In order to ensure the efficiency and safety of the warehouse handling robot,the obstacle avoidance control method of the warehouse handling robot based on visual positioning is proposed in dynamic environ-ment.The location of obstacles in dynamic environment is determined by means of environmental image genera-tion,preprocessing,feature extraction and obstacle recognition by using visual positioning technology.The real-time pose of the warehouse handling robot is detected and the real-time position of obstacles and the moving target location is considered to plan the moving path of the robot.According to the deviation between the robot posture and the planned path,the obstacle avoidance control quantity of the warehouse handling robot is calcu-lated.With the support of the controller,the obstacle avoidance control work of the warehouse handling robot is realized.The experimental results show that,compared with the traditional method,the number of collision of warehouse handling robot in dynamic environment is significantly reduced by using the optimized obstacle a-voidance control method,and the mean errors of position and attitude angle control are 0.08 m and 0.029°,re-spectively.The control data is superior to the traditional control method.
关键词
动态环境/视觉定位/仓储搬运机器人/机器人避障控制
Key words
dynamic environment/visual positioning/warehouse handling robot/robot obstacle avoidance control
维普
万方数据