 121979100ACN-121979100-A

Abstract

The present invention relates to the field of robots, and in particular, to a method and an apparatus for adjusting errors of a mobile robot, and an electronic device. The method comprises the steps of establishing a robot coordinate system based on the current pose of a robot, constructing a Goal vector from a coordinate origin to a target point under the robot coordinate system, obtaining a Start vector perpendicular to the Goal vector, determining the rotation direction of the robot pose adjustment according to the Start vector angle, determining a rotation center point in the robot pose adjustment process according to the coordinate origin and the target point, and enabling the robot to reach the target pose through at least one movement stage in the movement process from the coordinate origin to the target point. According to the invention, error coupling compensation is realized through semicircular track movement, multiple acceleration and deceleration and direction switching are avoided, the adjustment speed and precision are improved, meanwhile, the limitation of the driving type of the robot is broken through, and the method is suitable for multiple types of robots.

Inventors

GENG BINBIN
WANG HONGJUN
YANG HAIWEI
LI YAO
LIU JIANHUI
YANG JIAN
Cao pan
ZHOU JIAXING

Assignees

苏州玖物智能科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. An error adjustment method for a mobile robot, comprising: Establishing a robot coordinate system based on the current pose of the robot, and constructing a Goal vector from a coordinate origin to a target point under the robot coordinate system; acquiring a Start vector perpendicular to the Goal vector, and determining the rotation direction of the robot gesture adjustment according to the Start vector angle, wherein the Start vector angle range is (-pi/2, pi/2); determining a rotation center point in the robot pose adjustment process according to the coordinate origin and the target point; and in the motion process from the origin of coordinates to the target point, the robot reaches the target pose through at least one motion stage, wherein the motion stage at least comprises a motion based on a rotation direction and a semicircular arc track based on a rotation center point.
2. The error adjustment method of a mobile robot according to claim 1, wherein the determining a rotational direction of the robot pose adjustment according to the Start vector angle includes: when the Start vector angle is within a (-pi/2, 0) range, the rotation direction of the robot gesture adjustment is clockwise; When the Start vector angle is within the range of (0, pi/2), the rotation direction of the robot gesture adjustment is a counterclockwise direction; when the Start vector angle is 0 degree, the rotation direction of the robot posture adjustment is counterclockwise or clockwise.
3. The method for adjusting the error of the mobile robot according to claim 1, wherein the robot reaches the target pose through at least one motion stage during the motion from the origin to the target point, comprising: determining a boundary pose, wherein the boundary pose is a position pose corresponding to the process of switching speed parameters in the motion process of the robot, and the speed parameters comprise at least one of linear speed and angular speed; determining a motion stage in a motion process based on the boundary pose; Planning speed parameters of different movement phases, wherein in each movement phase, the robot moves according to the planned speed parameters; The robot moves based on the movement phase and the corresponding speed parameter until the target pose is reached.
4. The error adjustment method of a mobile robot according to claim 3, wherein the method for determining a rotation center point in the robot pose adjustment process comprises: and calculating the midpoint coordinate between the origin of coordinates and the target point, wherein the midpoint is the rotation center point.
5. The method of claim 4, wherein the robot moves based on the movement phase and its corresponding speed parameter until the target pose is reached, comprising: The robot performs autorotation motion from the current pose at the origin of coordinates according to the rotation direction until the pose angle of the robot is consistent with the vector angle of the Start, and the robot is at the first boundary pose; based on the rotation direction and the rotation center point, the robot moves in a semicircular track to reach a target point, the current attitude angle of the robot is consistent with the negative vector angle of the Start vector, and the robot is in a second boundary pose; And the robot performs autorotation motion on the target point according to the rotation direction until reaching the target pose.
6. The error adjustment method of a mobile robot according to claim 1, wherein the method for determining a rotation center point in the robot pose adjustment process comprises: determining a rotation radius, wherein the determination method of the rotation radius comprises the steps of calculating the y-axis projection length of a Goal vector, and taking half of the y-axis projection length as the rotation radius; the x coordinate of the rotation center point is the x coordinate of the starting point of the motion of the robot along the semicircular arc track, and the y coordinate of the rotation center point is the y coordinate of the midpoint of the projection of the Goal vector on the y axis.
7. The method of claim 6, wherein the robot moves based on the movement phase and its corresponding speed parameter until the target pose is reached, comprising: Based on the rotation direction and the rotation center point, the robot moves in a semicircular arc track from the origin of coordinates in the current pose, reaches a first transition point, and is in a third boundary pose; The robot reaches the target point along a first straight-line track from the first transition point, wherein the first straight-line track is a line from the first transition point to the target point, and the robot is in a fourth boundary pose; And the robot performs autorotation motion on the target point according to the rotation direction until reaching the target pose.
8. The method of claim 6, wherein the robot moves based on the movement phase and its corresponding speed parameter until the target pose is reached, comprising: The robot reaches a second transition point along a second linear track from the origin of coordinates, wherein the second linear track is a connecting line of the origin of coordinates and the Goal vector x-axis projection end point, and the robot is in a fifth boundary pose; based on the rotation direction and the rotation center point, the robot moves in a semicircular track from the second transition point to reach the target point in the current pose, and the robot is in a sixth boundary pose; And the robot performs autorotation motion on the target point according to the rotation direction until reaching the target pose.
9. An error adjustment device for a mobile robot for performing the method of any one of claims 1-8, comprising: The system comprises a planning module, a control module, a motion phase planning module and a motion phase control module, wherein the planning module is used for planning a motion phase of a robot based on current pose information of the robot and sending speed parameters of the motion phase to the control module; the state sensing module is used for sensing the real-time position and the real-time attitude angle of the robot in the motion process of the robot and sending the two groups of information as the current attitude information of the robot to the planning module; and the control module is used for sending a control command to the control terminal of the robot and controlling the robot to move.
10. An electronic device, characterized in that the electronic device comprises: One or more processors; A memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the error adjustment method of a mobile robot as claimed in any one of claims 1-8.

