CN110221609B - Track deviation rectifying method based on two-dimensional code - Google Patents
Track deviation rectifying method based on two-dimensional code Download PDFInfo
- Publication number
- CN110221609B CN110221609B CN201910493552.3A CN201910493552A CN110221609B CN 110221609 B CN110221609 B CN 110221609B CN 201910493552 A CN201910493552 A CN 201910493552A CN 110221609 B CN110221609 B CN 110221609B
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- deviation
- speed
- driving wheel
- rectifying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000013178 mathematical model Methods 0.000 claims abstract description 75
- 230000002159 abnormal effect Effects 0.000 claims abstract description 14
- 238000012937 correction Methods 0.000 abstract description 6
- 238000010276 construction Methods 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a track deviation rectifying method based on two-dimensional codes, wherein the two-dimensional codes are linearly arranged along a Y axis at intervals, and the track deviation rectifying method comprises the following steps: the mobile robot moves to be flush with any two-dimension code on an X axis, the two-dimension code is taken as an initial two-dimension code, coordinate information of the initial two-dimension code is read, the position relation between the mobile robot and the initial two-dimension code is analyzed, whether the position relation is abnormal or not is judged, and if the position relation is abnormal, a corresponding deviation-rectifying mathematical model is obtained from a preset deviation-rectifying mathematical model library according to the position relation; and calculating the deviation correction parameters of the mobile robot according to the deviation correction mathematical model and the position relation, and moving the mobile robot to be flush with the next two-dimensional code on the X axis according to the deviation correction parameters. The invention has simple and flexible deviation rectifying process, low construction cost and low difficulty.
Description
Technical Field
The invention relates to the technical field of navigation control, in particular to a track deviation rectifying method based on a two-dimensional code.
Background
The mobile robot has many navigation modes, and currently, magnetic stripe navigation, magnetic nail and inertial navigation, SLAM visual navigation and the like are used in the market. The magnetic stripe navigation limitation is too large, and the use is not flexible enough; magnetic nail navigation needs to be embedded into the ground, damage is caused to the ground, construction difficulty is high, and maintenance is not easy; SLAM visual navigation is too costly and the technology is not yet mature.
Therefore, how to design a trajectory rectification method with a simple and flexible algorithm is an urgent technical problem to be solved in the industry.
Disclosure of Invention
The invention provides a track deviation rectifying method based on two-dimensional codes, aiming at solving the defects of large limitation, high cost and poor deviation rectifying effect of the existing navigation mode.
The invention adopts the technical scheme that a track deviation rectifying method based on two-dimensional codes is designed, the two-dimensional codes are linearly arranged along a Y axis at intervals, and the track deviation rectifying method comprises the following steps: the mobile robot moves to be flush with any two-dimension code on an X axis, the two-dimension code is taken as an initial two-dimension code, coordinate information of the initial two-dimension code is read, the position relation between the mobile robot and the initial two-dimension code is analyzed, whether the position relation is abnormal or not is judged, and if the position relation is abnormal, a corresponding deviation rectification mathematical model is obtained from a preset deviation rectification mathematical model library according to the position relation; and calculating the deviation correction parameters of the mobile robot according to the deviation correction mathematical model and the position relation, and moving the mobile robot to be flush with the next two-dimensional code on the X axis according to the deviation correction parameters.
Preferably, whether the position relation is abnormal or not is judged, and if the position relation is normal, the mobile robot continues to move to be flush with the next two-dimensional code on the X axis according to the current state.
Preferably, analyzing the positional relationship between the mobile robot and the initial two-dimensional code includes: and calculating the deviation e of the mobile robot and the initial two-dimensional code on the X axis, the heading angle alpha between the advancing direction of the mobile robot and the Y axis by taking the center of the initial two-dimensional code as the origin of a coordinate system, and analyzing the position relation of the mobile robot and the initial two-dimensional code according to the positive and negative of the deviation e and the heading angle alpha.
