CN108227719A - A kind of mobile robot in-placing precision control method, system, medium and equipment - Google Patents
A kind of mobile robot in-placing precision control method, system, medium and equipment Download PDFInfo
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- CN108227719A CN108227719A CN201810096346.4A CN201810096346A CN108227719A CN 108227719 A CN108227719 A CN 108227719A CN 201810096346 A CN201810096346 A CN 201810096346A CN 108227719 A CN108227719 A CN 108227719A
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000004590 computer program Methods 0.000 claims description 11
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 241000270708 Testudinidae Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a kind of mobile robot in-placing precision control method, including：It is advanced on default mobile route using speed ring control mobile robot；When mobile robot marches to predeterminated position, then mobile robot is controlled to be decelerated to pre-set velocity, and speed ring is switched to position ring；Wherein, predeterminated position is according to the preset position in target location；It determines the current location of mobile robot and the distance of target location, obtains target range；According to target range, target location is marched to using position ring control mobile robot.As it can be seen that by the method in the present invention, the in-placing precision of mobile robot can be greatly improved, correspondingly, a kind of mobile robot in-placing precision control system disclosed by the invention, medium and equipment, equally with above-mentioned advantageous effect.
Description
Technical field
The present invention relates to mobile robot control field, more particularly to a kind of mobile robot in-placing precision control method,
System, medium and equipment.
Background technology
Mobile robot has good environment sensing ability, Real-time Decision ability and behaviour control ability, quilt because of it
It is widely applied in various control fields.But in the prior art, mobile robot is controlled by speed ring
Motor is to drive mobile robot to reach target location, in the process, since the speed of service of motor can not drop to zero at once,
But with certain deceleration reduction of speed to zero, so mobile robot will appear and certain run to point tolerance.
For this technical problem, common solution is when mobile robot is run near distance objective position
When, control mobile robot carries out retarded motion, then so that mobile robot is decelerated to zero when reaching target location, but
It is that mobile robot, not only can be by the damping of mobile robot own mechanical and ground flat degree in practical operational process
Etc. factors interference, and mobile robot positioning accuracy under motion state is relatively low, and then mobile robot is caused to occur
Certain in-placing precision error.It is art technology so what kind of method to improve the in-placing precision of mobile robot by
Personnel's urgent problem to be solved.
Invention content
In view of this, the purpose of the present invention is to provide a kind of mobile robot in-placing precision control method, system, media
And equipment, to improve in-placing precision of the mobile robot during traveling.Its concrete scheme is as follows：
A kind of mobile robot in-placing precision control method, including：
It is advanced on default mobile route using speed ring control mobile robot；
When the mobile robot marches to predeterminated position, then the mobile robot is controlled to be decelerated to pre-set velocity,
And the speed ring is switched to position ring；Wherein, the predeterminated position is according to the preset position in target location；
It determines the current location of the mobile robot and the distance of the target location, obtains target range；
According to the target range, the mobile robot is controlled to march to the target location using the position ring.
Preferably, the control mobile robot is decelerated to the process of pre-set velocity, including：
The mobile robot is controlled to be decelerated to the pre-set velocity with constant deceleration.
Preferably, the control mobile robot is decelerated to the process of pre-set velocity, including：
The mobile robot is controlled to be decelerated to the pre-set velocity with non-constant deceleration.
Preferably, the process that the speed ring is switched to position ring, including：
The speed ring is switched to position ring using the driver of the mobile robot.
Preferably, the pre-set velocity is zero.
Preferably, the process of the distance of the current location for determining the mobile robot and target location, including：
The current location of the mobile robot and the target are determined using the laser sensor of the mobile robot
The distance of position.
Preferably, the process of the distance of the current location for calculating the mobile robot and target location, including：
The current location of the mobile robot and the target are determined using the visual sensor of the mobile robot
The distance of position.
Correspondingly, the invention also discloses a kind of mobile robot in-placing precision control system, including：
First control module, for being advanced on default mobile route using speed ring control mobile robot；
State handover module, for when the mobile robot marches to predeterminated position, then controlling the mobile machine
People is decelerated to pre-set velocity, and the speed ring is switched to position ring；Wherein, the predeterminated position is according to target location institute
Preset position；
Apart from determining module, for determining the distance of the current location of the mobile robot and the target location, obtain
To target range；
Second control module, for according to the target range, the target robot row to be controlled using the position ring
Proceed to the target location.
