CN-121979204-A - Multi-dimensional error synchronous adjustment method and device for mobile robot and electronic equipment

CN121979204ACN 121979204 ACN121979204 ACN 121979204ACN-121979204-A

Abstract

The invention relates to the technical field of robots, in particular to a method and a device for synchronously adjusting multidimensional errors of a mobile robot and electronic equipment. The method comprises the steps of determining an angle deviation value between a target pose and a current pose under a map coordinate system, constructing a Goal vector from a coordinate origin to a target point under a robot coordinate system, respectively determining a rotation radius and a linear velocity direction in a robot pose adjustment process based on the modulo length and the angle of the Goal vector, constructing a first vector S1 and a second vector S2 which are perpendicular to the Goal vector, comparing the first vector S1 and the second vector S2 with the angle deviation value and determining the rotation direction of the robot angular velocity, and executing semicircular arc motion at least once in the robot pose adjustment process until the target pose is reached. Error coupling compensation is achieved through planning a rotation direction corresponding to the minimum rotation angle and through semicircular arc movement, multiple acceleration and deceleration and direction switching are avoided, adjustment speed and accuracy are improved, meanwhile, limitation of driving types of robots is broken through, and multiple robots are adapted.

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. A multi-dimensional error synchronous adjustment method of a mobile robot is characterized by comprising the following steps: Determining the current pose and the target pose of the robot under a map coordinate system, and acquiring an angle deviation value between the target pose and the current pose; Establishing a robot coordinate system based on the current pose of the robot, and constructing a Goal vector from an origin of coordinates to a target point under the robot coordinate system, wherein the target point is the position corresponding to the robot under the target pose state; Respectively determining a rotation radius and a linear speed direction in the process of adjusting the pose of the robot based on the modular length and the angle of the Goal vector; Constructing a first vector S1 and a second vector S2 perpendicular to the Goal vector, and determining the rotation direction of the angular speed of the robot according to the angle deviation value, the first vector S1 and the second vector S2, wherein the angle of the first vector S1 is smaller than or equal to 0 degrees, and the angle of the second vector S2 is larger than 0 degrees; and the robot executes semicircular arc movement at least once in the pose adjustment process until reaching the target pose, wherein the movement track of the semicircular arc movement is determined by the rotation radius, the linear speed direction and the rotation direction.
2. The method for synchronously adjusting multi-dimensional errors of a mobile robot according to claim 1, wherein the determining the rotation direction of the angular velocity of the robot comprises: Defining the angle of the first vector S1 as a first angle, and the angle of the second vector S2 as a second angle; determining the angular relation between the angle deviation value and 0 degree, the first angle and the second angle; determining that the rotation direction is clockwise or counterclockwise based on the angular relationship; When the angle deviation value is smaller than the first angle or larger than or equal to 0 degrees and smaller than or equal to the second angle, the rotation direction of the robot is determined to be clockwise; And when the angle deviation value is larger than or equal to the first angle and smaller than 0 DEG, or when the angle deviation value is larger than the second angle, determining that the rotation direction of the robot is a counterclockwise direction.
3. The method for synchronously adjusting multidimensional errors of mobile robots according to claim 2, wherein a rotation radius in the process of adjusting the pose of the robot is determined based on a modular length of a gol vector, wherein half of the modular length is defined as the rotation radius.
4. The method for synchronously adjusting multidimensional errors of a mobile robot according to claim 2, wherein determining a linear velocity direction in a robot pose adjustment process based on an angle of a gol vector comprises: When the absolute value of the Goal vector angle is smaller than or equal to 90 degrees, the linear speed is negative, and the linear speed direction is the backward direction of the robot; When the absolute value of the Goal vector angle is larger than 90 degrees, the linear speed is positive, and the direction of the linear speed is the advancing direction of the robot.
5. The method for synchronously adjusting multidimensional errors of a mobile robot according to claim 4, wherein the robot performs a semicircular arc movement at least once in the pose adjustment process until reaching the target pose, comprising: Determining a boundary pose, wherein the boundary pose comprises a first pose corresponding to the first pose before executing the semicircular arc movement and a second pose corresponding to the second pose after executing the semicircular arc movement, and the orientations of the robot in the first pose and the second pose are opposite; comparing the angle deviation between the first pose and the current pose, comparing the angle deviation between the second pose and the target pose, and determining that the robot still needs to execute autorotation motion in the pose adjustment process when the angle deviation exists; and planning the angular speed of the robot in the autorotation motion, and the angular speed and the linear speed from the first pose to the second pose.
6. The method for synchronously adjusting multi-dimensional errors of a mobile robot according to claim 5, wherein the determining the boundary pose comprises: According to the rotation direction, carrying out autorotation movement by using a coordinate origin of the current pose under a robot coordinate system until the pose angle of the robot is the same as the first angle or the second angle, and defining that the robot reaches the first pose, wherein the rotation angle range of the autorotation movement is [0 degrees, 180 degrees ], and the pose angle of the robot is an angle between the orientation of the robot and the positive direction of the x-axis; and defining that the robot reaches a second pose when the robot enters semicircular arc motion from the first pose and reaches a target point according to the rotation direction, the rotation radius and the linear speed direction.
7. The method for synchronously adjusting multi-dimensional errors of a mobile robot according to claim 6, wherein planning the angular velocity of the robot in the presence of rotational motion, and the angular velocity and the linear velocity from the first pose to the second pose comprises: Defining the angle deviation between the first pose and the current pose as beta 1, and defining the angle deviation between the second pose and the target pose as beta 2; when β1=0 and β2++0, the first pose is the same as the current pose, and the angular velocity and the linear velocity from the current pose to the second pose and the angular velocity from the second pose to the target pose are sequentially planned; when β1 is not equal to 0 and β2=0, the second pose is the same as the target pose, and the angular velocity from the current pose to the first pose, the angular velocity from the first pose to the second pose and the linear velocity are sequentially planned; when β1 is not equal to 0 and β2 is not equal to 0, sequentially planning the angular velocity from the current pose to the first pose, the angular velocity and the linear velocity from the first pose to the second pose and the angular velocity from the second pose to the target pose; When β1=0 and β2=0, the first pose is the same as the current pose, the second pose is the same as the target pose, and the angular velocity and the linear velocity from the current pose to the target pose are directly planned.
8. The method for synchronously adjusting the multidimensional error of the mobile robot according to claim 6, wherein the rotating motion is performed with the origin of coordinates of the current pose in the coordinate system of the robot until the pose angle of the robot is the same as the first angle or the second angle, comprises: When the robot rotates clockwise, the attitude angle of the robot in the first pose is the same as the first angle; When the robot rotates anticlockwise, the attitude angle of the robot in the first pose is the same as the second angle.
9. A mobile robot multidimensional error synchronization adjustment device for performing the method of any one of claims 1-8, comprising: 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 to the motion planning module as the real-time pose of the robot; the motion planning module is used for planning a motion stage and corresponding speed parameters of the robot based on the current pose and the target pose of the robot, and adjusting the speed parameters of the robot according to the real-time pose in the process of adjusting the pose of the robot and sending the speed parameters to the control module; And the terminal control module is used for receiving the speed parameter, converting the speed parameter into a control command, and sending the control command to the control terminal of the robot to control 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; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the mobile robot multi-dimensional error synchronization adjustment method of any of claims 1-8.