Preferably, the judging the position relationship between the mobile robot and the initial two-dimensional code by the positive and negative of the deviation e and the heading angle alpha comprises: when e is less than or equal to 0 and alpha is less than 0, the first type is adopted, the mobile robot is deviated to the left, and the course angle is deviated to the left; when e is less than 0 and alpha is 0, the second type is adopted, the mobile robot is deviated to the left, and the course angle is normal; when e <0 and alpha >0 are the third type, the mobile robot deviates to the left and the course angle deviates to the right; when e is 0 and alpha is 0, the fourth is that the mobile robot is normal and the heading angle is normal; when e is greater than 0 and alpha is less than 0, the mobile robot is the fifth type, and the mobile robot is deviated to the right and the course angle is deviated to the left; when e is greater than 0 and alpha is 0, the mobile robot is the sixth type, and the mobile robot is inclined to the right and has a normal course angle; and when the e is more than or equal to 0 and the alpha is more than 0, the moving robot is the seventh type, and the moving robot is deviated to the right and the heading angle is deviated to the right.
Preferably, the judging whether the positional relationship is abnormal includes: when the position relation is any one of the first kind, the second kind, the third kind, the fifth kind, the sixth kind and the seventh kind, the position relation is judged to be abnormal.
Preferably, the determining whether the position relationship is abnormal further includes: when the position relationship is the fourth one, the position relationship is determined to be normal.
Preferably, the deviation-correcting mathematical model library is provided with a first deviation-correcting mathematical model, a second deviation-correcting mathematical model and a third deviation-correcting mathematical model, the position relationship is the third or fifth type corresponding to the first deviation-correcting mathematical model, the position relationship is the first or seventh type corresponding to the third deviation-correcting mathematical model, and the position relationship is the second or sixth type corresponding to the second deviation-correcting mathematical model.
Preferably, the first deviation rectification mathematical model includes:
m is the distance from the initial two-dimension code to the next two-dimension code, L is the center distance of driving wheels at two sides of the mobile robot, and v is the advancing speed of the mobile robot when moving to the initial two-dimension code; when alpha is<When theta is reached, the mobile robot continues to move to be flush with the next two-dimensional code on the X axis according to the current state; when alpha is larger than or equal to theta, the speed of a driving wheel on one side of the mobile robot is pv, the speed of a driving wheel on the other side of the mobile robot is v, and after the mobile robot moves to be level with the next two-dimensional code on the X axis, the speeds of the driving wheels on the two sides are adjusted to be v.
Preferably, the position relation is a third position relation, the first deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and when alpha is larger than or equal to theta, the deviation-rectifying parameters of the mobile robot are that the speed of a left driving wheel is v, and the speed of a right driving wheel is pv.
Preferably, the position relation is a fifth relation, the first deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and when alpha is larger than or equal to theta, the deviation-rectifying parameters of the mobile robot are that the speed of a left driving wheel is pv, and the speed of a right driving wheel is v.
Preferably, the second deviation rectification mathematical model includes:
m is the distance from the initial two-dimension code to the next two-dimension code, L is the center distance of driving wheels at two sides of the mobile robot, and v is the advancing speed of the mobile robot when moving to the initial two-dimension code; after the mobile robot moves for T time with the speed of a driving wheel at one side being v and the speed of a driving wheel at the other side being pv, the mobile robot switches the speeds of two wheels to continue moving, and after the mobile robot moves to be level with the next two-dimensional code on the X axis, the speeds of the driving wheels at the two sides are adjusted to be v.
Preferably, the position relationship is a second deviation-rectifying mathematical model obtained from the deviation-rectifying mathematical model library when the position relationship is a second type, and the deviation-rectifying parameters of the mobile robot are that the mobile robot continues to move with the speed of the left driving wheel being pv and the speed of the right driving wheel being v after the mobile robot moves for T time with the speed of the left driving wheel being pv and the speed of the right driving wheel being v.
Preferably, the position relationship is a sixth type, the second deviation-correcting mathematical model is obtained from the deviation-correcting mathematical model library, and the deviation-correcting parameters of the mobile robot are that the mobile robot continues to move with the speed of the left driving wheel being pv and the speed of the right driving wheel being pv after the mobile robot moves for T time with the speed of the left driving wheel being v and the speed of the right driving wheel being pv.
