CN218525123U - Positioning accuracy measuring device and mobile robot - Google Patents
Positioning accuracy measuring device and mobile robot Download PDFInfo
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- CN218525123U CN218525123U CN202221004615.8U CN202221004615U CN218525123U CN 218525123 U CN218525123 U CN 218525123U CN 202221004615 U CN202221004615 U CN 202221004615U CN 218525123 U CN218525123 U CN 218525123U
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- positioning accuracy
- accuracy measuring
- graphic code
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Abstract
The positioning accuracy measuring device comprises an installation seat and a graphic code sensor, wherein the installation seat is used for being installed on a body of the mobile robot, the graphic code sensor is adjustably installed on the installation seat in position, and the graphic code sensor is used for scanning a graphic code arranged on the ground to obtain the pose of the mobile robot. The positioning precision measuring device is used for measuring the positioning precision of the mobile robot, so that the accuracy and the efficiency of measuring the positioning precision of the mobile robot are improved.
Description
Technical Field
The utility model relates to a positioning test technical field especially relates to positioning accuracy measuring device and mobile robot.
Background
The prior robot generally adopts the steps of manually attaching a fixed marker (such as a toothpick) on the side surface of the robot and attaching a piece of coordinate paper on the ground, and then manually aligning a point of the marker (such as a point where the toothpick is vertically downward and is about to contact with the ground) and printing a point on the coordinate paper after the robot reaches a position to be measured each time. The method needs a tester to be always beside the robot, and the robot performs manual dotting each time when reaching a measuring point, so that the efficiency is extremely low, manual dotting errors are often introduced during manual dotting, dotting positions are not necessarily accurate under the marker, and dotting sizes are also not uniform, so that the problem of inaccurate measurement is caused, and the manual dotting cannot achieve continuous long-time repeated positioning precision test.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of prior art, the utility model provides a positioning accuracy measuring device and robot to positioning accuracy measures inaccurate and the problem that efficiency of software testing is low among the solution prior art.
In a first aspect, the utility model provides a positioning accuracy measuring device for mobile robot's positioning accuracy is measured, positioning accuracy measuring device includes:
a mount for mounting to a body of the mobile robot;
and the position of the graphic code sensor is adjustably installed on the installation seat, and the graphic code sensor is used for scanning a graphic code arranged on the ground to acquire the pose of the mobile robot.
In a second aspect, the present invention provides a mobile robot, including:
a robot body;
at least one positioning accuracy measuring device as described above;
wherein the positioning accuracy measuring device is mounted to the robot body.
The utility model discloses an at the outside additional positioning accuracy measuring device of mobile robot body, the mode that the position appearance of mobile robot was recorded to the adjustable graphic code sensor discernment subaerial graphic code among the positioning accuracy measuring device comes to measure mobile robot's positioning accuracy, has realized measuring robot positioning accuracy under the unmanned participation condition, has avoided the artificial factor interference of beating the point of manual work, can be more accurate measure robot's positioning accuracy.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.
Fig. 1 is a schematic structural diagram of a positioning accuracy measuring apparatus provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a positioning accuracy measuring apparatus provided in an embodiment of the present invention;
fig. 3 is an exploded schematic view of a positioning accuracy measuring device according to an embodiment of the present invention;
fig. 4 is a schematic view of a mounting structure of the sliding rod and the bearing provided by the embodiment of the present invention.
Description of reference numerals:
100. a positioning accuracy measuring device;
101. a mounting seat; 1011. a first housing; 1012. a second housing;
102. a graphic code sensor;
103 a slide bar; 1031. a first slide bar; 1032. a second slide bar;
104. a slide base; 1041. a first slider; 1042. a second slide carriage;
105. a locking member;
106. a level gauge;
107. a magnetic component;
108. a wireless communication module;
109. a power supply assembly; 1091. a battery; 1092. a battery holder;
110. a slide bar seat;
111. a bearing seat;
112. a magnetic component control switch;
113. the positioning precision measuring device controls the switch;
114. switch fixing base.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The schematic diagrams shown in the figures are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should also be understood that the term "and/or" as used in the specification of the present invention refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, an embodiment of the present invention provides a positioning accuracy measuring device 100 for measuring positioning accuracy of a mobile robot, where the positioning accuracy measuring device 100 includes an installation seat 101 and a graphic code sensor 102, the installation seat 101 is used for being installed to a body of the mobile robot, the graphic code sensor 102 is adjustably installed on the installation seat 101, the graphic code sensor 102 is used for scanning a graphic code arranged on the ground to obtain a pose of the mobile robot, and exemplarily, the graphic code may be a two-dimensional code.