Correspondingly, the invention also discloses a kind of computer readable storage medium, on the computer readable storage medium
Computer program is stored with, realizes that mobile robot is smart in place as previously disclosed when the computer program is executed by processor
The step of spending control method.
Correspondingly, the invention also discloses a kind of mobile robot in-placing precision control device, including：
Memory, for storing computer program；
Processor realizes that mobile robot in-placing precision controls as previously disclosed during for performing the computer program
The step of method.
In the present invention, a kind of mobile robot in-placing precision control method is disclosed, including：It is controlled and moved using speed ring
Mobile robot is advanced on default mobile route；When mobile robot marches to predeterminated position, then mobile robot is controlled to subtract
Speed is switched to position ring to pre-set velocity, and by speed ring；Wherein, predeterminated position is according to the preset position in target location
It puts；It determines the current location of mobile robot and the distance of target location, obtains target range；According to target range, position is utilized
Zhi Huan control targes robot marches to target location.
As it can be seen that in the present invention, mobile robot is that the operation of motor is controlled in a manner of speed ring first, works as moving machine
For device people when marching to predeterminated position on default mobile route, control mobile robot carries out retarded motion, works as mobile robot
When being decelerated to pre-set velocity, speed ring is switched to position ring, at the same time, mobile robot is calculated mobile robot and works as
Front position and the distance namely target range of target location then according to the target range being calculated, are controlled using position ring
Mobile robot marches to target location, it is clear that by mobile robot during traveling with the distance of target location, to control
The in-placing precision of mobile robot can be greatly improved in the travel track of mobile robot processed.Correspondingly, the present invention also public affairs
A kind of mobile robot in-placing precision control system, medium and equipment are opened, equally with above-mentioned advantageous effect.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart of mobile robot in-placing precision control method provided in an embodiment of the present invention；
Fig. 2 is the flow chart of another mobile robot in-placing precision control method provided in an embodiment of the present invention；
Fig. 3 is the flow chart of another mobile robot in-placing precision control method provided in an embodiment of the present invention；
Fig. 4 is a kind of structure chart of mobile robot in-placing precision control system provided in an embodiment of the present invention；
Fig. 5 is a kind of structure chart of mobile robot in-placing precision control device provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the present invention one discloses a kind of mobile robot in-placing precision control method, as shown in Figure 1, this method packet
It includes：
Step S11：It is advanced on default mobile route using speed ring control mobile robot；
At present, the complex control system that the control system of mobile robot is made of mostly multiple sensors, this kind control
System processed is mainly purposefully to complete specific task by every control instruction inside mobile robot, that is,
By the way that various software and hardwares are combined, every control instruction of mobile robot is turned using the processor of mobile robot
It is changed to the motion sequence of mobile robot, and then completes mobile robot to tasks such as the perception, modeling, planning of external environment,
So mobile robot has height self study, self-organizing and adaptive ability mostly.Realize the certainly leading of mobile robot
Boat, and then realize mobile robot to the evading of barrier, itself navigation either tasks such as path planning.
The process that mobile robot is advanced on default mobile route mainly drives the wheel of mobile robot by motor
Son, so as to drive the operation of mobile robot, it should be noted that the process that mobile robot is advanced in default mobile route
In, the operation of mobile robot is controlled usually in a manner of complex controll, such as：Various opened loop controls, closed-loop control and
PID control etc..
Specifically, during advancing on default mobile route because of mobile robot, speed adjusts more important, institute
With, in the present embodiment, first be using speed ring control mobile robot movement, that is, mobile robot be first with
Feedback control link of the speed signal as feedback signal moves machine by the speed control for feeding back obtained mobile robot
The rotating speed of people's motor, and then drive the traveling of mobile robot by controlling the rotating speed of mobile robot motor.
It should be noted that the speed ring of mobile robot includes speed ring control and current loop control, wherein, electric current loop
It is the controlling unit using the current signal of mobile robot as feedback signal, the main function object of feedback components is compiles
Code device and current transformer, main operational principle are each mutually output electricity that mobile robot detects motor by detection device
Stream, feedback is adjusted for mobile robot in the setting value of negative-feedback to electric current, so as to reach mobile robot output current
Value is equal to setting electric current, and the main purpose of electric current loop is to control the motor torque of mobile robot, with by controlling turning for motor
Square, to drive the traveling of mobile robot.
Step S12：When mobile robot marches to predeterminated position, then mobile robot is controlled to be decelerated to pre-set velocity,
And speed ring is switched to position ring；
Wherein, predeterminated position is according to the preset position in target location.
