CN105737820A - Positioning and navigation method for indoor robot - Google Patents
Positioning and navigation method for indoor robot Download PDFInfo
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- CN105737820A CN105737820A CN201610202692.7A CN201610202692A CN105737820A CN 105737820 A CN105737820 A CN 105737820A CN 201610202692 A CN201610202692 A CN 201610202692A CN 105737820 A CN105737820 A CN 105737820A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention relates to a positioning and navigation method for an indoor robot and belongs to the technical field of robot positioning and navigation.The positioning and navigation method for the indoor robot includes the steps that a position where a road sign is not detected is rapidly positioned through a dead reckoning relative positioning method; a position where the road sign is detected is calculated to obtain absolute coordinates, and therefore precise position coordinates are obtained; when the robot is moved to the position where the road sign is detected from the position where the road sign is not detected, the former displacement deviation caused by positioning error accumulation in a relative positioning region is corrected.The method is especially suitable for indoor environments where road signs are not conveniently arranged massively on ceilings and has the advantages that average treatment time is short, the number of sensors is small, and the path deviation can be corrected.
Description
Technical field
The invention belongs to robot localization field of navigation technology, relate to a kind of Indoor Robot positioning navigation method.
Background technology
The navigation of robot and location technology are important research directions of field in intelligent robotics.Robot navigation refers in the environment having barrier, the shortest in foundation with time or distance, walks out a secure path from starting position to terminating point.The navigation mode of robot has a variety of, the difference according to many influence factors, is divided into the several ways such as the navigation of vision guided navigation, luminous reflectance, digital map navigation, inertial navigation, landmark navigation.
As the basis of robot navigation, orientation problem is always up one of the focus in robot research field.The location of robot calculate exactly robot the process of position in the environment, it is possible to be divided into Relative localization method and absolute fix method.Relative localization mainly has the reckoning localization method based on inertial sensor and the reckoning localization method based on code-disc according to the difference of sensor.Relative localization method self poisoning is without external reference, but easily causes error accumulation, is not suitable for being accurately positioned for a long time.Absolute fix method mainly includes the actively method such as beacon, target navigation, map match, utilizes surrounding feature that the detection of one or more external sensors obtains that the robot absolute pose in reference frame is estimated.Landmark navigation localization method is widely used in Indoor Robot positioning field due to good reliability.
It is currently based on the Position Method for Indoor Robot of rout marking allocation it is generally required at the ceiling big density ground road sign that is sticked, road sign coordinate in indoor coordinate system is known, and the information obtained based on the absolute fix of road sign and the relative localization of reckoning is carried out data fusion.This mode is devoted to obtain the accurate elements of a fix in real time, there is process time length, number of sensors is many, arrange the shortcomings such as target area, road time error is big when ceiling exists inconvenience.
Summary of the invention
The disadvantages mentioned above that the present invention exists based on rout marking allocation air navigation aid, it is proposed that a kind of Indoor Robot positioning navigation method.
Present invention also offers a kind of method finding impact point.
The present invention adopts the monocular vision alignment system based on the infrared road sign of passive type that Indoor Robot is positioned, and this alignment system is broadly divided into four modules: robot, is arranged on the video camera in robot, attaches landmark tag on the ceiling, controls module.Robot is provided with electronic compass and coding disk, electronic compass and coding disk and angle and the displacement of change, the starting point coordinate according to robot can be detected, control module and just can calculate the relative coordinate of robot.
Described video camera adopts CMOS or CCD sensitive chip, equipped with optical filter between camera lens and sensitive chip.Video camera peripheral disposition infrared LED.