The graphic code sensor 102 is mounted on the mounting base 101 in a position-adjustable manner, and the graphic code sensor 102 may be mounted on the mounting base 101 in a position-adjustable manner in one direction, for example, the graphic code sensor 102 is mounted on the mounting base 101 in a forward and backward direction of the mobile robot, or the graphic code sensor 102 is mounted on the mounting base 101 in a left and right direction of the mobile robot. Or may be position-adjustably mounted to the mount 101 in two directions, for example, the graphic code sensor 102 may be adjustably mounted to the mount 101 in forward and backward directions and in left and right directions of the mobile robot. Of course, the mounting base 101 may be adjustably mounted in a plurality of directions, and the specific configuration may be determined according to actual design requirements.
When the positioning precision measuring device is used, the positioning precision measuring device 100 is firstly installed on the mobile robot body, and then the graphic code sensor 102 is adjusted to the position where the graphic code sensor 102 is opposite to the graphic code arranged on the ground. Then, in the measuring process, when the mobile robot moves to a measuring point, the graphic code sensor 102 identifies the graphic code corresponding to the measuring point on the ground to record the pose of the mobile robot relative to the graphic code on the ground, and the positioning accuracy of the mobile robot is measured by recording the pose of the mobile robot relative to the graphic code arranged on the ground for multiple times.
The positioning accuracy of the mobile robot can be measured by recording the pose of the mobile robot relative to the graphic code for multiple times. Of course, the ground is not limited to setting one graphic code, for example, in other embodiments, the ground is provided with a plurality of graphic codes, and the positioning accuracy of the mobile robot is measured by recording the pose of the mobile robot relative to the plurality of graphic codes.
In practical application, a user can control the robot to run to a specified measuring point to record the pose of the mobile robot relative to the ground graphic code at a terminal such as a mobile phone, a computer, a tablet and the like.
The embodiment of the utility model provides a positioning accuracy measuring device 100 measures mobile robot's positioning accuracy through the mode of adding positioning accuracy measuring device 100 in the mobile robot body outside, has realized the measurement to mobile robot positioning accuracy under the unmanned participation circumstances, has avoided the artificial factor interference of dotting, can be more accurate measure the positioning accuracy of robot.
Referring to fig. 1, in some embodiments, the positioning accuracy measuring apparatus 100 further includes a sliding rod 103 and a sliding base 104, the sliding rod 103 is mounted on the mounting base 101, the sliding base 104 is slidably connected to the sliding rod 103, and the graphic code sensor 102 is mounted on the sliding base 104. The graphic code sensor 102 is in sliding connection with the mounting seat 101 through the matching of the sliding seat 104 and the sliding rod 103.
It should be noted that the graphic code sensor 102 is not limited to be slidably connected to the mounting seat 101 through the cooperation of the sliding seat 104 and the sliding rod 103, for example, in some other embodiments, the graphic code sensor 102 may be slidably connected to the mounting seat 101 through the cooperation of a sliding rail and a sliding block.
Referring to fig. 1 to 4, in some embodiments, the mounting base 101 includes a first housing 1011 and a second housing 1012 disposed at one side of the first housing 1011, the slide bar 103 includes a first slide bar 1031 and a second slide bar 1032, the slide carriage 104 includes a first slide carriage 1041 and a second slide carriage 1042, wherein the first slide bar 1031 is connected to the first housing 1011, the first slide carriage 1041 is looped around the first slide bar 1031 and slidably engaged with the first slide bar 1031, the second slide bar 1032 is connected to the second housing 1012, the second slide carriage 1042 is looped around the second slide bar 1032 and slidably engaged with the second slide bar 1032, and the graphic code sensor 102 is connected to the first slide carriage 1041 and the second slide carriage 1042. In this embodiment, two sets of sliding fit mechanisms are arranged to realize the sliding fit between the graphic code sensor 102 and the mounting seat 101, so that the graphic code sensor 102 has high stability in the sliding process. Of course, it is also possible that the positioning accuracy measuring apparatus 100 includes only one slide bar and one slide.
