CN108268044A - 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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- CN108268044A CN108268044A CN201810095633.3A CN201810095633A CN108268044A CN 108268044 A CN108268044 A CN 108268044A CN 201810095633 A CN201810095633 A CN 201810095633A CN 108268044 A CN108268044 A CN 108268044A
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- 238000005259 measurement Methods 0.000 claims description 4
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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
- G05D1/0246—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
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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
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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
- G05D1/0276—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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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；Wherein, mobile robot is the robot using the regular figure positioning on default mobile route；Control mobile robot is decelerated to pre-set velocity, and reach preset rules figure, and the current location of mobile robot and the distance of target location are determined using preset rules figure, obtains target range；Speed ring is switched to position ring, 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 robot control field, more particularly to a kind of mobile robot in-placing precision control method, system,
Medium and equipment.
Background technology
The mobile robot of rule-based figure positioning because its can by identifying the specific identification information in external environment,
It specifically works people to be replaced to complete some, so being widely used in various control fields.But in the prior art
In the middle, mobile robot is all to control motor by speed ring mobile robot to be driven 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 meeting
Occur certain running 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 the in-placing precision of mobile robot.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；Wherein, the mobile robot is profit
The robot positioned with the regular figure on the default mobile route；
Control mobile robot is decelerated to pre-set velocity, and reach preset rules figure, utilizes the preset rules figure
It determines the current location of the mobile robot and the distance of target location, obtains target range；
The speed ring is switched to position ring, according to the target range, the movement is controlled using the position ring
Robot marches to the target location.
Preferably, the preset rules figure is target location described in distance on the default mobile route apart from minimum value
Corresponding regular figure.
Preferably, the process that the speed ring is switched to position ring, including：
The speed ring is switched to the position ring using the driver of the mobile robot.
Preferably, the pre-set velocity is zero.
Preferably, the current location and target location that the mobile robot is determined using the preset rules figure
Distance, obtain the process of target range, including：
According to the identification information on the preset rules figure, the mobile robot is determined using image processing algorithm
The distance of current location and the target location, obtains the target range；Wherein, described image Processing Algorithm is prestores
Algorithm into the mobile robot.
Preferably, after the process advanced on default mobile route using speed ring control mobile robot, also
Including：
When the mobile robot marches to predeterminated position, then the mobile robot is controlled to carry out retarded motion；Its
In, the predeterminated position is according to the preset position of preset rules figure, and the predeterminated position and the mesh
The distance of cursor position is more than the preset rules figure and the distance of the target location.
Preferably, the control mobile robot carries out the process of retarded motion, including：
The mobile robot is controlled to carry out retarded motion with constant/non-constant deceleration.
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；Wherein, institute
It is the robot using the regular figure positioning on the default mobile route to state mobile robot；
Distance-measurement module for mobile robot to be controlled to be decelerated to pre-set velocity, and reaches preset rules figure, utilizes
The preset rules figure determines the current location of the mobile robot and the distance of target location, obtains target range；
Second control module for the speed ring to be switched to position ring, according to the target range, utilizes institute's rheme
Putting ring controls the mobile robot to march 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, including：Mobile machine is controlled using speed ring
People advances on default mobile route；Wherein, mobile robot is the machine using the regular figure positioning on default mobile route
Device people；Control mobile robot is decelerated to pre-set velocity, and reach preset rules figure, determines to move using preset rules figure
The current location of robot and the distance of target location, obtain target range；Speed ring is switched to position ring, according to target away from
From, using position ring control mobile robot march to target location.