Description

Error adjustment method and device for mobile robot and electronic equipment Technical Field The present invention relates to the field of robots, and in particular, to a method and an apparatus for adjusting errors of a mobile robot, and an electronic device. Background After the mobile robot is in place near the target point once, transverse errors, longitudinal errors and angle errors often exist, and the errors possibly cause that the overall accuracy does not meet the actual application requirements, so that a targeted error adjustment scheme is needed. However, different types of mobile robots face inherent limitations in error adjustment, namely, a differential robot does not have translation capability and cannot directly process transverse errors, and omni-directional robots such as double steering wheels, four steering wheels and differential steering wheels can cause additional integral offset due to friction force generated by large rotation of the steering wheels, so that not only can the adjustment precision be reduced or new errors be introduced, but also the adjustment speed is slow, and the requirements of high-efficiency and accurate adjustment are difficult to meet. The existing error adjustment scheme in the current industry has obvious defects, and is difficult to achieve both speed and precision. For the differential robot, a three-step adjustment method is generally adopted, namely, the robot rotates to the connecting line direction of the current point and the terminal point in situ, then moves to the terminal point position, and finally rotates to the terminal point angle. The process needs to be subjected to three times of acceleration and deceleration, and the overall adjustment efficiency is low. The four-step tilting in-place method is adopted by the multi-steering-wheel omni-directional robot, namely the steering wheel is firstly rotated to the connecting line direction of the end point, the steering angle is rotated to the in-situ rotation direction after the steering wheel is tilted to the end point, and finally the whole robot is rotated to the target angle. Based on the problems in the prior art, the invention provides an error adjustment method and device for a mobile robot and electronic equipment. Disclosure of Invention The invention aims to provide an error adjustment method and device for a mobile robot and electronic equipment, and aims to solve the problems of low error adjustment speed, low precision and insufficient suitability for different types of robots in the prior art. The technical scheme of the invention is that the error adjustment method of the mobile robot comprises the following steps: Establishing a robot coordinate system based on the current pose of the robot, and constructing a Goal vector from a coordinate origin to a target point under the robot coordinate system; acquiring a Start vector perpendicular to the Goal vector, and determining the rotation direction of the robot gesture adjustment according to the Start vector angle, wherein the Start vector angle range is (-pi/2, pi/2); determining a rotation center point in the robot pose adjustment process according to the coordinate origin and the target point; and in the motion process from the origin of coordinates to the target point, the robot reaches the target pose through at least one motion stage, wherein the motion stage at least comprises a motion based on a rotation direction and a semicircular arc track based on a rotation center point. Preferably, the determining the rotation direction of the robot gesture adjustment according to the Start vector angle includes: when the Start vector angle is within a (-pi/2, 0) range, the rotation direction of the robot gesture adjustment is clockwise; When the Start vector angle is within the range of (0, pi/2), the rotation direction of the robot gesture adjustment is a counterclockwise direction; when the Start vector angle is 0 degree, the rotation direction of the robot posture adjustment is counterclockwise or clockwise. Preferably, in the motion process from the origin to the target point, the robot reaches the target pose through at least one motion stage, including: determining a boundary pose, wherein the boundary pose is a position pose corresponding to the process of switching speed parameters in the motion process of the robot, and the speed parameters comprise at least one of linear speed and angular speed; determining a motion stage in a motion process based on the boundary pose; Planning speed parameters of different movement phases, wherein in each movement phase, the robot moves according to the planned speed parameters; The robot moves based on the movement phase and the corresponding speed parameter until the target pose is reached. Preferably, the method for determining the rotation center point in the robot pose adjustment process includes: and calculating the midpoint coordinate between the origin of coordinates and the target p