A secondary positioning method for an MIR mobile robot comprises the steps that a code reader is installed at the center position of the front end of the MIR mobile robot, and an external industrial personal computer is placed; an internal system of the MIR mobile robot is connected through a Rosbridge; after the MIR vehicle arrives at a target point, setting an internal register of the MIR vehicle to be 1; the code reader starts to scan and analyze the two-dimensional code data to obtain pose deviations x, y and theta; generating a deviation rectifying path and calculating the distance of each section of path; a motion instruction is issued to the MIR mobile robot through multiple control modes; judging whether the error is within an allowable error range after all paths are traversed, and if a certain deviation exists, performing fine adjustment by rotating a certain angle so as to achieve the precision; and after correction is completed, 0 is written into the same register, and the MIR mobile robot obtains the control right again. High-precision butt joint of the MIR mobile robot in a large-area production environment can be achieved, and seamless connection of secondary positioning and tasks of the MIR mobile robot is ensured.
一种用于MIR移动机器人的二次定位方法,包括:在MIR移动机器人前端中心位置安装读码器,并放置一台外部工控机;通过Rosbridge连接MIR移动机器人的内部系统;MIR车辆到达目标点后将其内部寄存器置为1;读码器开始扫描解析二维码数据以获得位姿偏差x,y和θ;生成纠偏路径并计算每段路径的距离;通过多种控制方式向MIR移动机器人下发运动指令;走遍所有路径后判断是否在允许误差范围内,如果还有一定偏差可通过旋转一定角度进行微调以达到精度;完成纠偏后向同一寄存器写入0,MIR移动机器人将重新获得控制权。本发明能够实现MIR移动机器人在大面积生产环境下的高精度对接,确保二次定位与MIR移动机器人自身任务的无缝衔接。
Secondary positioning method for MIR mobile robot
一种用于MIR移动机器人的二次定位方法
2024-03-08
Patent
Electronic Resource
Chinese
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