Preferably, the third deviation rectification mathematical model includes:
P 3 ＝P 2 ，
m is the distance from the initial two-dimension code to the next two-dimension code, L is the center distance of driving wheels at two sides of the mobile robot, and v is the advancing speed of the mobile robot when moving to the initial two-dimension code; the speed of one driving wheel of the mobile robot is v, and the speed of the other driving wheel of the mobile robot is p 1 v motion T 1 After the time, the mobile robot adjusts the speed of the two wheels to be v at one driving wheel and p at the other driving wheel 2 v motion T 2 After that time, the mobile robot again adjusts the speed of the two wheels, with the speed of the driving wheel on one side being p 3 v, the driving wheel on the other side continues to move at the speed v, and after the mobile robot moves to be level with the next two-dimensional code on the X axis, the driving wheels on the two sides are adjusted at the speed v.
Preferably, the position relationship is the first one, the third deviation-correcting mathematical model is obtained from the deviation-correcting mathematical model library, and the deviation-correcting parameters of the mobile robot are that the speed of a right driving wheel is v and the speed of a left driving wheel is p 1 v motion T 1 After the time, the mobile robot adjusts the speed of the two wheels, and the speed of the right driving wheel is v, and the speed of the left driving wheel is p 2 v motion T 2 After that time, the mobile robot again adjusts the speed of the two wheels, with the speed of the right driving wheel as p 3 v, the left driving wheel continues to move at the speed v.
Preferably, the position relation is a seventh type, the third deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and the deviation-rectifying parameter of the mobile robot is that the speed of a right driving wheel of the mobile robot is p 1 v, the speed of the left driving wheel is v motion T 1 After that time, the mobile robot adjusts the speed of the two wheels, with the speed of the right driving wheel as p 2 v, the speed of the left driving wheel is v motion T 2 After the time, the mobile robot adjusts the speed of the two wheels again, and the speed of the right driving wheel is v, and the speed of the left driving wheel is p 3 v continues to move.
Compared with the prior art, the invention is provided with the deviation-rectifying mathematical model library in advance, analyzes the current position relation of the mobile robot according to the two-dimension code information scanned in the moving process of the mobile robot, calls the corresponding deviation-rectifying mathematical model from the deviation-rectifying mathematical model library according to the position relation and calculates the deviation-rectifying parameters, has simple and flexible deviation-rectifying process, can paste or print the two-dimension code on the ground, and has low construction cost and low difficulty.
Drawings
The invention is described in detail below with reference to examples and figures, in which:
FIG. 1 is a schematic flow chart of a trajectory rectification method according to the present invention;
FIG. 2 is a schematic diagram of a first deviation rectification mathematical model in accordance with the present invention;
FIG. 3 is a diagram of a second deskew mathematical model according to the present invention;
FIG. 4 is a diagram of a third deviation rectification mathematical model in the present invention.
Detailed Description
As shown in fig. 1, the track deviation rectifying method provided by the present invention is based on two-dimensional codes, the two-dimensional codes are linearly arranged along the Y axis at intervals, and the track deviation rectifying method includes: the mobile robot moves to be flush with any two-dimension code on an X axis, the two-dimension code is used as an initial two-dimension code, the mobile robot is provided with a left driving wheel and a right driving wheel, the speed of the left driving wheel and the speed of the right driving wheel can be independently controlled, a camera is arranged on the mobile robot, the initial two-dimension code is scanned through the camera, the coordinate information of the initial two-dimension code is read, the position relation between the mobile robot and the initial two-dimension code is analyzed, whether the position relation is abnormal or not is judged, and if the position relation is abnormal, a corresponding deviation-correcting mathematical model is obtained from a preset deviation-correcting mathematical model library according to the position relation; if the position relation is normal, the mobile robot continues to move to be flush with the next two-dimensional code on the X axis according to the current state, when the mobile robot reaches the next two-dimensional code, the two-dimensional code is the initial two-dimensional code, and the scanning analysis action is repeated. The moving of the mobile robot according to the current state is to keep the traveling direction of the mobile robot and the speed of the driving wheels on both sides of the mobile robot.
The following describes details of the trajectory rectification method in detail, and the traveling direction of the mobile robot, the center distance L between the driving wheels on both sides of the mobile robot, and the traveling speed v of the mobile robot are known parameters.