As it can be seen that in the present invention, the mobile robot of rule-based figure positioning is to control to move by speed ring first
Robot advances on default mobile route, and mobile robot controls mobile machine during default mobile route is advanced
People is decelerated to pre-set velocity, that is, mobile robot is allowed to realize that precision position is relatively low in place, and mobile robot reaches in advance
If at regular figure, can determine the current location of mobile robot and the distance of target location using preset rules figure,
Obtain target range；After speed ring is switched to position ring by mobile robot, mobile robot can be according to being calculated
Target range marches to target location using position ring control mobile robot, that is, mobile robot is according to from default
On mobile route with the distance of target location, mobile robot to be controlled to march to target location, it is clear that big by such method
The big in-placing precision for improving mobile robot.Correspondingly, the invention also discloses a kind of controls of mobile robot in-placing precision
System, medium and equipment, 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 a kind of structure chart of mobile robot in-placing precision control system provided in an embodiment of the present invention；
Fig. 4 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 invention 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；
Wherein, mobile robot is the robot using the regular figure positioning on default mobile route.
At present, mobile robot is widely used in the fields such as industry, construction industry and military affairs, wherein, it is rule-based
Figure positioning mobile robot be always robot research field a hot spot, especially along with home-services robot,
The application and popularization of storage robot, the application of the mobile robot of rule-based figure positioning are also more and more common.
It is understood that the mobile robot of rule-based figure positioning mainly by identification be pasted onto ground or
It is the regular figure on ceiling, to realize the autonomous positioning of mobile robot, specifically, being with speed ring in the present embodiment
Mode mobile robot is controlled to advance on default mobile route, main operational principle is to drive mobile machine by motor
Then the wheel of people drives the operation of mobile robot by wheel.
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, mobile robot detect each phase output current of motor by detection device, and each phase is exported electricity
Negative-feedback is flowed to the processor of mobile robot, so that feedback is adjusted in mobile robot, that is, the main purpose of electric current loop
It is the motor torque for controlling mobile robot, the output speed of mobile robot wheel is adjusted by controlling the torque of motor,
And speed ring is the controlling unit using the speed signal of mobile robot as feedback signal, then drives movement by wheel
Traveling of the robot on default mobile route, moreover, mobile robot is in the process of running, speed adjusts more important, institute
It is the traveling using speed ring control mobile robot on default mobile route first in the present embodiment.
Step S12：Control mobile robot is decelerated to pre-set velocity, and reach preset rules figure, utilizes preset rules
Figure determines the current location of mobile robot and the distance of target location, obtains target range.
It is also contemplated that mobile robot gradually moves forward on default mobile route, for the ease of movement
The state conversion of robot in the follow-up process, specifically, being the default mobile route in mobile robot in the present embodiment
Upper setting preset rules figure, the purpose is to mobile robot can be caused according to the preset rules figure progress pasted on ground
Then self poisoning is advanced according to the preset rules figure recognized on default mobile route, that is, mobile robot is with pre-
If regular figure is node, control mobile robot is decelerated to pre-set velocity, so that mobile robot is in the preset rules figure
First obtain that a precision position is relatively low in place at shape, then mobile robot can be utilized on the preset rules figure recognized
Image information is matched with the information being stored in mobile robot processor, current so as to which mobile robot be calculated
Position and the distance namely target range of target location.It, can be with it should be noted that preset rules figure can be Quick Response Code
It is Digital ID or other kinds of pattern identification, does not limit specifically herein.
Wherein, mobile robot positions self-position according to the image information recognized, and calculates mobile machine
There are many ways to people current location is with target location, such as：Mobile robot can use active localization method,
That is, mobile robot can be mobile by pre-setting the specific identifier that marker is used as in external environment in target location
Robot obtains the image information on marker during preset path is advanced, by visual sensor, then will obtain
To image information matched with the image information being stored in mobile robot memory, then utilize the image matched
Information goes to calculate the distance of mobile robot current location and target location.It it should be noted that herein can also be according to movement
The practical application scene of robot is updated the image processing algorithm in processor, does not limit specifically herein.
It should be noted that imaging sensor can be the arbitrary image capture device for carrying camera, moreover, as excellent
The embodiment of choosing, pre-set velocity herein is can be so that the speed that mobile robot is stopped in predeterminated position, that is, herein
Pre-set velocity refer to the speed of mobile robot be reduced to zero either close to zero state, in other words, will mobile machine
People pre-set velocity deceleration be zero either be decelerated to " tortoise speed state ", its purpose is to make mobile robot accurate
Measure the current location of mobile robot and the distance of target location, it is clear that it is in order to enable moving to set pre-set velocity in this way
The distance of mobile robot current location and target location can be more accurately calculated in mobile robot.
