CN109269529B - Navigation positioning precision detection method for intelligent engineering robot - Google Patents
Navigation positioning precision detection method for intelligent engineering robot Download PDFInfo
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- CN109269529B CN109269529B CN201811448200.8A CN201811448200A CN109269529B CN 109269529 B CN109269529 B CN 109269529B CN 201811448200 A CN201811448200 A CN 201811448200A CN 109269529 B CN109269529 B CN 109269529B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The intelligent engineering robot navigation positioning precision detecting method includes installing data transmission receiving end and RTK measuring antenna reference station inside detecting room and connecting the data transmission receiving end and the RTK measuring antenna reference station to computer via data transmission unit; a data transmission transmitting end and an RTK measuring antenna mobile station are arranged on an intelligent engineering robot body, the RTK measuring antenna mobile station obtains data of an RTK measuring antenna reference station through a data transmission unit, the RTK measuring antenna mobile station and an attitude sensor are respectively connected with the data transmission transmitting end through the data transmission unit, and the data transmission transmitting end and a data transmission receiving end are in wireless communication to transfer the data; the data transmission receiving end is connected with the computer through the data transmission unit; the invention can detect the navigation positioning precision of the intelligent engineering robot, and is beneficial to improving the working efficiency and the working quality of the intelligent engineering robot.
Description
Technical Field
The invention relates to an intelligent robot detection method, in particular to an intelligent engineering robot navigation positioning precision detection method, and belongs to the technical field of intelligent robot detection.
Background
Intelligent robots, a technology that contains considerable disciplinary knowledge, have been almost accompanied by artificial intelligence. While intelligent robots are becoming more and more important in today's society, more and more fields and posts require the participation of intelligent robots, which makes the research of intelligent robots more and more frequent. Although we still have difficulty in seeing the shadow of an intelligent robot in life. But in the near future, intelligent robotics continue to develop and mature. Along with the continuous efforts of numerous scientific researchers, the intelligent robot must go into thousands of households.
Various performance tests are carried out on the intelligent engineering robot during development, maintenance and improvement of software and hardware performance, and navigation positioning is an important item. In the navigation positioning testing process, the intelligent engineering robot needs to operate within a testing range according to a control instruction, and the testing system automatically tests the navigation positioning precision of the intelligent engineering robot so as to evaluate the navigation positioning precision of the intelligent engineering robot.
At present, the navigation and positioning technology of the intelligent engineering robot is many, but a method for detecting the navigation and positioning precision of the intelligent engineering robot does not exist, and people cannot acquire whether the navigation and positioning of the intelligent engineering robot is accurate or not through some means.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides the method for detecting the navigation positioning precision of the intelligent engineering robot, which can detect the navigation positioning precision of the intelligent engineering robot and is beneficial to improving the working efficiency and the working quality of the intelligent engineering robot.
In order to achieve the above purpose, the invention provides a method for detecting navigation positioning accuracy of an intelligent engineering robot, which comprises the following steps:
the method comprises the following steps:
step one: driving the intelligent engineering robot into a detection area, starting a computer, and working an RTK measurement antenna reference station and a wireless data transmission receiving end which are arranged on a roof of a detection room, wherein an RTK measurement antenna mobile station, an attitude sensor and a wireless data transmission transmitting end which are arranged on the intelligent engineering robot work;
step two: carrying out data zero clearing calibration on the RTK measuring antenna mobile station and the attitude sensor;
step three: issuing a control instruction to the intelligent engineering robot through computer software, and generating three-dimensional space position coordinate data and attitude data of the intelligent engineering robot according to the control instruction;
step four: starting an intelligent engineering robot to operate, and transmitting an observation value and three-dimensional space position coordinate information of a measuring station to an RTK measuring antenna mobile station by an RTK measuring antenna reference station, wherein the RTK measuring antenna mobile station determines real-time three-dimensional space position coordinate data of the RTK measuring antenna mobile station through data processing; the real-time three-dimensional space position coordinate data is transmitted to the wireless data transmission receiving end through the wireless data transmission transmitting end, and the wireless data transmission receiving end transmits the real-time three-dimensional space position coordinate data to the computer through the data transmission unit; recording real-time attitude data of the intelligent engineering robot by utilizing an attitude sensor, transmitting the real-time attitude data to a wireless data transmission receiving end through a wireless data transmission transmitting end, and transmitting the real-time attitude data to a computer through a data transmission unit by the wireless data transmission receiving end;
step five: the computer processes the data by using a Kalman filtering algorithm, compares the real-time three-dimensional space position coordinate data and the gesture data with the three-dimensional space position coordinate data and the gesture data generated according to the control instruction, calculates the real-time navigation positioning error of the intelligent engineering robot, and fits an error curve.