Analyzing the position relationship between the mobile robot and the initial two-dimensional code comprises the following steps: and taking the center of the initial two-dimensional code as the origin of a coordinate system, calculating the deviation e of the mobile robot and the initial two-dimensional code on the X axis according to the coordinate information of the initial two-dimensional code, and analyzing the position relation of the mobile robot and the initial two-dimensional code according to the positive and negative of the deviation e and the heading angle alpha. The position relations are seven, when e is less than or equal to 0 and alpha is less than 0, the first type is adopted, the mobile robot is deviated to the left, and the course angle is deviated to the left; when e is less than 0 and alpha is 0, the second type is adopted, the mobile robot is deviated to the left, and the course angle is normal; when e <0 and alpha >0 are the third type, the mobile robot deviates to the left and the course angle deviates to the right; when e is 0 and alpha is 0, the fourth is that the mobile robot is normal and the heading angle is normal; when e is greater than 0 and alpha is less than 0, the mobile robot is the fifth type, and the mobile robot is deviated to the right and the course angle is deviated to the left; when e is greater than 0 and alpha is 0, the mobile robot is the sixth type, and the mobile robot is inclined to the right and has a normal course angle; and when the e is more than or equal to 0 and the alpha is more than 0, the moving robot is the seventh type, and the moving robot is deviated to the right and the heading angle is deviated to the right.
Judging whether the position relationship is abnormal includes: when the position relation is any one of the first type, the second type, the third type, the fifth type, the sixth type and the seventh type, judging that the position relation is abnormal; when the position relationship is the fourth one, the position relationship is determined to be normal.
The deviation-rectifying mathematical model library is provided with a first deviation-rectifying mathematical model, a second deviation-rectifying mathematical model and a third deviation-rectifying mathematical model, the position relation corresponds to the first deviation-rectifying mathematical model when the third or fifth type is adopted, the position relation corresponds to the third deviation-rectifying mathematical model when the first or seventh type is adopted, and the position relation corresponds to the second deviation-rectifying model when the second or sixth type is adopted.
As shown in fig. 2, the first deviation rectification mathematical model includes:
after the conversion of the above formula is completed,
wherein R is the radius of an arc, theta is the included angle of the arc, P is the rotating speed ratio of the left wheel and the right wheel, m is the distance from the initial two-dimensional code to the next two-dimensional code, L is the center distance of driving wheels at two sides of the mobile robot, and v is the advancing speed of the mobile robot when the mobile robot moves to the initial two-dimensional code;
at this moment, compensation action is not carried out, because the position close to the two-dimensional code can be reached according to the current course angle, the robot is further away from the next two-dimensional code by carrying out compensation treatment, and the mobile robot continues to move to be level with the next two-dimensional code on the X axis according to the current state; when alpha is larger than or equal to theta, the speed of a driving wheel on one side of the mobile robot is pv, the speed of a driving wheel on the other side of the mobile robot is v, and after the mobile robot moves to be level with the next two-dimensional code on the X axis, the speeds of the driving wheels on the two sides are adjusted to be v.
Specifically, the position relation is the third one, the first deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and when alpha is larger than or equal to theta, the deviation-rectifying parameters of the mobile robot are that the speed of a left driving wheel is v and the speed of a right driving wheel is pv. And the position relation is a fifth relation, a first deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and when alpha is larger than or equal to theta, the deviation-rectifying parameters of the mobile robot are that the speed of a left driving wheel is pv and the speed of a right driving wheel is v.
As shown in fig. 3, the second deviation rectification mathematical model includes:
after the conversion of the above formula is completed,
wherein M is the intermediate point of bisecting M and e, R1 is R2, R1 is first section circular arc radius, R2 is second section circular arc radius, theta 1 is first section circular arc contained angle, theta 2 is second section circular arc contained angle, P is the rotational speed ratio of left and right wheels, T is the time of dolly at first section operation, M is the distance of initial two-dimensional code to next two-dimensional code, L is the centre-to-centre spacing of mobile robot both sides drive wheel, v is the speed of marcing when mobile robot moves to initial two-dimensional code.