Described road sign coordinate in Indoor Worlds coordinate system is pre-determined.Infrared tags can within the scope of camera coverage the region of effective imaging, rely on landmark tag carry out absolute fix.Landmark tag adopts retroreflecting material, arranges in 3 × 3 or 4 × 4 dot matrix.Point in landmark tag is divided into two parts, and a part is for the calculating of road sign ID value, and another part calculates for rout marking allocation.Being pasted onto in indoor ceiling by landmark tag, the ID value of landmark tag is in advance by demarcating, and is stored in control module.Robot in the present invention moves starting point coordinate and predefined paths is known.If robot stops in mobile way, then this position coordinates is stored, as starting point coordinate when again setting out.Its concrete location navigation process is as follows:
(1) infrared LED launches infrared ray, through infrared ray imaging on CMOS or the CCD sensitive chip of video camera of road sign tag reflection；In detection time T, if video camera does not obtain effective infrared dot matrix imaging, perform step (2)；If receiving, then perform step (3)；
(2) give up the information that CMOS or CCD sensitive chip obtains, control module and calculate, according to the data of electronic compass and coding disk, the relative coordinate obtaining robot, and it can be used as one-time positioning result；
(3) control the road sign infrared image that module obtains according to video camera, calculate ID value and the location information of road sign, obtain absolute fix coordinate, perform step (4)；
(4) control module and judge whether upper wheel elements of a fix result is relative coordinate, if so, performs step (5)；If it is not, the coordinate obtained in (3) is this positioning result, complete one-time positioning；
(5) controlling module by wheel elements of a fix result upper in (4) is that this judged result of relative coordinate is as interrupt source, generation interruption.In this interrupts, control module and first look for the certain point on predefined paths, impact point might as well be referred to as, produce a new path and make robot return to the impact point of preset path from the position of deviation, so as to the front Path error caused by position error accumulation in relative localization district is revised.
In step (1) detection time T be from infrared LED launch infrared ray start through road sign reflect after on sensitive chip the maximum duration of effective imaging, can be recorded by experiment.Because infrared ray is with light velocity propagation, and under indoor environment, heights of ceilings is limited, so detection time T is very short, does not result in bigger position error.
The position coordinates of a kind of position coordinates finding robot when the method for impact point on predefined paths is intended to be started by correction and a upper impact point, calculates and obtains new aiming spot coordinate, specifically comprise the following steps that
1, give one, the coordinate storage position of impact point in the control module, after obtaining new impact point, update last coordinate of ground point with new coordinate of ground point every time.
2, when finding new impact point, the modular computer device people's present position distance from last impact point is controlled.
3, centered by last impact point, the distance in step 2 is justified for radius, obtains one or several intersection point of this circle and predefined paths.
4, these intersection points and the distance of robot present position are asked.
5, the point that in wherein above walking, distance is minimum is new impact point.
6, impact point is updated.
The invention has the beneficial effects as follows:
Robot in the present invention move starting point coordinate and predefined paths it is known that and road sign coordinate in Indoor Worlds coordinate system be pre-determined.This localization method relies on the relative positioning method of reckoning quickly to position in the position that can't detect road sign；Obtain the absolute coordinate of robot in position calculation road sign being detected, then find the certain point on predefined paths, be referred to as impact point, produce new path and arrive this point, thus have modified the Path error brought when quickly positioning without road sign.
The present invention is mainly characterized by: when robot moves to, from the region being absent from effective infrared tags imaging camera coverage, the region that there is effective infrared tags imaging in camera coverage, it is necessary to the offset deviation caused by position error accumulation in relative localization district before is modified.This mode can realize quickly location can't detect target area, road, can guarantee that again path does not offset, have that average handling time is short, number of sensors is few, can revise the advantages such as Path error, be particularly suited for ceiling and be not easy to arrange in a large number the indoor environment of road sign.
Accompanying drawing explanation
Fig. 1 is the positioning flow figure of the present invention；
Fig. 2 is the method schematic diagram finding impact point of the present invention；
Model schematic is taken turns by the robot two that Fig. 3 is the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is further described; but limitation is not so; every technical solution of the present invention modified or equivalent replaces, without deviating from the spirit and scope of technical solution of the present invention, all should be encompassed in protection scope of the present invention.
The present invention adopts the monocular vision alignment system based on the infrared road sign of passive type that Indoor Robot is positioned, and this alignment system is broadly divided into four modules: robot, is arranged on the video camera in robot, attaches landmark tag on the ceiling, controls module.
Described robot is provided with electronic compass and coding disk, electronic compass and coding disk and angle and the displacement of change, the starting point coordinate according to robot can be detected, control module and just can calculate the relative coordinate of robot.
Described video camera adopts CMOS or CCD sensitive chip, equipped with optical filter between camera lens and sensitive chip, and video camera peripheral disposition infrared LED.