As a further improvement of the invention, the RTK measurement antenna rover is fixedly mounted on the intelligent engineering robot body through a fixed bracket.
As a further improvement of the invention, the measurement precision of the RTK measurement antenna reference station and the RTK measurement antenna mobile station is in the centimeter level.
As a further improvement of the invention, the attitude sensor is a nine-axis attitude sensor, and the model is HWT905.
As a further improvement of the invention, the model of the RTK measuring antenna is u-blox NEO-M8P-2-10.
The invention installs a data transmission receiving end and an RTK measuring antenna reference station in a detection room, and connects the data transmission receiving end and the RTK measuring antenna reference station with a computer through a data transmission unit; a data transmission transmitting end and an RTK measuring antenna mobile station are arranged on an intelligent engineering robot body, the RTK measuring antenna mobile station obtains data of an RTK measuring antenna reference station through a data transmission unit, the RTK measuring antenna mobile station and an attitude sensor are respectively connected with the data transmission transmitting end through the data transmission unit, and the data transmission transmitting end and a data transmission receiving end are in wireless communication to transfer the data; the data transmission receiving end is connected with the computer through the data transmission unit; the RTK measurement antenna reference station transmits the observed value and the three-dimensional space position coordinate information of the measurement station to the RTK measurement antenna mobile station, and the RTK measurement antenna mobile station determines real-time three-dimensional space position coordinate data through data processing; the real-time three-dimensional space position coordinate data is transmitted to the wireless data transmission receiving end through the wireless data transmission transmitting end, and the wireless data transmission receiving end transmits the real-time three-dimensional space position coordinate data to the computer through the data transmission unit; recording real-time attitude data of the intelligent engineering robot by utilizing an attitude sensor, transmitting the real-time attitude data to a wireless data transmission receiving end through a wireless data transmission transmitting end, transmitting the real-time attitude data to a computer through a data transmission unit by the wireless data transmission receiving end, comparing the real-time three-dimensional space position coordinate data and the attitude data with three-dimensional space position coordinate data and the attitude data generated according to a control instruction, calculating real-time navigation positioning errors of the intelligent engineering robot, and fitting an error curve; according to the detected parameters, the three-dimensional space position coordinates and the three-dimensional space position gestures of the intelligent engineering robot in the test time can be automatically calculated, and the navigation positioning precision error quantization processing is carried out; the detection process has no manual processing intervention, the detection data is automatically processed, the data is traceable, and the result is accurate and reliable; the navigation positioning precision can be optimized according to the detection result, so that the defect problem can be analyzed conveniently; the invention can complete the test by only one operator during the test, reduces the measurement intensity and is beneficial to improving the working efficiency and the working quality of the intelligent engineering robot.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a block diagram of the workflow of the present invention.