After the mobile robot moves for T time with the speed of the driving wheel at one side being v and the speed of the driving wheel at the other side being pv, namely the mobile robot moves to the M point, the mobile robot switches the speeds of the two wheels to continue moving, and after the mobile robot moves to be level with the next two-dimensional code on the X axis, the speeds of the driving wheels at the two sides are adjusted to be v.
Specifically, the position relationship is a second deviation-rectifying mathematical model obtained from the deviation-rectifying mathematical model library when the position relationship is a second type, and the deviation-rectifying parameters of the mobile robot are that the mobile robot continues to move with the speed of the left driving wheel being pv and the speed of the right driving wheel being v after the mobile robot moves for T time with the speed of the left driving wheel being pv and the speed of the right driving wheel being v.
And the position relation is a sixth relation, a second deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and after the deviation-rectifying parameters of the mobile robot move for T time with the speed of the left driving wheel as v and the speed of the right driving wheel as pv, the mobile robot continues to move with the speed of the left driving wheel as pv and the speed of the right driving wheel as v.
As shown in fig. 4, the third deviation rectification mathematical model includes:
after the conversion of the above formula is completed,
P 3 ＝P 2 ，
m, N is a trisection point, that is, a perpendicular line passing through M, N and making a two-dimensional code connecting line is defined, and the foot is defined as P, Q, P, Q trisections are defined as a two-dimensional code distance m, and when the position of N is defined, the moving direction of the mobile robot is a positive direction, R1 is a first arc radius, R2 is a second arc radius, R3 is a third arc radius, θ 1 is a first arc included angle, θ 2 is a second arc included angle, θ 3 is a third arc included angle, P1 is a rotation speed ratio of a first left wheel and a second wheel, P2 is a rotation speed ratio of a second left wheel and a second wheel, T1 is a time when the trolley runs in the first section, T2 is a time when the trolley runs in the second section, m is a distance from the initial two-dimensional code to the next two-dimensional code, L is a center distance between driving wheels on two sides of the mobile robot, and v is a moving speed when the mobile robot moves to the initial two-dimensional code.
The speed of one driving wheel of the mobile robot is v, and the speed of the other driving wheel is p 1 v motion T 1 After the time, the mobile robot adjusts the speed of the two wheels to be v at one driving wheel and p at the other driving wheel 2 v motion T 2 After the time, the mobile robot adjusts the speed of the two wheels again, and the speed of one driving wheel is p 3 v, the driving wheel on the other side continues to move at the speed v, and after the mobile robot moves to be level with the next two-dimensional code on the X axis, the driving wheels on the two sides are adjusted at the speed v.
Specifically, the position relationship is that a third deviation-correcting mathematical model is obtained from a deviation-correcting mathematical model library in the first time, and deviation-correcting parameters of the mobile robot are that the speed of a right driving wheel is v and the speed of a left driving wheel is p 1 v motion T 1 After the time, the mobile robot adjusts the speed of the two wheels, and the speed of the right driving wheel is v, and the speed of the left driving wheel is p 2 v motion T 2 After that time, the mobile robot again adjusts the speed of the two wheels, with the speed of the right driving wheel as p 3 v, the left driving wheel continues to move at the speed v.