Step S13：Speed ring is switched to position ring, according to target range, mobile robot row is controlled using position ring
Proceed to target location.
It is understood that when mobile robot is decelerated to pre-set velocity, the speed ring of mobile robot is switched to
Then position ring controls mobile robot to be continued on default mobile route, to ensure moving machine in a manner of position ring
Device people can march to target location with higher in-placing precision.It is understood that position ring is existed according to mobile robot
The distance of the current location and target location on mobile route is preset to control the rotating speed of mobile robot motor, that is, position
Ring is the controlling unit using the position signal of mobile robot as feedback signal, and the purpose is to enable mobile robot root
The position signal control motor obtained according to feedback generates the speed command to match with position signal, to realize to mobile robot
The accurate control of running position, in other words, mobile robot is by the position coordinates and moving machine of the mobile robot being calculated
The actual position coordinate of device people is compared, and controls the traveling speed of mobile robot in real time using the position difference compared
Degree, it is clear that compared to the control method of mobile robot operating speed ring, this method can significantly improve arriving for mobile robot
Position precision.
As it can be seen that in the present embodiment, the mobile robot of rule-based figure positioning is to control to move by speed ring first
Mobile robot is advanced on default mobile route, and mobile robot controls moving machine during default mobile route is advanced
Device people is decelerated to pre-set velocity, that is, mobile robot is allowed to realize that precision position is relatively low in place, and mobile robot reaches
At preset rules figure, can utilize preset rules figure determine mobile robot current location and target location away from
From obtaining target range；After speed ring is switched to position ring by mobile robot, mobile robot can be according to being calculated
Target range, using position ring control mobile robot march to target location, that is, mobile robot according to oneself in pre-
If on mobile route with the distance of target location, mobile robot to be controlled to march to target location, it is clear that pass through such method
Substantially increase the in-placing precision of mobile robot.
On the basis of above-described embodiment, as a preferred embodiment, the present embodiment to a upper embodiment into
Row specific description, specifically, preset rules figure is to preset on mobile route corresponding to distance objective positional distance minimum value
Regular figure.
It is in advance in moving machine in the present embodiment it is understood that in order to improve the in-placing precision of mobile robot
Device people presets setting preset rules figure on mobile route, then so that mobile robot is using the preset rules figure as node,
Then mobile robot can be allowd first to obtain one according to the preset rules Graph Control mobile robot relatively low to arrive
Position precision, speed ring is switched to position ring by mobile robot later, then mobile robot is advanced in a manner of position ring
To target location, so that mobile robot can reach higher in-placing precision when reaching target location.
Specifically, in the present embodiment, in order to improve operational efficiency of the mobile robot on default mobile route, be by
Regular figure on default mobile route corresponding to distance objective positional distance minimum value is set as preset rules figure, Ran Houyi
Mobile robot is with the preset rules figure come the switching that controls mobile robot state, it is to be understood that preset rules figure
It can also be the Else Rule figure on default mobile route, not limit specifically herein.
On the basis of above-described embodiment, as a preferred embodiment, the present embodiment to a upper embodiment into
Row specific description.Specifically, speed ring is switched to the process of position ring, including：
Speed ring is switched to position ring using the driver of mobile robot.
In the present embodiment, when the speed reduction of mobile robot be pre-set velocity when, driver according to receive feed back
Instruction, is switched to position ring, so that mobile robot using the driver of mobile robot by the speed ring of mobile robot
In the follow-up process, the operation of mobile robot can be controlled in a manner of position ring.
On the basis of above-described embodiment, as a preferred embodiment, the present embodiment to a upper embodiment into
Row specific description and optimization, specifically, pre-set velocity is zero.
