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Title:
FLOOR POLISHING ROBOT TRAJECTORY DEVIATION CORRECTION METHOD AND APPARATUS HAVING ERROR CORRECTION FUNCTION
Document Type and Number:
WIPO Patent Application WO/2023/093594
Kind Code:
A1
Abstract:
A floor polishing robot trajectory deviation correction method and apparatus having an error correction function, relating to the technical field of robot control. The method comprises: obtaining the pose of a robot in real time by means of an adaptive deterministic Monte Carlo algorithm; calculating a deviation according to the current pose and a trajectory leading point; then, calculating the deviation as a robot movement control instruction; and finally, obtaining a corrected pose by means of a positioning algorithm, and recalculating an error and a control quantity to form closed-loop control. Experimental results show that the floor polishing robot based on the control system can cope with a relatively large trajectory deviation, and can quickly correct the deviation in the case of dealing with an angular deviation within the range of [0, 15] degrees and a transverse deviation within the range of [0, 22] centimeters, thereby ensuring the navigation precision.

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Inventors:
DAI HOUDE (CN)
CHEN HONGYU (CN)
PENG JIANWEI (CN)
YAO HANCHEN (CN)
ZHU LIQI (CN)
Application Number:
PCT/CN2022/132273
Publication Date:
June 01, 2023
Filing Date:
November 16, 2022
Export Citation:
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Assignee:
QUANZHOU INSTITUTE OF EQUIPMENT MFG HAIXI INSTITUTES CHINESE ACADEMY OF SCIENCES (CN)
International Classes:
B25J9/16; B24B7/18; B25J11/00
Foreign References:
CN114043479A2022-02-15
CN113211438A2021-08-06
CN111890350A2020-11-06
CN112356844A2021-02-12
RU2016114246A2017-10-13
Other References:
CHEN HONGYU, PENG YANQING, DAI HOUDE, LIN MINGQIANG: "Research and Implementation of Trajectory Correction Algorithm for Floor Grinding Robot", MACHINE DESIGN & RESEARCH, vol. 38, no. 1, 20 February 2022 (2022-02-20), XP093068994, ISSN: 1006-2343, DOI: 10.13952/j.cnki.jofmdr.2022.0075
Attorney, Agent or Firm:
QUANZHOU JINXIANG PATENT OFFICE (GENERAL PARTNERSHIP) (CN)
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