In the figure: 1. the system comprises a computer, a data transmission receiving end, a data transmission transmitting end, an RTK measuring antenna reference station, an RTK measuring antenna mobile station, an attitude sensor, a fixed bracket, a data transmission unit and a fixed bracket.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the method for detecting navigation positioning accuracy of an intelligent engineering robot comprises the following steps:
step one: the intelligent engineering robot is driven into a detection area, a computer 1 is started, an RTK measurement antenna reference station 4 and a wireless data transmission receiving end 2 which are arranged on a roof of a detection room work, and an RTK measurement antenna mobile station 5, an attitude sensor 6 and a wireless data transmission transmitting end 3 which are arranged on the intelligent engineering robot work;
step two: carrying out data zero clearing calibration on the RTK measuring antenna mobile station 5 and the attitude sensor 6;
step three: issuing a control instruction to the intelligent engineering robot through computer software, and generating three-dimensional space position coordinate data and attitude data of the intelligent engineering robot according to the control instruction;
step four: the intelligent engineering robot is started to operate, the RTK measuring antenna reference station 4 transmits the observed value and the three-dimensional space position coordinate information of the measuring station to the RTK measuring antenna mobile station 5, and the RTK measuring antenna mobile station 5 determines real-time three-dimensional space position coordinate data through data processing; the real-time three-dimensional space position coordinate data is transmitted to the wireless data transmission receiving end 2 through the wireless data transmission transmitting end 3, and the wireless data transmission receiving end 2 transmits the three-dimensional space position coordinate data to the computer 1 through the data transmission unit 8; recording real-time attitude data of the intelligent engineering robot by utilizing an attitude sensor 6, transmitting the real-time attitude data to a wireless data transmission receiving end 2 through a wireless data transmission transmitting end 3, and transmitting the real-time attitude data to a computer 1 through a data transmission unit 8 by the wireless data transmission receiving end 2;
step five: the computer processes the data by using a Kalman filtering algorithm, compares the real-time three-dimensional space position coordinate data and the gesture data with the three-dimensional space position coordinate data and the gesture data generated according to the control instruction, calculates the real-time navigation positioning error of the intelligent engineering robot, and fits an error curve.
In order to further secure the RTK measurement antenna rover 5 to the smart engineering robot body, the present invention preferably fixedly mounts the RTK measurement antenna rover 5 to the smart engineering robot body via a fixed bracket 7.
In order to improve the accuracy of real-time attitude data, the invention enables the measurement precision of the RTK measurement antenna reference station 4 and the RTK measurement antenna mobile station 5 to be in centimeter level, and the model of the RTK measurement antenna is u-blox NEO-M8P-2-10; the attitude sensor 6 is set as a nine-axis attitude sensor, and the model is HWT905.
According to the invention, a data transmission receiving end 2 and an RTK measuring antenna reference station 4 are arranged in a detection room, and the data transmission receiving end 2 and the RTK measuring antenna reference station 4 are connected with a computer 1 through a data transmission unit 8; a data transmission transmitting end 3 and an RTK measuring antenna mobile station 5 are arranged on an intelligent engineering robot body, the RTK measuring antenna mobile station 5 acquires data of an RTK measuring antenna reference station 4 through a data transmission unit 8, the RTK measuring antenna mobile station 5 and an attitude sensor 6 are respectively connected with the data transmission transmitting end 3 through the data transmission unit 8, and the data transmission transmitting end 3 and a data transmission receiving end 2 are in wireless communication to transmit the data; the data transmission receiving end 2 is connected with the computer 1 through a data transmission unit 8; the RTK measurement antenna reference station 4 transmits the observed value and the three-dimensional space position coordinate information of the measuring station to the RTK measurement antenna mobile station 5, and the RTK measurement antenna mobile station 5 determines the real-time three-dimensional space position coordinate data through data processing; the real-time three-dimensional space position coordinate data is transmitted to the wireless data transmission receiving end 2 through the wireless data transmission transmitting end 3, and the wireless data transmission receiving end 2 transmits the real-time three-dimensional space position coordinate data to the computer 1 through the data transmission unit 8; recording real-time attitude data of the intelligent engineering robot by utilizing an attitude sensor 6, transmitting the real-time attitude data to a wireless data transmission receiving end 2 through a wireless data transmission transmitting end 3, transmitting the real-time attitude data to a computer 1 through a data transmission unit 8 by the wireless data transmission receiving end 2, comparing the real-time three-dimensional space position coordinate data and the attitude data with three-dimensional space position coordinate data and the attitude data generated according to control instructions, calculating real-time navigation positioning errors of the intelligent engineering robot, and fitting error curves; according to the detected parameters, the three-dimensional space position coordinates and the three-dimensional space position gestures of the intelligent engineering robot in the test time can be automatically calculated, and the navigation positioning precision error quantization processing is carried out; the detection process has no manual processing intervention, the detection data is automatically processed, the data is traceable, and the result is accurate and reliable; the navigation positioning precision can be optimized according to the detection result, so that the defect problem can be analyzed conveniently; the invention can complete the test by only one operator during the test, reduces the measurement intensity and is beneficial to improving the working efficiency and the working quality of the intelligent engineering robot.