Described road sign coordinate in Indoor Worlds coordinate system is pre-determined.Infrared tags can within the scope of camera coverage the region of effective imaging, rely on landmark tag carry out absolute fix.Landmark tag adopts retroreflecting material, arranges in 3 × 3 or 4 × 4 dot matrix.Point in landmark tag is divided into two parts, and a part is for the calculating of road sign ID value, and another part calculates for rout marking allocation.Being pasted onto in indoor ceiling by landmark tag, the ID value of landmark tag is in advance by demarcating, and is stored in control module.
Robot in the present invention moves starting point coordinate and predefined paths is known.If robot stops in mobile way, then this position coordinates is stored, as starting point coordinate when again setting out.Its concrete location navigation process is as follows:
(1) infrared LED launches infrared ray, through infrared ray imaging on CMOS or the CCD sensitive chip of video camera of road sign tag reflection；In detection time T, if video camera does not obtain effective infrared dot matrix imaging, perform step (2)；If receiving, then perform step (3)；
(2) give up the information that CMOS or CCD sensitive chip obtains, control module and calculate, according to the data of electronic compass and coding disk, the relative coordinate obtaining robot, and it can be used as one-time positioning result；
(3) control the road sign infrared image that module obtains according to video camera, calculate ID value and the location information of road sign, obtain absolute fix coordinate, perform step (4)；
(4) control module and judge whether upper wheel elements of a fix result is relative coordinate, if so, performs step (5)；If it is not, the coordinate obtained in (3) is this positioning result, complete one-time positioning；
(5) controlling module by wheel elements of a fix result upper in (4) is that this judged result of relative coordinate is as interrupt source, generation interruption.In this interrupts, control module and first look for the certain point on predefined paths, impact point might as well be referred to as, produce a new path and make robot return to the impact point of preset path from the position of deviation, so as to the front Path error caused by position error accumulation in relative localization district is revised.Location navigation flow chart is as shown in Figure 1.
In step (1) detection time T be from infrared LED launch infrared ray start through road sign reflect after on sensitive chip the maximum duration of effective imaging, can be recorded by experiment.Because infrared ray is with light velocity propagation, and under indoor environment, heights of ceilings is limited, so detection time T is very short, does not result in bigger position error.
The material of landmark tag is retroreflecting material.Retroreflecting material has and is emitted onto incident illumination thereon and returns by former incident direction major part, improves the function of self visibility.Road sign used by the present invention is thin-film material, it is simple to paste on the ceiling, without influence on attractive in appearance.
When robot moves to the position being able to detect that road sign from the position that can't detect road sign, it is necessary to the offset deviation caused by position error accumulation in relative localization district before is modified.This mode can realize quickly location can't detect target area, road, can guarantee that again path does not offset, have that average handling time is short, number of sensors is few, can revise the advantages such as Path error, be particularly suited for ceiling and be not easy to arrange in a large number the indoor environment of road sign.The process revised is firstly the need of the certain point searched out on predefined paths, thus allowing the robot to move to predefined paths from current location.This point requires to be easy to find, and with current location point apart from short, might as well be referred to as impact point.
The present invention proposes a kind of method finding impact point, in conjunction with Fig. 2, is specifically described as follows:
In Fig. 2, solid line represents robot predefined paths, and dotted line represents the actual walking path of robot, and chain-dotted line represents the boost line in algorithm.
For the ease of describing, robot being regarded as a particle, set up a simple and practical robot two take turns model, such as Fig. 3, under indoor structural environment, robot operates in coordinate system XOY, A point is the particle representing robot, and the position in coordinate system is (XA,YA, θ), θ is the robot body corner relative to coordinate system X-axis, VLIt is the speed of robot chassis dolly revolver, VRIt is the speed of chassis dolly right wheel.During practical application, it is stipulated that V when dolly advances or retreatsL=VR；Dolly is pivot turn, now wheel speed V when turningL=-VR.So, when initial state is known, it is possible to the pose in a coordinate system of robot under any time in running is showed.