It is understood that mobile robot is needed when reaching in the range of preset rules figure by mobile robot
Speed slow down, the distance of current location and target location is positioned and is measured to be moved easily robot.Specifically
, in the present embodiment, pre-set velocity can be set as zero, alternatively it is conceivable to, if mobile robot is in movement shape
Under state, its current location is positioned with target location, result must will appear a certain amount of error.So in this reality
It applies in example, is that the pre-set velocity of mobile robot is set as zero, alternatively it is conceivable to, when the speed reduction of mobile robot is
When zero, mobile robot is enabled under static state, be pin-pointed to mobile robot current location and target location
Then distance can cause mobile robot according to the distance for positioning obtained current location and target location, to utilize position ring
Control mobile robot is advanced on default mobile route, so as to improve the in-placing precision of mobile robot.
On the basis of above-described embodiment, as a preferred embodiment, the present embodiment technical solution has been made into
The explanation of one step and optimization, specifically, above-mentioned steps S12：The current location of mobile robot is determined using preset rules figure
With the distance of target location, the process of target range is obtained, including：
According to the identification information on preset rules figure, the current location of mobile robot is determined using image processing algorithm
With the distance of target location, target range is obtained；
Wherein, image processing algorithm is the algorithm prestored into mobile robot.
All contain different image informations it is understood that presetting in each regular figure on mobile route,
That is identification information, so, mobile robot first can when being run according to the regular figure icon on default mobile route
The identification information of regular figure on mobile route is preset using the imaging sensor identification of mobile robot, then mobile robot
According to the identification information recognized come position itself position coordinates in world coordinate system and by with the rail in processor
Mark model is matched, and adjusts the travel track of mobile robot in real time, so that mobile robot is realized in default movement
Independent navigation on path.
Specifically, it is to utilize regular figure pair first when mobile robot is scanned to regular figure in the present embodiment
The position of mobile robot is positioned, that is, mobile robot extracts the figure in regular figure by image segmentation algorithm
As feature, later, mobile robot comes position of the positioning mobile robot in world coordinate system by the characteristics of image extracted
It puts, then the information of the target location by being stored in processor, mobile robot current location and target location is calculated
Distance obtains target range, so that mobile robot can utilize target range, mobile robot is controlled by position ring
Target location is marched to, and then improves the in-placing precision of mobile robot.
It should be noted that due to the difference of mobile robot application scenarios, it is in for example, mobile robot can be applied
In the application scenarios such as front yard service, warehousing management, fire detection, so, can according to the difference of mobile robot application scenarios,
Adaptable adjustment is carried out to the image recognition algorithm stored in processor, all are for the purpose of reaching practical application, herein
It does not limit specifically.
On the basis of above-described embodiment, as a preferred embodiment, the present embodiment technical solution has been made into
The explanation of one step and optimization, as shown in Fig. 2, specifically, above-mentioned steps S11：Using speed ring control mobile robot default
After the process advanced on mobile route, further include：
Step S21：When mobile robot marches to predeterminated position, then mobile robot is controlled to carry out retarded motion；
Wherein, predeterminated position is according to the preset position of preset rules figure, and predeterminated position and target location
Distance be more than the distance of preset rules figure and target location.
It is understood that speed of the mobile robot on default mobile route is real-time change, in order to enable moving
Mobile robot can be decelerated to pre-set velocity at preset rules figure, be pre- on default mobile route in the present embodiment
If a predeterminated position is set, so that mobile robot can recognize the predeterminated position before the position of regular figure
When, retarded motion is carried out, that is, when mobile robot marches to predeterminated position, control mobile robot carries out retarded motion,
So that mobile robot can be when detecting preset rules figure, speed is kept to pre-set velocity, it is clear that side in this way
Formula can improve the in-placing precision of mobile robot.It should be noted that predeterminated position herein can be that mobile robot is pre-
If regular figure or image identification set in addition on mobile route, all for the purpose of reaching practical application, this
Place does not limit specifically.
Specifically, step S21：Mobile robot is controlled to carry out the process of retarded motion, including：
Mobile robot is controlled to carry out retarded motion with constant/non-constant deceleration.