Claims (4)
1. The method for detecting the navigation positioning accuracy of the intelligent engineering robot is characterized by comprising the following steps of:
step one: driving an intelligent engineering robot into a detection area, starting a computer (1), working an RTK measurement antenna reference station (4) and a wireless data transmission receiving end (2) which are arranged on a roof of a detection room, and working an RTK measurement antenna mobile station (5), an attitude sensor (6) and a wireless data transmission transmitting end (3) which are arranged on the intelligent engineering robot;
step two: carrying out data zero clearing calibration on the RTK measuring antenna mobile station (5) and the attitude sensor (6);
step three: issuing a control instruction to the intelligent engineering robot through computer software, and generating three-dimensional space position coordinate data and attitude data of the intelligent engineering robot according to the control instruction;
step four: starting an intelligent engineering robot to operate, and transmitting an observation value and three-dimensional space position coordinate information of an RTK measurement antenna reference station (4) to an RTK measurement antenna mobile station (5), wherein the RTK measurement antenna mobile station (5) determines real-time three-dimensional space position coordinate data of the RTK measurement antenna mobile station through data processing; the real-time three-dimensional space position coordinate data is transmitted to the wireless data transmission receiving end (2) through the wireless data transmission transmitting end (3), and the wireless data transmission receiving end (2) transmits the real-time three-dimensional space position coordinate data to the computer (1) through the data transmission unit (8); recording real-time attitude data of the intelligent engineering robot by utilizing an attitude sensor (6), transmitting the real-time attitude data to a wireless data transmission receiving end (2) through a wireless data transmission transmitting end (3), and transmitting the real-time attitude data to a computer (1) through a data transmission unit (8) by the wireless data transmission receiving end (2);
step five: the computer processes the data by using a Kalman filtering algorithm, compares the real-time three-dimensional space position coordinate data and the gesture data with the three-dimensional space position coordinate data and the gesture data generated according to the control instruction, calculates the real-time navigation positioning error of the intelligent engineering robot, and fits an error curve;
the measurement precision of the RTK measurement antenna reference station (4) and the RTK measurement antenna mobile station (5) is in the centimeter level.
2. The method for detecting the navigation positioning accuracy of the intelligent engineering robot according to claim 1, wherein the RTK measuring antenna mobile station (5) is fixedly arranged on the intelligent engineering robot body through a fixed bracket (7).
3. The method for detecting the navigation positioning accuracy of the intelligent engineering robot according to claim 2, wherein the attitude sensor (6) is a nine-axis attitude sensor, and the model is HWT905.
4. The method for detecting navigation positioning accuracy of intelligent engineering robot according to claim 3, wherein the model of the RTK measuring antenna is u-blox NEO-M8P-2-10.
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| CN201811448200.8A CN109269529B (en) | 2018-11-30 | 2018-11-30 | Navigation positioning precision detection method for intelligent engineering robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115031705B (en) * | 2022-04-29 | 2024-05-31 | 武汉光昱明晟智能科技有限公司 | Intelligent navigation robot measurement system and measurement method |
| CN115079238B (en) * | 2022-08-23 | 2023-10-03 | 安徽交欣科技股份有限公司 | Highway traffic intelligent accurate positioning system and method based on RTK |
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