1, give one, the coordinate storage position of impact point in the control module, after obtaining new impact point, update last coordinate of ground point with new coordinate of ground point every time；
2, when kth time finds impact point, the position coordinates before note correction isThe coordinate of kth impact point is
3, calculating robot's present positionWith last impact pointDistance r；
4, with last impact pointCentered by, justify with r for radius；
5, n (n >=1) the individual intersection point of this circle and desired trajectory is obtained；
6, calculateWith the distance d of these intersection points, choose the minimum corresponding intersection point (x of di,yi) for kth impact point
When first time finds impact point, then it is assumed that the starting point of predefined paths is a upper impact point.Because circle will not be a lot of with the intersection point of desired trajectory in theory, so program is not numerous and diverse.
Describe kth time with equation below and find the process of impact point:
Note desired trajectory equation is:
P=P (x, y)；
The radius of circle:
P=P (x, y) (2)；
Simultaneous (1), (2) are tried to achieve n (n >=1) group and are solved (xm,ym), m=1,2 ..., n；
ThenTo (xm,ym) distance:
If min is (dm)=di；
Then (xi,yi) for the coordinate of kth time impact point.
Position coordinates before kth time correction isWith the angle of X-axis it isCan be recorded by electronic compass.The angle of kth impact point and X-axis isCan be tried to achieve by following formula:
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; simply principles of the invention described in above-described embodiment and description; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within claimed the scope of the present invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (4)
1. an Indoor Robot positioning navigation method, it is characterised in that: described positioning navigation method sequentially includes the following steps:
(1) infrared LED launches infrared ray, through infrared ray imaging on CMOS or the CCD sensitive chip of video camera of road sign tag reflection；In detection time T, if video camera does not obtain effective infrared dot matrix imaging, perform step (2)；If receiving, then perform step (3)；
(2) give up the information that CMOS or CCD sensitive chip obtains, control module and calculate, according to the data being arranged on the electronic compass in robot and coding disk, the relative coordinate obtaining robot, and it can be used as one-time positioning result；
(3) control the road sign infrared image that module obtains according to video camera, calculate ID value and the location information of road sign, obtain absolute fix coordinate, perform step (4)；
(4) control module and judge whether upper wheel elements of a fix result is relative coordinate, if so, performs step (5)；If it is not, the coordinate obtained in (3) is this positioning result, complete one-time positioning；
(5) controlling module by wheel elements of a fix result upper in (4) is that this judged result of relative coordinate is as interrupt source, produce to interrupt, in this interrupts, control module and first look for the certain point on predefined paths, it is referred to as impact point, producing a new path makes robot return to the impact point of preset path from the position of deviation, so as to the front Path error caused by position error accumulation in relative localization district is revised.
2. a kind of Indoor Robot positioning navigation method according to claim 1, it is characterised in that: described detection time T launches infrared ray from infrared LED to start after road sign reflects the maximum duration of effective imaging on sensitive chip.
3. a kind of Indoor Robot positioning navigation method according to claim 1, it is characterised in that: in camera coverage, it is absent from the region of effective infrared dot matrix imaging, relies on the relative positioning method of reckoning quickly to position；In camera coverage, there is the region of effective infrared point battle array imaging, calculating the absolute coordinate obtaining robot, thus obtaining accurate positional information；When robot is from the region being absent from effective infrared dot matrix imaging camera coverage, move to the region that there is effective infrared point battle array imaging in camera coverage, it is necessary to the offset deviation caused by position error accumulation in relative localization district before is modified.
4. a kind of Indoor Robot positioning navigation method according to claim 1, it is characterized in that: the method for impact point on described predefined paths of finding is expressed as: the position coordinates of the position coordinates of robot and upper impact point when starting by revising, calculate and obtain new aiming spot coordinate.