The position relation is a seventh type, a third deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and the deviation-rectifying parameter of the mobile robot is that the speed of a right driving wheel of the mobile robot is p 1 v, the speed of the left driving wheel is v motion T 1 After that time, the mobile robot adjusts the speed of the two wheels, with the speed of the right driving wheel as p 2 v, the speed of the left driving wheel is v motion T 2 After the time, the mobile robot adjusts the speed of the two wheels again, and the speed of the right driving wheel is v, and the speed of the left driving wheel is p 3 v continues to move.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (1)
1. A track deviation rectifying method is characterized in that two-dimensional codes are linearly arranged along a Y axis at intervals, and the track deviation rectifying method comprises the following steps:
the mobile robot moves to be flush with any two-dimension code on an X axis, the two-dimension code is taken as an initial two-dimension code, coordinate information of the initial two-dimension code is read, the center of the initial two-dimension code is taken as a coordinate system origin, the deviation e of the mobile robot and the initial two-dimension code on the X axis, the heading angle alpha between the advancing direction of the mobile robot and the Y axis are calculated, and the position relation between the mobile robot and the initial two-dimension code is analyzed according to the positive and negative of the deviation e and the heading angle alpha;
the step of judging the position relationship between the mobile robot and the initial two-dimensional code by the positive and negative of the deviation e and the heading angle alpha comprises the following steps: the method comprises the following steps of determining that the position relationship is abnormal when the position relationship is any one of a first type, a second type, a third type, a fifth type and a seventh type when the position relationship is not more than 0 and alpha <0, the second type is when the position relationship is not more than 0 and alpha <0, the fourth type is when the position relationship is not more than 0 and alpha <0, the fifth type is when the position relationship is e >0 and alpha <0, the seventh type is when the position relationship is not less than 0 and alpha >0, and the normal position relationship is determined when the position relationship is the fourth type;
judging whether the position relation is abnormal or not, if so, continuing to move the mobile robot to be flush with the next two-dimensional code on the X axis according to the current state, and if not, acquiring a corresponding deviation-correcting mathematical model from a preset deviation-correcting mathematical model library according to the position relation;
the deviation rectifying mathematical model library is provided with a first deviation rectifying mathematical model, a second deviation rectifying mathematical model and a third deviation rectifying mathematical model;
the first deviation rectification mathematical model comprises:
m is the distance from the initial two-dimension code to the next two-dimension code, L is the center distance of driving wheels at two sides of the mobile robot, and v is the advancing speed of the mobile robot when the mobile robot moves to the initial two-dimension code; when alpha is<When theta is reached, the mobile robot continues to move toThe two-dimensional code is flush with the next two-dimensional code on the X axis;
when alpha is larger than or equal to theta, the deviation correcting parameters of the mobile robot are that the speed of a left driving wheel is v, and the speed of a right driving wheel is pv;
when alpha is larger than or equal to theta, the deviation correcting parameters of the mobile robot are that the speed of a left driving wheel is pv, and the speed of a right driving wheel is v;
the second deviation-rectifying mathematical model comprises:
m is the distance from the initial two-dimension code to the next two-dimension code, L is the center distance of driving wheels at two sides of the mobile robot, and v is the advancing speed of the mobile robot when the mobile robot moves to the initial two-dimension code;
when the position relation is a second type, a second deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and the deviation-rectifying parameters of the mobile robot are that the mobile robot continues to move with the speed of a left driving wheel being pv and the speed of a right driving wheel being v for T time after the mobile robot moves with the speed of the left driving wheel being pv and the speed of the right driving wheel being v;
when the position relation is the sixth type, a second deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and after the deviation-rectifying parameters of the mobile robot move for T time with the speed of a left driving wheel as v and the speed of a right driving wheel as pv, the mobile robot continues to move with the speed of the left driving wheel as pv and the speed of the right driving wheel as v;