In the present embodiment, it when mobile robot marches to the predeterminated position of default mobile route, needs to moving machine
The motion state of device people is converted, that is, when mobile robot marches to predetermined position, control mobile robot carries out
Retarded motion, and when mobile robot is decelerated to pre-set velocity, by controlling driver by the speed ring of mobile robot
It is switched to position ring so that mobile robot is moved in the subsequent path of default mobile route with the mode activated of position ring
Robot is run.
It should be noted that predeterminated position herein is the target location institute preset according to mobile robot on mobile route
Preset position, predeterminated position herein can be by setting specific mark on the default mobile route of mobile robot
Know object and be used as the identification target of mobile robot, it is clear that specific identifier object can be picture or mark object, also
The signal transmitting and receiving of signal can be received or send in pre-determined distance by being either located in mobile robot and presetting on mobile route
Device that is, when mobile robot is when recognizing the picture either feature of mark object on default mobile route, then can be sentenced
Determine mobile robot and have arrived at predeterminated position；Either when mobile robot can receive the signal of signal transceiver transmission
When, it can also judge that mobile robot has arrived at predeterminated position.Certainly, which can be that distance objective position is nearer
Position or according to actual needs and set position, do not limit specifically herein.
Also, as preferred embodiment, pre-set velocity herein refers to enable to mobile robot in default position
The speed stopped is put, that is, pre-set velocity herein refers to that the speed reduction of mobile robot is zero or is decelerated to close
In zero state, in other words, the pre-set velocity deceleration of mobile robot is zero or is decelerated to " tortoise speed state ", purpose
It is in order to allow mobile robot that can accurately measure the current location of mobile robot and the distance of target location, with convenient
The execution of the technical program subsequent step.
Moreover, when mobile robot is decelerated to pre-set velocity, then the speed ring of mobile robot is switched to position ring,
It is in order to which mobile robot is allowed to control the operation of mobile robot in a manner of position ring in subsequent operational process.It needs
Illustrate, position ring is to control mobile robot motor according to positional distance of the mobile robot on default mobile route
Rotating speed, that is, the position coordinates of mobile robot and the physical location of mobile robot are obtained by calculation in mobile robot
Coordinate is compared, and the gait of march of mobile robot is controlled using the position difference compared, it is clear that compared to movement
The control method of robot operating speed ring, this method can significantly improve the in-placing precision of mobile robot.
Step S13：It determines the current location of mobile robot and the distance of target location, obtains target range.
Step S14：According to target range, target location is marched to using position ring control mobile robot.
It is understood that in order to enable mobile robot marches to target location in a manner of position ring, first really
Determine the current location of mobile robot and the distance of target location, obtain target range, then utilize the target range got
Mobile robot to be controlled to run to target location.
It should be noted that in practical application, mobile robot is to go out present bit using the sensor measurement of itself
The distance with target location is put, sensor herein can be range sensor or visual sensor, also or be it
The sensor of its type, all are not limited specifically herein for the purpose of reaching practical application.
In the present embodiment, when speed ring is switched to the moment of position ring by mobile robot, mobile robot pass through from
The sensor of body defines the distance of mobile robot current location and target location, also, mobile robot is in position ring
Pattern under, control mobile robot march to target location.It is also contemplated that speed ring is switched to position by mobile robot
After putting ring, mobile robot can control turning for mobile robot motor according to the distance of its current location and target location
Then speed drives mobile robot to march to target location by the operating of motor, it is clear that can carry significantly by this method
High mobile robot reaches the in-placing precision of target location.
As it can be seen that in the present embodiment, mobile robot is that the operation of motor is controlled in a manner of speed ring first, works as movement
When marching to predeterminated position on default mobile route, control mobile robot carries out retarded motion for robot, when mobile machine
When people is decelerated to pre-set velocity, speed ring is switched to position ring, at the same time, mobile robot is calculated in mobile robot
Current location and the distance namely target range of target location then according to the target range being calculated, utilize position ring control
Mobile robot processed marches to target location, it is clear that by mobile robot during traveling with the distance of target location, come
The travel track of mobile robot is controlled, the in-placing precision of mobile robot can be greatly improved.
As shown in Fig. 2, on the basis of above-described embodiment, the present embodiment above-described embodiment has been made further instruction with
Optimization.Specifically, the program includes：
Step S21：It is advanced on default mobile route using speed ring control mobile robot.
Step S22：When mobile robot marches to predeterminated position, then mobile robot is controlled to subtract with constant deceleration
Speed is switched to position ring to zero, and by speed ring；
Wherein, predeterminated position is according to the preset position in target location.