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| CN106197404A (en) * | 2016-07-12 | 2016-12-07 | 沈阳通用机器人技术股份有限公司 | A kind of AGV alignment system and localization method |
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| CN106468553A (en) * | 2016-08-30 | 2017-03-01 | 上海擎朗智能科技有限公司 | A kind of localization method of the mobile object based on road sign |
| CN106646441A (en) * | 2016-11-16 | 2017-05-10 | 杭州国辰牵星科技有限公司 | Indoor mobile robot positioning system combining environment information and indoor mobile robot positioning method thereof |
| CN106682638A (en) * | 2016-12-30 | 2017-05-17 | 华南智能机器人创新研究院 | System for positioning robot and realizing intelligent interaction |
| CN106767833A (en) * | 2017-01-22 | 2017-05-31 | 电子科技大学 | A kind of robot localization method of fusion RGBD depth transducers and encoder |
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| CN107977977A (en) * | 2017-10-20 | 2018-05-01 | 深圳华侨城卡乐技术有限公司 | A kind of indoor orientation method, device and the storage medium of VR game |
| CN108227687A (en) * | 2016-12-09 | 2018-06-29 | 广东德豪润达电气股份有限公司 | Intelligent robot identification virtual boundary method, mode of progression and beacon |
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| CN106682638A (en) * | 2016-12-30 | 2017-05-17 | 华南智能机器人创新研究院 | System for positioning robot and realizing intelligent interaction |
| CN106767833B (en) * | 2017-01-22 | 2019-11-19 | 电子科技大学 | A kind of robot localization method merging RGBD depth transducer and encoder |
| CN106767833A (en) * | 2017-01-22 | 2017-05-31 | 电子科技大学 | A kind of robot localization method of fusion RGBD depth transducers and encoder |
| CN107314770A (en) * | 2017-06-27 | 2017-11-03 | 浙江国自机器人技术有限公司 | A kind of mobile robot and its master controller, alignment system and method |
| CN107314770B (en) * | 2017-06-27 | 2019-08-30 | 浙江国自机器人技术有限公司 | A kind of mobile robot and its master controller, positioning system and method |
| CN109212468A (en) * | 2017-07-07 | 2019-01-15 | 先进机器人有限公司 | The direction positioning system and method for mobile device |
| CN109688291A (en) * | 2017-10-19 | 2019-04-26 | 宏碁股份有限公司 | Object tracking method and system |
| CN109688291B (en) * | 2017-10-19 | 2021-01-26 | 宏碁股份有限公司 | Object tracking method and system |
| CN107977977B (en) * | 2017-10-20 | 2020-08-11 | 深圳华侨城卡乐技术有限公司 | Indoor positioning method and device for VR game and storage medium |
| CN107977977A (en) * | 2017-10-20 | 2018-05-01 | 深圳华侨城卡乐技术有限公司 | A kind of indoor orientation method, device and the storage medium of VR game |
| CN108257177A (en) * | 2018-01-15 | 2018-07-06 | 天津锋时互动科技有限公司深圳分公司 | Alignment system and method based on space identification |
| CN110346784A (en) * | 2018-04-02 | 2019-10-18 | 珠海横琴华策光通信科技有限公司 | A method of based on LED lamp light-seeking and directional wheel integrated positioning |
| CN109596120A (en) * | 2018-12-25 | 2019-04-09 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of combined positioning and navigating sensing system |
| CN112230256B (en) * | 2019-07-15 | 2024-04-09 | 苏州宝时得电动工具有限公司 | Autonomous robot, positioning calibration method and device thereof, and storage medium |
| CN112230256A (en) * | 2019-07-15 | 2021-01-15 | 苏州宝时得电动工具有限公司 | Autonomous robot, positioning calibration method and device thereof, and storage medium |
| CN111103801B (en) * | 2019-12-31 | 2022-05-17 | 芜湖哈特机器人产业技术研究院有限公司 | Mobile robot repositioning method based on genetic algorithm and mobile robot |
| CN111103801A (en) * | 2019-12-31 | 2020-05-05 | 芜湖哈特机器人产业技术研究院有限公司 | Mobile robot repositioning method based on genetic algorithm and mobile robot |
| CN112180938A (en) * | 2020-10-15 | 2021-01-05 | 芜湖哈特机器人产业技术研究院有限公司 | AGV trolley positioning system and method based on infrared top mark and odometer |
| CN112180938B (en) * | 2020-10-15 | 2022-09-30 | 芜湖哈特机器人产业技术研究院有限公司 | AGV trolley positioning system and method based on infrared top mark and odometer |
| WO2023030225A1 (en) * | 2021-09-03 | 2023-03-09 | 华为技术有限公司 | Location method and apparatus |
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