Illustratively, as shown in fig. 1 and 3, the first housing 1011 is disposed horizontally, the second housing 1012 is disposed vertically to the first housing 1011, and the graphic code sensor 102 is disposed in an open space enclosed by the first housing 1011 and the second housing 1012. The graphic code sensor 1021 is fixed on the second slide 1042, and the first slide 1041 is fixedly connected with the second slide 1042.
Referring to fig. 1, in some embodiments, the positioning accuracy measuring apparatus 100 further includes a locking member 105, the locking member 105 is mounted on the sliding base 104, and the locking member 105 is used for locking the sliding base 104 to the sliding rod 103. Specifically, when the position of the graphic code sensor 102 is adjusted, the locking member 105 is released, then the graphic code sensor 102 is slid, and after the graphic code sensor 102 is slid to a target position, the sliding base 104 is locked with the sliding rod 103 by twisting the locking member 105, so that the position of the graphic code sensor 102 relative to the sliding base 104 is kept fixed. With this embodiment, it is possible to prevent the slider 104 from sliding during positioning measurement, resulting in an inaccurate positioning accuracy measurement. Illustratively, the retaining member may be a threaded fastening handle.
Referring to fig. 1 and fig. 2, in some embodiments, the positioning accuracy measuring apparatus 100 further includes a bearing seat 111, the bearing seat 111 is mounted on the sliding seat 104, and the sliding rod 103 is inserted through the bearing seat 111. According to the embodiment, the friction force between the sliding block 104 and the sliding rod 103 is reduced, and the convenience of sliding adjustment of the graphic code sensor 102 is improved. Of course, the sliding seat 104 may not be provided with the bearing seat 111, for example, in other embodiments, the sliding seat 104 is provided with a through hole, and the sliding rod 103 is directly arranged through the through hole of the sliding seat 104.
Referring to fig. 1, in some embodiments, the positioning accuracy measuring device 100 further includes a level 106, the level 106 is mounted on the mounting base 101, and the level 106 is used for indicating the levelness of the positioning accuracy measuring device 100 relative to the horizontal plane. In this embodiment, after the user mounts the positioning accuracy measuring device 100 to the mobile robot body, the user can adjust the positioning accuracy measuring device 100 to a position parallel to the horizontal plane by observing the level gauge, thereby improving the accuracy of the positioning accuracy measurement. Optionally, the level 106 is a bubble level or an electronic level. Illustratively, the level 106 is mounted to the upper surface of the first housing 1011 for easy viewing.
Referring to fig. 1 and fig. 2, in some embodiments, the positioning accuracy measuring apparatus 100 further includes a magnetic attraction component 107, the magnetic attraction component 107 is mounted on the mounting base 101 and is disposed on a side of the mounting base 101 opposite to the graphic code sensor 102, and the positioning accuracy measuring apparatus 100 is attracted to the robot body through the magnetic attraction component 107. With this embodiment, the positioning accuracy measuring apparatus 100 can be quickly attached and detached, and the positioning accuracy measurement efficiency can be improved.
It should be noted that the magnetic component 107 can be a common magnet or an electromagnet, and if the magnetic component 107 is an electromagnet, the positioning accuracy measuring apparatus 100 further includes a magnetic component control switch 112, and the magnetic component control switch 112 controls the electromagnet and the power supply component 109 to be turned on or off.
Illustratively, as shown in fig. 1 and 2, the magnetic component 107 is disposed on a side of the mounting base 101 opposite to the graphic code sensor 102, and specifically, the magnetic component 107 is disposed on a side of the second housing 1012 opposite to the first housing 1011. The magnetic attraction component control switch 112 is disposed on a side of the first housing 1101 away from the second housing 1012.