Step S23：The current location and target location of mobile robot are determined using the laser sensor of mobile robot
Distance, obtain target range；
Step S24：According to target range, target location is marched to using position ring control mobile robot.
In the present embodiment, it is to control motor using speed ring first, then drives mobile robot pre- using motor
It advances on the default mobile route first set, this process can refer to above-described embodiment disclosure of that, and details are not described herein again.
Specifically, when mobile robot marches to the predeterminated position on default mobile route, control mobile robot into
Row retarded motion, and be that control mobile robot is decelerated to zero with constant deceleration, when the speed of mobile robot is kept to
When zero, then the speed ring of mobile robot will be switched to position ring using driver.Namely, it is assumed that mobile robot it is current
The speed of service is vm/s, and the deceleration of mobile robot is dm/s2, then mobile robot is v × v/ in distance objective position
At the distance of 2dm, start to perform retarded motion, and when the speed of mobile robot is kept to zero, by the speed of mobile robot
Degree ring cutting is changed to position ring, so that mobile robot controls mobile robot to march to target location by position ring.
In practical application, mobile robot can measure the current location of mobile robot by range sensor
With the distance of target location, returned that is, range sensor by emitted energy wave beam to target location, then passes through beams reflected
The time come calculates the distance of mobile robot current location and target location, it is clear that energy beam herein can be electromagnetism
Wave, ultrasonic wave, sound wave either infrared light etc..
Specifically, it is to emit high monochromaticity and high brightness to target location using laser sensor in the present embodiment
Laser measures the distance of mobile robot current location and target location, that is, mobile robot utilizes laser sensor will
Radiating laser beams are gone out, then the two-way time by obtaining laser beam, finally further according to the spread speed of laser beam, thus
To obtain the distance of mobile robot current location and target location namely target range.Then mobile robot passes through measurement
Obtained target range marches to target location, thus by such method come substantially using position ring control mobile robot
The in-placing precision of the raising mobile robot of degree.
As shown in figure 3, on the basis of above-described embodiment, the present embodiment above-described embodiment has been made further instruction with
Optimization.Specifically, the program includes：
Step S31：It is advanced on default mobile route using speed ring control mobile robot.
Step S32：When mobile robot marches to predeterminated position, then mobile robot is controlled with non-constant deceleration
Zero is decelerated to, and speed ring is switched to position ring；
Wherein, predeterminated position is according to the preset position in target location.
Step S33：The current location and target location of mobile robot are determined using the visual sensor of mobile robot
Distance, obtain target range.
Step S34：According to target range, target location is marched to using position ring control targe robot.
In the present embodiment, mobile robot is that mobile robot is controlled in a manner of speed ring on default mobile road first
It advances on diameter, this process can refer to above-described embodiment disclosure of that, and details are not described herein again.Specifically, in the present embodiment,
When mobile robot marches to predeterminated position, control mobile robot carries out retarded motion, and in the process, moving machine
Device people is to be decelerated to zero with non-constant deceleration, that is, mobile robot is stopped before target location is reached, with what
Kind deceleration-based controller mobile robot carries out retarded motion, is not especially limited herein.
Moreover, it is to determine the current of mobile robot using the visual sensor of mobile robot in the present embodiment
Position and the distance of target location.Specifically, mobile robot is to go to shoot mesh on default mobile route using visual sensor
Then the identification information of target location is input to mobile robot by the identification information of cursor position in a manner of image digitazation
Processor in, the processor of mobile robot is got using the iconic model that has prestored with mobile robot later
Identification information matched, then go to calculate mobile robot current location and target location using the image information matched
Distance, later, the distance of the calculated current location of mobile robot and target location, then controlled by position ring
The motor of mobile robot drives mobile robot to march to target location using motor.It it should be noted that herein can be with
According to the practical application scene of mobile robot, the image processing algorithm in processor is updated, is not made herein specific
It limits.
Correspondingly, the invention also discloses a kind of mobile robot in-placing precision control system, as shown in figure 4, the system
Including：
First control module 41, for being advanced on default mobile route using speed ring control mobile robot；
State handover module 42, for when mobile robot marches to predeterminated position, then mobile robot being controlled to slow down
Position ring is switched to pre-set velocity, and by speed ring；Wherein, predeterminated position is according to the preset position in target location
It puts；
Apart from determining module 43, for determining the distance of the current location of mobile robot and target location, target is obtained
Distance；
Second control module 44, for according to target range, target position to be marched to using position ring control mobile robot
It puts.