Description

Multi-dimensional error synchronous 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 synchronously adjusting multidimensional errors of a mobile robot, and an electronic device. Background In the process of controlling the mobile robot to move to the target position, certain angle errors and position errors are difficult to avoid, in order to overcome the errors, the current mobile robot error adjustment scheme is difficult to widely adapt according to the type of the mobile robot, multiple acceleration and deceleration exist in the process, so that the errors are accumulated and lower in precision, meanwhile, the mobile robot is often required to rotate at unnecessary and large angles in the angle adjustment process due to unreasonable planned rotation angles, and the error adjustment time is prolonged. Based on the problems in the prior art, the invention provides a method and a device for synchronously adjusting multidimensional errors of a mobile robot and electronic equipment. Disclosure of Invention The invention aims to provide a method and a device for synchronously adjusting multidimensional errors of a mobile robot and electronic equipment, which are used for solving the problems of low adjustment speed, low precision and suitability in the adjustment process of the mobile robot in the prior art. The technical scheme of the invention is that the multi-dimensional error synchronous adjustment method of the mobile robot comprises the following steps: Determining the current pose and the target pose of the robot under a map coordinate system, and acquiring an angle deviation value between the target pose and the current pose; Establishing a robot coordinate system based on the current pose of the robot, and constructing a Goal vector from an origin of coordinates to a target point under the robot coordinate system, wherein the target point is the position corresponding to the robot under the target pose state; Respectively determining a rotation radius and a linear speed direction in the process of adjusting the pose of the robot based on the modular length and the angle of the Goal vector; Constructing a first vector S1 and a second vector S2 perpendicular to the Goal vector, and determining the rotation direction of the angular speed of the robot according to the angle deviation value, the first vector S1 and the second vector S2, wherein the angle of the first vector S1 is smaller than or equal to 0 degrees, and the angle of the second vector S2 is larger than 0 degrees; and the robot executes semicircular arc movement at least once in the pose adjustment process until reaching the target pose, wherein the movement track of the semicircular arc movement is determined by the rotation radius, the linear speed direction and the rotation direction. Preferably, the determining the rotation direction of the angular velocity of the robot includes: Defining the angle of the first vector S1 as a first angle, and the angle of the second vector S2 as a second angle; determining the angular relation between the angle deviation value and 0 degree, the first angle and the second angle; determining that the rotation direction is clockwise or counterclockwise based on the angular relationship; When the angle deviation value is smaller than the first angle or larger than or equal to 0 degrees and smaller than or equal to the second angle, the rotation direction of the robot is determined to be clockwise; And when the angle deviation value is larger than or equal to the first angle and smaller than 0 DEG, or when the angle deviation value is larger than the second angle, determining that the rotation direction of the robot is a counterclockwise direction. Preferably, a radius of rotation during pose adjustment of the robot is determined based on a modular length of the gol vector, wherein half of the modular length is defined as the radius of rotation. Preferably, determining the linear velocity direction in the robot pose adjustment process based on the angle of the gold vector includes: When the absolute value of the Goal vector angle is smaller than or equal to 90 degrees, the linear speed is negative, and the linear speed direction is the backward direction of the robot; When the absolute value of the Goal vector angle is larger than 90 degrees, the linear speed is positive, and the direction of the linear speed is the advancing direction of the robot. Preferably, the robot performs a semicircular arc movement at least once during pose adjustment until reaching the target pose, including: Determining a boundary pose, wherein the boundary pose comprises a first pose corresponding to the first pose before executing the semicircular arc movement and a second pose corresponding to the second pose after executing the semicircular arc movement, and the orientations of the rob