Referring to fig. 1, in some embodiments, the positioning accuracy measuring apparatus 100 further includes a wireless communication module 108 installed on the mounting base 101, the wireless communication module 108 is disposed on the same side of the mounting base 101 as the graphic code sensor 102, and the wireless communication module 108 is used for communicating with the graphic code sensor 102 and the mobile robot. The wireless communication module 108 and the graphic code sensor 102 are arranged on the same side of the mounting seat 101, so that the open space of the mounting seat 101 can be fully utilized, and the size of the positioning accuracy measuring device 100 is reduced.
It should be noted that, as shown in fig. 1, the wireless communication module 108 and the graphic code sensor 102 may be disposed on the same side of the mounting seat 101, and exemplarily, as shown in fig. 1, the wireless communication module 108 and the graphic code sensor 102 are disposed in an open space enclosed by the first housing 1011 and the second housing 1012. It may be disposed outside the open space enclosed by the first housing 1011 and the second housing 1012 as shown in fig. 1 and may be in contact with the first housing 1011 or the second housing 1012. Illustratively, the wireless communication module 108 is mounted above and in contact with the first housing 1011 as shown in fig. 1 (not shown).
Alternatively, the wireless communication module 109 is any one of a bluetooth, wiFi (wireless communication technology), and modubus (modubus serial communication protocol) module.
Referring to fig. 1, in some embodiments, the positioning accuracy measuring apparatus 100 further includes a power supply assembly 109 installed on the mounting base 101, and the power supply assembly 109 and the graphic code sensor 102 are installed on the same side of the mounting base 101, and the power supply assembly 109 is used for charging the magnetic attraction assembly 107, the graphic code sensor 102 and the wireless communication module 108. The power supply assembly 109 and the graphic code sensor 102 are arranged on the same side of the mounting seat 101, so that the open space of the mounting seat 101 can be fully utilized, and the size of the positioning accuracy measuring device 100 is reduced.
It should be noted that, as shown in fig. 1, the power supply assembly 109 and the graphic code sensor 102 may be disposed on the same side of the mounting seat 101, and exemplarily, as shown in fig. 1, the power supply assembly 109 and the graphic code sensor 102 are disposed in an open space enclosed by the first housing 1011 and the second housing 1012. It may be installed outside the open space enclosed by the first housing 1011 and the second housing 1012 as shown in fig. 1 and in contact with the first housing 1011 or the second housing 1012. Illustratively, the power supply assembly 109 is mounted above and in contact with the first housing 1011 as shown in fig. 1 (not shown).
For example, in some other embodiments, the positioning accuracy measuring apparatus 100 is provided with an electrical connection device, when the positioning accuracy measuring apparatus 100 is mounted on the robot body, the electrical connection device of the positioning accuracy measuring apparatus 100 is connected to the power supply of the robot body, and the positioning accuracy measuring apparatus 100 is powered by the robot body.
Referring to fig. 1 and 3, in some embodiments, the power supply assembly 109 includes a battery 1091 and a battery holder 1092 mounted to the mounting base 101, and the battery 1091 is disposed on the mounting base 109. This embodiment enables the power supply unit 109 to be more stably mounted to the mount 101. Illustratively, the battery 1091 is a rechargeable battery or a regular battery.
Referring to fig. 1, in some embodiments, the positioning accuracy measuring device 100 further includes a positioning accuracy measuring device control switch 113 installed on the mounting base 100, and the positioning accuracy measuring device control switch 113 is used to control the power supply module 109 to be turned on or off.
Referring to fig. 1, in some embodiments, the positioning accuracy measuring apparatus 100 further includes a control switch base 114 mounted on the mounting base 101, and the control switch base 114 is used to fix the magnetic attraction component control switch 112 and/or the positioning accuracy measuring apparatus control switch 113 mentioned in the above embodiments.
It is understood that the magnetic attraction component control switch 112 is a knob switch or a button switch, and similarly, the positioning accuracy measuring device control switch 113 may also be a knob switch or a button switch.