the third deviation rectification mathematical model comprises:
P 3 ＝P 2 ，
m is the distance from the initial two-dimensional code to the next two-dimensional code, L is the center distance between driving wheels on two sides of the mobile robot, v is the traveling speed of the mobile robot when the mobile robot moves to the initial two-dimensional code, M, N is the trisection point of the traveling track, a perpendicular line of a two-dimensional code connecting line is made through M, N, and the vertical foot is P, Q, then P, Q trisection is the distance m of the two-dimensional code, and when the position of the N point is located, the traveling direction of the mobile robot is the positive direction, R1 is the first section of arc radius, R2 is the second section of arc radius, R3 is the third section of arc radius, theta 1 is the first section of arc included angle, theta 2 is the second section of arc included angle, P1 is the rotating speed ratio of the first section of left and right wheels, P2 is the rotating speed ratio of the second section of left and right wheels, T1 is the running time of the trolley at the first section, and T2 is the running time of the trolley at the second section;
when the position relation is the first type, a third deviation-rectifying mathematical model is obtained from the deviation-rectifying mathematical model library, and deviation-rectifying parameters of the mobile robot are that the speed of a right driving wheel is v and the speed of a left driving wheel is p 1 v motion T 1 After time, the mobile robot adjusts the speed of two wheels, with the speed of the right driving wheel being v and the speed of the left driving wheel being p 2 v motion T 2 After that time, the mobile robot again adjusts the speed of the two wheels, taking the speed of the right driving wheel as p 3 v, the left driving wheel continues to move at the speed v;
and when the position relation is the seventh type, acquiring a third deviation-rectifying mathematical model from the deviation-rectifying mathematical model library, wherein the deviation-rectifying parameter of the mobile robot is that the speed of a right driving wheel of the mobile robot is p 1 v, the speed of the left driving wheel is v motion T 1 After time, the mobile robot adjusts the speed of the two wheels, with the speed of the right driving wheel as p 2 v, the speed of the left driving wheel is v motion T 2 After the time, the mobile robot adjusts the speed of the two wheels again, and the speed of the right driving wheel is v, and the speed of the left driving wheel is p 3 v continues to move;
and calculating the deviation correcting parameters of the mobile robot according to the deviation correcting mathematical model and the position relation, wherein the mobile robot moves to be parallel and level with the next two-dimension code on the X axis according to the deviation correcting parameters, and the speeds of the driving wheels on two sides are adjusted to be v after the mobile robot moves to be parallel and level with the next two-dimension code on the X axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910493552.3A CN110221609B (en) | 2019-06-06 | 2019-06-06 | Track deviation rectifying method based on two-dimensional code |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910493552.3A CN110221609B (en) | 2019-06-06 | 2019-06-06 | Track deviation rectifying method based on two-dimensional code |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110221609A CN110221609A (en) | 2019-09-10 |
| CN110221609B true CN110221609B (en) | 2022-08-12 |
Family
ID=67816242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910493552.3A Active CN110221609B (en) | 2019-06-06 | 2019-06-06 | Track deviation rectifying method based on two-dimensional code |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110221609B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113848981B (en) * | 2021-10-19 | 2024-01-19 | 中国民航大学 | Unmanned aerial vehicle air anti-collision method |
| CN117824666B (en) * | 2024-03-06 | 2024-05-10 | 成都睿芯行科技有限公司 | Two-dimensional code pair for fusion positioning, two-dimensional code calibration method and fusion positioning method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
| CN103324194A (en) * | 2013-05-21 | 2013-09-25 | 无锡普智联科高新技术有限公司 | Mobile robot positioning system based on two-dimension code navigation band |
| CN104181926A (en) * | 2014-09-17 | 2014-12-03 | 上海畔慧信息技术有限公司 | Navigation control method of robot |
| CN104407615A (en) * | 2014-11-03 | 2015-03-11 | 上海电器科学研究所（集团）有限公司 | AGV robot guide deviation correction method |
| CN105651286A (en) * | 2016-02-26 | 2016-06-08 | 中国科学院宁波材料技术与工程研究所 | Visual navigation method and system of mobile robot as well as warehouse system |
| CN106228847A (en) * | 2016-09-28 | 2016-12-14 | 广州凯耀资产管理有限公司 | A kind of parking lot Vehicular navigation system and air navigation aid |
| CN106444750A (en) * | 2016-09-13 | 2017-02-22 | 哈尔滨工业大学深圳研究生院 | Two-dimensional code positioning-based intelligent warehousing mobile robot system |