It is understood that the final purpose that control mobile robot carries out retarded motion is to be able to so that moving machine
For device people when reaching preset rules figure, speed reduction is pre-set velocity, so in practical application, mobile robot can be with
It is to be slowed down with constant deceleration or slowed down with non-constant deceleration, as long as when mobile robot row
When proceeding to preset rules figure, speed reduces to pre-set velocity, does not limit specifically herein.
Correspondingly, the invention also discloses a kind of mobile robot in-placing precision control system, as shown in figure 3, the system
Including：
First control module 31, for being advanced on default mobile route using speed ring control mobile robot；Wherein,
Mobile robot is the robot using the regular figure positioning on default mobile route.
Distance-measurement module 32 for mobile robot to be controlled to be decelerated to pre-set velocity, and reaches preset rules figure, profit
The current location of mobile robot and the distance of target location are determined with preset rules figure, obtains target range.
Second control module 33 for speed ring to be switched to position ring, according to target range, is controlled using position ring and moved
Mobile robot marches to target location.
Preferably, the second control module 33 includes：
Status toggle unit, for speed ring to be switched to position ring using the driver of mobile robot.
Preferably, distance-measurement module 32 includes：
Distance measuring unit, for according to the identification information on preset rules figure, determining to move using image processing algorithm
The current location of mobile robot and the distance of target location, obtain target range；Wherein, image processing algorithm for prestore to
Algorithm in mobile robot.
Preferably, which further includes：
Rate conversion module, for when mobile robot marches to predeterminated position, then mobile robot being controlled to be subtracted
Speed movement；Wherein, predeterminated position is according to the preset position of preset rules figure, and predeterminated position and target location
Distance is more than the distance of preset rules figure and target location.
Preferably, state modular converter includes：
Speed conversion unit, for mobile robot to be controlled to carry out retarded motion with constant/non-constant deceleration.
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 4, including：
Memory 41, for storing computer program；
Processor 42 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；Wherein, the mobile robot is utilizes institute
State the robot of the regular figure positioning on default mobile route；
Control mobile robot is decelerated to pre-set velocity, and reach preset rules figure, is determined using the preset rules figure
The current location of the mobile robot and the distance of target location, obtain target range；
The speed ring is switched to position ring, according to the target range, the mobile machine is controlled using the position ring
People marches to the target location.
2. according to the method described in claim 1, it is characterized in that, the preset rules figure is on the default mobile route
Apart from the target location apart from the regular figure corresponding to minimum value.
3. 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 the position ring using the driver of the mobile robot.
4. according to the method described in claim 1, it is characterized in that, the pre-set velocity is zero.
5. according to the method described in claim 1, it is characterized in that, described determine the movement using the preset rules figure
The current location of robot and the distance of target location, obtain the process of target range, including：
According to the identification information on the preset rules figure, the current of the mobile robot is determined using image processing algorithm
The distance of position and the target location, obtains the target range；Wherein, described image Processing Algorithm is prestores to institute
State the algorithm in mobile robot.
6. method according to any one of claims 1 to 5, which is characterized in that described to utilize the mobile machine of speed ring control
After the process that people advances on default mobile route, further include：
When the mobile robot marches to predeterminated position, then the mobile robot is controlled to carry out retarded motion；Wherein, institute
Predeterminated position is stated as according to the preset position of preset rules figure, and the predeterminated position and the target location
Distance be more than the distance of the preset rules figure and the target location.
7. according to the method described in claim 6, it is characterized in that, the control mobile robot carries out retarded motion
Process, including：
The mobile robot is controlled to carry out retarded motion with constant/non-constant deceleration.
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；Wherein, the shifting
Mobile robot is the robot using the regular figure positioning on the default mobile route；
Distance-measurement module for mobile robot to be controlled to be decelerated to pre-set velocity, and reaches preset rules figure, using described
Preset rules figure determines the current location of the mobile robot and the distance of target location, obtains target range；
Second control module for the speed ring to be switched to position ring, according to the target range, utilizes the position ring
The mobile robot is controlled to march to 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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