The embodiment of the utility model provides a mobile robot is still provided, including robot body and at least one as aforesaid positioning accuracy measuring device 100. The positioning accuracy measuring apparatus 100 is mounted on a robot body to measure the positioning accuracy of the mobile robot. Specifically, the positioning accuracy measuring device 100 is firstly installed on the mobile robot body, then the graphic code sensor 102 is adjusted to a proper position, the proper position is a position where the graphic code sensor 102 can scan the graphic code arranged on the ground, in the measuring process, when the mobile robot moves to a measuring point, the graphic code sensor 102 can identify the graphic code corresponding to the measuring point on the ground to record the pose of the mobile robot relative to the ground graphic code, and the positioning accuracy of the mobile robot is measured by recording the pose of the mobile robot relative to the graphic code arranged on the ground for multiple times. The method and the device realize the measurement of the positioning precision of the mobile robot under the condition of no manual participation, avoid the interference of human factors caused by manual dotting, and can more accurately measure the positioning precision of the robot.
The above embodiment numbers of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments. The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A positioning accuracy measuring apparatus for positioning accuracy measurement of a mobile robot, characterized by comprising:
a mount for mounting to a body of the mobile robot;
and the position of the graphic code sensor is adjustably installed on the installation seat, and the graphic code sensor is used for scanning a graphic code arranged on the ground to acquire the pose of the mobile robot.
2. The positioning accuracy measuring apparatus according to claim 1, characterized in that the positioning accuracy measuring apparatus further comprises:
the sliding rod is arranged on the mounting seat;
and the sliding seat is in sliding connection with the sliding rod, and the graphic code sensor is arranged on the sliding seat.
3. The positioning accuracy measuring device of claim 2, wherein the mounting base comprises a first housing and a second housing disposed at one side of the first housing, the slide bars comprise a first slide bar and a second slide bar, the slide bases comprise a first slide base and a second slide base, wherein the first slide bar is connected with the first housing, the first slide base is in sliding fit with the first slide bar, the second slide bar is connected with the second housing, the second slide base is in sliding fit with the second slide bar, and the graphic code sensor is connected with the first slide base and the second slide base.
4. The positioning accuracy measuring apparatus according to claim 2, characterized in that the positioning accuracy measuring apparatus further comprises:
the locking piece is installed in the sliding seat, and the locking piece is used for locking the sliding seat in the sliding rod.
5. The positioning accuracy measuring apparatus according to claim 2, characterized in that the positioning accuracy measuring apparatus further comprises:
the bearing frame, the bearing frame install in the slide, the slide bar is worn to locate the bearing frame.
6. The positioning accuracy measuring apparatus according to claim 1, characterized in that the positioning accuracy measuring apparatus further comprises:
the gradienter is arranged on the mounting seat and is used for indicating the levelness of the positioning precision measuring device relative to a horizontal plane.
7. The positioning accuracy measuring apparatus according to claim 1, characterized in that the positioning accuracy measuring apparatus further comprises:
the magnetic suction component is arranged on the mounting seat and arranged on one side of the mounting seat back to the graphic code sensor, and the positioning precision measuring device is adsorbed on the robot body through the magnetic suction component.
8. The positioning accuracy measuring device of claim 7, further comprising a wireless communication module mounted on the mounting base, and the graphic code sensor and the wireless communication module are arranged on the same side of the mounting base.
9. The positioning accuracy measuring device of claim 8, further comprising a power supply assembly mounted on the mounting base, wherein the power supply assembly and the graphic code sensor are disposed on the same side of the mounting base, and the power supply assembly is used for charging the magnetic attraction assembly, the graphic code sensor and the wireless communication module.
10. A mobile robot, comprising:
a robot body;
at least one positioning accuracy measuring device according to any one of claims 1 to 9;
wherein the positioning accuracy measuring device is mounted to the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221004615.8U CN218525123U (en) | 2022-04-27 | 2022-04-27 | Positioning accuracy measuring device and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221004615.8U CN218525123U (en) | 2022-04-27 | 2022-04-27 | Positioning accuracy measuring device and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218525123U true CN218525123U (en) | 2023-02-24 |
Family
ID=85236501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221004615.8U Active CN218525123U (en) | 2022-04-27 | 2022-04-27 | Positioning accuracy measuring device and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218525123U (en) |
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2022
- 2022-04-27 CN CN202221004615.8U patent/CN218525123U/en active Active
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