Preferably, state handover module 42 includes：
First deceleration unit, for mobile robot to be controlled to be decelerated to pre-set velocity with constant deceleration.
Preferably, state handover module 42 includes：
Second deceleration unit, for mobile robot to be controlled to be decelerated to pre-set velocity with non-constant deceleration.
Preferably, state handover module 42 includes：
Status toggle unit, for speed ring to be switched to position ring using the driver of mobile robot.
Preferably, include apart from determining module 43,
First distance determining unit, for determining the present bit of mobile robot using the laser sensor of mobile robot
Put the distance with target location.
Preferably, include apart from determining module 43,
Second distance determination unit, for determining the present bit of mobile robot using the visual sensor of mobile robot
Put the distance with target location.
Correspondingly, the invention also discloses a kind of computer readable storage medium, stored on computer readable storage medium
There is computer program, mobile robot in-placing precision controlling party as previously disclosed is realized when computer program is executed by processor
The step of method.
Correspondingly, the invention also discloses a kind of mobile robot in-placing precision control device, as shown in figure 5, including：
Memory 51, for storing computer program；
Processor 52 realizes mobile robot in-placing precision controlling party as previously disclosed during for performing computer program
The step of method.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only include that
A little elements, but also including other elements that are not explicitly listed or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except also there are other identical elements in the process, method, article or apparatus that includes the element.
Above to a kind of mobile robot in-placing precision control method provided by the present invention, system, medium and equipment into
It has gone and has been discussed in detail, specific case used herein is expounded the principle of the present invention and embodiment, implements above
The explanation of example is merely used to help understand the method and its core concept of the present invention；Meanwhile for the general technology people of this field
Member, thought according to the present invention, there will be changes in specific embodiments and applications, in conclusion this explanation
Book content should not be construed as limiting the invention.
Claims (10)
1. a kind of mobile robot in-placing precision control method, which is characterized in that including：
It is advanced on default mobile route using speed ring control mobile robot；
When the mobile robot marches to predeterminated position, then the mobile robot is controlled to be decelerated to pre-set velocity, and will
The speed ring is switched to position ring；Wherein, the predeterminated position is according to the preset position in target location；
It determines the current location of the mobile robot and the distance of the target location, obtains target range；
According to the target range, the mobile robot is controlled to march to the target location using the position ring.
2. according to the method described in claim 1, it is characterized in that, the control mobile robot is decelerated to pre-set velocity
Process, including：
The mobile robot is controlled to be decelerated to the pre-set velocity with constant deceleration.
3. according to the method described in claim 1, it is characterized in that, the control mobile robot is decelerated to pre-set velocity
Process, including：
The mobile robot is controlled to be decelerated to the pre-set velocity with non-constant deceleration.
4. according to the method described in claim 1, it is characterized in that, the process that the speed ring is switched to position ring,
Including：
The speed ring is switched to position ring using the driver of the mobile robot.
5. according to the method described in claim 1, it is characterized in that, the pre-set velocity is zero.
6. method according to any one of claims 1 to 5, which is characterized in that described to determine working as the mobile robot
The process of the distance of front position and target location, including：
The current location of the mobile robot and the target location are determined using the laser sensor of the mobile robot
Distance.
7. method according to any one of claims 1 to 5, which is characterized in that described to calculate working as the mobile robot
The process of the distance of front position and target location, including：
The current location of the mobile robot and the target location are determined using the visual sensor of the mobile robot
Distance.
8. a kind of mobile robot in-placing precision control system, which is characterized in that including：
First control module, for being advanced on default mobile route using speed ring control mobile robot；
State handover module, for when the mobile robot marches to predeterminated position, then the mobile robot being controlled to subtract
Speed is switched to position ring to pre-set velocity, and by the speed ring；Wherein, the predeterminated position is advance according to target location institute
The position of setting；
Apart from determining module, for determining the distance of the current location of the mobile robot and the target location, mesh is obtained
Subject distance；
Second control module, for according to the target range, the mobile robot being controlled to march to using the position ring
The target location.
9. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program, the computer program realize mobile robot as described in any one of claim 1 to 7 in place when being executed by processor
The step of accuracy control method.
10. a kind of mobile robot in-placing precision control device, which is characterized in that including：
Memory, for storing computer program；
Processor, for performing computer program when, realize that mobile robot as described in any one of claim 1 to 7 arrives
The step of position accuracy control method.
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