| CN106969766A (en) * | 2017-03-21 | 2017-07-21 | 北京品创智能科技有限公司 | A kind of indoor autonomous navigation method based on monocular vision and Quick Response Code road sign |
| CN107031741A (en) * | 2017-04-24 | 2017-08-11 | 北京京东尚科信息技术有限公司 | The bearing calibration of car body pose and device |
| CN107689061A (en) * | 2017-07-11 | 2018-02-13 | 西北工业大学 | Rule schema shape code and localization method for indoor mobile robot positioning |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6803989B2 (en) * | 1997-07-15 | 2004-10-12 | Silverbrook Research Pty Ltd | Image printing apparatus including a microcontroller |
| US9207677B2 (en) * | 2014-01-02 | 2015-12-08 | Automotive Research & Testing Center | Vehicle positioning method and its system |
| US10210212B2 (en) * | 2017-06-15 | 2019-02-19 | Sap Se | Dynamic layout management for robotics warehouse system |
-
2019
- 2019-06-06 CN CN201910493552.3A patent/CN110221609B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103294059A (en) * | 2013-05-21 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Hybrid navigation belt based mobile robot positioning system and method thereof |
| CN103324194A (en) * | 2013-05-21 | 2013-09-25 | 无锡普智联科高新技术有限公司 | Mobile robot positioning system based on two-dimension code navigation band |
| CN104181926A (en) * | 2014-09-17 | 2014-12-03 | 上海畔慧信息技术有限公司 | Navigation control method of robot |
| CN104407615A (en) * | 2014-11-03 | 2015-03-11 | 上海电器科学研究所（集团）有限公司 | AGV robot guide deviation correction method |
| CN105651286A (en) * | 2016-02-26 | 2016-06-08 | 中国科学院宁波材料技术与工程研究所 | Visual navigation method and system of mobile robot as well as warehouse system |
| CN106444750A (en) * | 2016-09-13 | 2017-02-22 | 哈尔滨工业大学深圳研究生院 | Two-dimensional code positioning-based intelligent warehousing mobile robot system |
| CN106228847A (en) * | 2016-09-28 | 2016-12-14 | 广州凯耀资产管理有限公司 | A kind of parking lot Vehicular navigation system and air navigation aid |
| CN106969766A (en) * | 2017-03-21 | 2017-07-21 | 北京品创智能科技有限公司 | A kind of indoor autonomous navigation method based on monocular vision and Quick Response Code road sign |
| CN107031741A (en) * | 2017-04-24 | 2017-08-11 | 北京京东尚科信息技术有限公司 | The bearing calibration of car body pose and device |
| CN107689061A (en) * | 2017-07-11 | 2018-02-13 | 西北工业大学 | Rule schema shape code and localization method for indoor mobile robot positioning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110221609A (en) | 2019-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108673496B (en) | Industrial robot path tracking method based on pure tracking model | |
| CN110221609B (en) | Track deviation rectifying method based on two-dimensional code | |
| CN107463173B (en) | Storage AGV navigation method and device, computer equipment and storage medium | |
| CN107544520B (en) | Control method for automatic driving of four-wheel carrier | |
| CN107065864A (en) | The list of magnetic stripe navigation drives unidirectional automatical pilot transportation vehicle deviation correction control system and method | |
| CN107943020B (en) | Automatic deviation rectifying method for tire crane cart | |
| CN108274467B (en) | Robot straight line control method, chip and robot | |
| CN109388140B (en) | Improved pure tracking control method for ground vehicle path tracking | |
| CN102615390A (en) | Swing arc-based multi-layer and multi-channel weld tracking system and identification method thereof | |
| CN110103998B (en) | Method for controlling AGV steering and translation motion of asymmetric four-steering wheel | |
| CN110989571A (en) | Tracking control method for steering wheel drive type AGV | |
| CN110279352B (en) | Sweeping robot wall-following walking method based on double PSD sensors | |
| CN109019337B (en) | Device and method for correcting walking error and preventing gnawing rail of bridge crane and gantry crane | |
| CN110955262A (en) | Control method and system for path planning and tracking of photovoltaic module cleaning robot | |
| WO2023137939A1 (en) | Method for controlling movement trajectory of mobile device on circular pipe | |
| US11782450B2 (en) | Automatic deviation correction control method for hoisting system | |
| CN207115187U (en) | Automatic indoor map construction system oriented to rectangular corridor environment | |
| CN111085998B (en) | Method for recording motion trail of robot and method for displaying motion trail of robot | |
| CN1546288A (en) | Curved weld seam independent traveling welding robot system | |
| CN115373406B (en) | Obstacle crossing method and system for crawling robot | |
| US20130282237A1 (en) | Inverted pendulum type moving body | |
| CN109557914A (en) | A kind of automatic returning chair path following method based on pure tracing model | |
| CN105486309B (en) | It is a kind of based on color mode and assist in identifying Indoor Robot navigation and localization method | |
| CN111538334B (en) | Path tracking system of AGV dolly | |
| CN107844119A (en) | Visual guidance method and visual guidance car based on space-time conversion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |