CN105737820B - A kind of Indoor Robot positioning navigation method - Google Patents
A kind of Indoor Robot positioning navigation method Download PDFInfo
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- CN105737820B CN105737820B CN201610202692.7A CN201610202692A CN105737820B CN 105737820 B CN105737820 B CN 105737820B CN 201610202692 A CN201610202692 A CN 201610202692A CN 105737820 B CN105737820 B CN 105737820B
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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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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The present invention relates to a kind of Indoor Robot positioning navigation methods, belong to robot localization field of navigation technology, and positioning navigation method is：It is quickly positioned by the relative positioning method of reckoning in the position that can't detect road sign；Absolute coordinate is calculated in the position for detecting road sign, to obtain accurate pose coordinate；It is able to detect that the position of road sign when robot is moved to from the position that can't detect road sign, to the offset deviation as caused by accumulating position error is modified in relative positioning area before.It is not easy to largely arrange the indoor environment of road sign present invention is particularly suitable for ceiling, has many advantages, such as that average handling time is short, number of sensors is few, Path error can be corrected.
Description
Technical field
The invention belongs to robot localization field of navigation technology, are related to a kind of Indoor Robot positioning navigation method.
Background technology
The navigation of robot and the important research direction that location technology is field in intelligent robotics.Robot navigation is
Refer in the environment for having barrier, it is most short for foundation with time or distance, a safe road is walked out from starting position to terminating point
Diameter.The navigation mode of robot there are many kinds of, according to the difference of many influence factors, be divided into vision guided navigation, light reflection navigation,
The several ways such as digital map navigation, inertial navigation, landmark navigation.
As the basis of robot navigation, orientation problem is always one of hot spot of robot research field.Robot
Positioning be exactly calculate robot position in the environment process, Relative localization method and absolute fix method can be divided into.Relatively
Positioning is according to the different reckoning localization methods mainly having based on inertial sensor of sensor and based on the flight path of code-disc
Reckoning positioning method.Relative localization method self poisoning is not necessarily to external reference, but easily causes error accumulation, is not suitable for prolonged essence
Determine position.Absolute fix method includes mainly the methods of active beacon, target navigation, map match, utilizes one or more outsides
The ambient enviroment feature that sensor detects estimates absolute pose of the robot in reference frame.Landmark navigation
Localization method is widely used in Indoor Robot positioning field due to good reliability.
In the big density of ceiling the road sign that is sticked is generally required currently based on the Position Method for Indoor Robot of rout marking allocation,
Coordinate of the road sign indoors in coordinate system is known, and the relative positioning of absolute fix and reckoning based on road sign is obtained
Information carry out data fusion.This mode is dedicated to obtaining the elements of a fix precisely in real time, and there are processing time length, sensors
The shortcomings of quantity is more, error is big when ceiling has inconvenient arrangement road target area.
Invention content
The present invention is based on disadvantages mentioned above existing for rout marking allocation air navigation aid, it is proposed that a kind of Indoor Robot location navigation
Method.
The present invention also provides a kind of methods for finding target point.
The present invention positions Indoor Robot using the monocular vision positioning system based on the infrared road sign of passive type, should
Positioning system is broadly divided into four modules：Robot, the video camera being mounted in robot, attaches road sign mark on the ceiling
Label, control module.Electronic compass and coding disk are installed, electronic compass and coding disk can detect the angle of variation in robot
Degree and displacement, according to the starting point coordinate of robot, control module can calculate the relative coordinate of robot.
The video camera uses CMOS or CCD sensitive chips, and optical filter is housed between camera lens and sensitive chip.Video camera periphery
Arrange infrared LED.
Coordinate of the road sign indoors in world coordinate system is pre-determined.Infrared tags can be in camera coverage
The region being effectively imaged in range carries out absolute fix by landmark tag.Landmark tag uses retroreflecting material, is in 3 × 3
Or 4 × 4 dot matrix arrangement.Point in landmark tag is divided into two parts, and a part is used for the calculating of road sign ID values, and another part is used for
Rout marking allocation calculates.Landmark tag is pasted onto in indoor ceiling, the ID values of landmark tag store in advance by calibration
In control module.Known to robot movement starting point coordinate and predefined paths in the present invention.If robot is moving on the way
It stops, then stores the position coordinates, as starting point coordinate when setting out again.Its specific location navigation process is as follows：
(1) infrared LED emits infrared ray, CMOS or CCD photosensitive core of the infrared ray through road sign tag reflection in video camera
On piece is imaged；Between when detecting in T, if video camera does not obtain effective infrared dot matrix imaging, step (2) is executed；If receiving
It arrives, thens follow the steps (3)；
(2) give up the information that CMOS or CCD sensitive chips obtain, data of the control module according to electronic compass and coding disk
The relative coordinate of robot is calculated, and as one-time positioning result；
(3) the road sign infrared image that control module is obtained according to video camera calculates the ID values and location information of road sign, obtains
Absolute fix coordinate executes step (4)；
(4) whether wheel elements of a fix result is relative coordinate in control module judgement, if so, executing step (5)；If no
It is that the coordinate to be obtained in (3) completes one-time positioning for the secondary positioning result；
(5) control module takes turns the elements of a fix the result is that this judging result of relative coordinate is as interrupt source, production by upper in (4)
It is raw to interrupt.In this interruption, control module first looks for the certain point on predefined paths, might as well be referred to as target point, generates
One new path makes robot from the target point that the position of deviation returns to preset path, in relative positioning area by fixed before being allowed to
Path error caused by the error accumulation of position is corrected.
Detection time T is to have on sensitive chip after road sign reflects since infrared LED emits infrared ray in step (1)
The maximum duration for imitating imaging, can be measured by experiment.Because infrared ray is with light velocity propagation, and there is heights of ceilings under indoor environment
Limit, so detection time T is very short, will not cause larger position error.
Position coordinates of robot and upper when the method for target point is intended to start by correcting on a kind of searching predefined paths
The position coordinates of one target point are calculated new aiming spot coordinate, are as follows：
1, one storage location of coordinate for giving target point in the control module, after obtaining new target point every time, with new
Coordinate of ground point update last coordinate of ground point.
2, when finding new target point, control module calculating robot present position away from last target point away from
From.
3, centered on last target point, justify by radius work of the distance in step 2, obtain the one of the circle and predefined paths
A or several intersection points.
4, the distance of these intersection points and robot present position is sought.
5, the point of distance minimum is new target point in wherein above walking.
6, target point is updated.
The beneficial effects of the invention are as follows：
Robot movement starting point coordinate and predefined paths in the present invention are it is known that and road sign indoors in world coordinate system
Coordinate be pre-determined.The localization method is fast by the relative positioning method of reckoning in the position that can't detect road sign
Speed positioning；The absolute coordinate of robot is calculated in the position for detecting road sign, then finds the certain point on predefined paths, claims
Be target point, generate new path and reach the point, to have modified the Path error brought when no road sign quickly positions.
The present invention is mainly characterized by：When there is no the regions of effective infrared tags imaging to move in camera coverage for robot
It moves in camera coverage there are the region that effective infrared tags are imaged, needs to being tired out before by position error in relative positioning area
Offset deviation is modified caused by product.This mode can realize quickly positioning can't detect road target area and protect
Card path does not deviate, and has many advantages, such as that average handling time is short, number of sensors is few, can correct Path error, is particularly suited for day
Card is not easy to largely arrange the indoor environment of road sign.
Description of the drawings
Fig. 1 is the positioning flow figure of the present invention；
Fig. 2 is the method schematic diagram of the searching target point of the present invention；
Fig. 3 is that model schematic is taken turns by the robot two of the present invention.
Specific implementation mode
Technical scheme of the present invention is further described below in conjunction with the accompanying drawings, but is not so limited, it is every to this
Inventive technique scheme is modified or replaced equivalently, and without departing from the spirit of the technical scheme of the invention and range, should all be covered
In protection scope of the present invention.
The present invention positions Indoor Robot using the monocular vision positioning system based on the infrared road sign of passive type, should
Positioning system is broadly divided into four modules：Robot, the video camera being mounted in robot, attaches road sign mark on the ceiling
Label, control module.
Electronic compass and coding disk are installed, electronic compass and coding disk can detect the angle of variation in the robot
Degree and displacement, according to the starting point coordinate of robot, control module can calculate the relative coordinate of robot.
The video camera uses CMOS or CCD sensitive chips, and optical filter, video camera periphery are housed between camera lens and sensitive chip
Arrange infrared LED.
Coordinate of the road sign indoors in world coordinate system is pre-determined.Infrared tags can be in camera coverage
The region being effectively imaged in range carries out absolute fix by landmark tag.Landmark tag uses retroreflecting material, is in 3 × 3
Or 4 × 4 dot matrix arrangement.Point in landmark tag is divided into two parts, and a part is used for the calculating of road sign ID values, and another part is used for
Rout marking allocation calculates.Landmark tag is pasted onto in indoor ceiling, the ID values of landmark tag store in advance by calibration
In control module.
Known to robot movement starting point coordinate and predefined paths in the present invention.If robot stops on the way in movement,
Then the position coordinates are stored, as starting point coordinate when setting out again.Its specific location navigation process is as follows：
(1) infrared LED emits infrared ray, CMOS or CCD photosensitive core of the infrared ray through road sign tag reflection in video camera
On piece is imaged；Between when detecting in T, if video camera does not obtain effective infrared dot matrix imaging, step (2) is executed；If receiving
It arrives, thens follow the steps (3)；
(2) give up the information that CMOS or CCD sensitive chips obtain, data of the control module according to electronic compass and coding disk
The relative coordinate of robot is calculated, and as one-time positioning result；
(3) the road sign infrared image that control module is obtained according to video camera calculates the ID values and location information of road sign, obtains
Absolute fix coordinate executes step (4)；
(4) whether wheel elements of a fix result is relative coordinate in control module judgement, if so, executing step (5)；If no
It is that the coordinate to be obtained in (3) completes one-time positioning for the secondary positioning result；
(5) control module takes turns the elements of a fix the result is that this judging result of relative coordinate is as interrupt source, production by upper in (4)
It is raw to interrupt.In this interruption, control module first looks for the certain point on predefined paths, might as well be referred to as target point, generates
One new path makes robot from the target point that the position of deviation returns to preset path, in relative positioning area by fixed before being allowed to
Path error caused by the error accumulation of position is corrected.Location navigation flow chart is as shown in Figure 1.
Detection time T is to have on sensitive chip after road sign reflects since infrared LED emits infrared ray in step (1)
The maximum duration for imitating imaging, can be measured by experiment.Because infrared ray is with light velocity propagation, and there is heights of ceilings under indoor environment
Limit, so detection time T is very short, will not cause larger position error.
The material of landmark tag is retroreflecting material.Retroreflecting material is with the incident light being emitted onto thereon by original
Incident direction largely returns, and improves the function of itself visibility.Road sign used in the present invention is thin-film material, convenient for being pasted onto day
On card, beauty is not interfered with.
It is able to detect that the position of road sign when robot is moved to from the position that can't detect road sign, needs to before in phase
To positioning area, the offset deviation as caused by accumulating position error is modified.This mode can can't detect road target area
It realizes quickly positioning, and can guarantee that path does not deviate, with average handling time is short, number of sensors is few, it is inclined to correct path
The advantages that poor, is not easy to largely arrange the indoor environment of road sign particularly suitable for ceiling.Modified process is firstly the need of searching out
Certain point on predefined paths, to allow the robot to be moved to predefined paths from current location.This point requires to seek
It looks for, and might as well be referred to as target point apart from short with current location point.
The present invention propose it is a kind of find target point method be specifically described as follows in conjunction with Fig. 2：
Solid line indicates that robot predefined paths, dotted line indicate that the practical walking path of robot, chain-dotted line indicate algorithm in Fig. 2
In auxiliary line.
For ease of description, robot is regarded as a particle, establishes two wheel models of a simple and practical robot,
Such as Fig. 3, under indoor structural environment, robot operates in coordinate system XOY, and A points are the particles for representing robot, in coordinate system
Interior position is (XA,YA, θ), θ is corner of the robot body relative to coordinate system X-axis, VLIt is robot chassis trolley revolver
Speed, VRIt is the speed of chassis trolley right wheel.When practical application, it is specified that trolley move forward or back when VL=VR；When trolley is turned
For pivot turn, wheel speed V at this timeL=-VR.In this way, known to initial state, it can be in operational process
The pose of robot in a coordinate system is inscribed when meaning to show.
1, one storage location of coordinate for giving target point in the control module, after obtaining new target point every time, with new
Coordinate of ground point update last coordinate of ground point；
2, when kth time finds target point, the position coordinates before note is corrected areThe coordinate of k-th of target point
It is
3, calculating robot's present positionWith last target pointDistance r；
4, with last target pointCentered on, justify by radius work of r；
5, n (n >=1) a intersection point of the circle and desired trajectory is obtained；
6, it calculatesWith these intersection points distance d, the intersection point (x corresponding to d minimums is choseni,yi) it is k-th of mesh
Punctuate
When finding target point for the first time, then it is assumed that the starting point of predefined paths is a upper target point.Because theoretically circle with
The intersection point of desired trajectory will not be very much, so program is not complicated.
The process that kth time finds target point is described with equation below：
Remember that desired trajectory equation is：
P=P (x, y)；
Round radius：
P=P (x, y) (2)；
Simultaneous (1), (2) acquire n (n >=1) group solutions (xm,ym), m=1,2 ..., n；
ThenTo (xm,ym) distance：
If min (dm)=di；
Then (xi,yi) be kth time target point coordinate.
Position coordinates before kth time is corrected areAngle with X-axis isIt can be by electronic compass
It measures.K-th of target point and the angle of X-axis areIt can be acquired by following formula：
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in the range of claimed invention.The claimed scope of the invention is by appended claims and its waits
Effect object defines.
Claims (3)
1. a kind of Indoor Robot positioning navigation method, it is characterised in that：The positioning navigation method carries out according to the following steps：
(1) infrared LED emits infrared ray, and the infrared ray through road sign tag reflection is on CMOS the or CCD sensitive chips of video camera
Imaging；Between when detecting in T, if video camera does not obtain effective infrared dot matrix imaging, step (2) is executed；If receiving,
Execute step (3)；
(2) give up the information that CMOS or CCD sensitive chips obtain, control module according to the electronic compass being mounted in robot and
The relative coordinate of robot is calculated in the data of coding disk, and as one-time positioning result；
(3) the road sign infrared image that control module is obtained according to video camera calculates the ID values and location information of road sign, obtains absolutely
The elements of a fix execute step (4)；
(4) whether wheel elements of a fix result is relative coordinate in control module judgement, if so, executing step (5)；If it is not, with
(3) coordinate obtained in is the secondary positioning result, completes one-time positioning；
(5) control module takes turns the elements of a fix the result is that this judging result of relative coordinate is as interrupt source, in generation by upper in (4)
Disconnected, in this interruption, control module first looks for the certain point on predefined paths, referred to as target point, generate one it is new
Path makes robot from the target point that the position of deviation returns to preset path, is tired out by position error in relative positioning area before being allowed to
Path error is corrected caused by product；
The method for finding target point on the predefined paths is expressed as：The position coordinates and upper one of robot when being started by correcting
New aiming spot coordinate is calculated in the position coordinates of a target point, and the specific method is as follows：
S1, one storage location of coordinate for giving target point in the control module, after obtaining new target point every time, with new mesh
Punctuate coordinate updates last coordinate of ground point；
S2, when kth time finds target point, the position coordinates before note is corrected areThe coordinate of k-th of target point is
S3, calculating robot's present positionWith last target pointDistance r；
S4, with last target pointCentered on, justify by radius work of r；
S5, n (n >=1) a intersection point for obtaining the circle and desired trajectory；
S6, calculatingWith these intersection points distance d, the intersection point (x corresponding to d minimums is choseni,yi) it is k-th of target
Point
When finding target point for the first time, then it is assumed that the starting point of predefined paths is a upper target point.
2. a kind of Indoor Robot positioning navigation method according to claim 1, it is characterised in that：The detection time T
For the maximum duration being effectively imaged on sensitive chip after road sign reflects since infrared LED emits infrared ray.
3. a kind of Indoor Robot positioning navigation method according to claim 1, it is characterised in that：In camera coverage
There is no the regions of effectively infrared dot matrix imaging, are quickly positioned by the relative positioning method of reckoning；In camera coverage
In there are effective infrared point battle array imaging region, the absolute coordinate of robot is calculated, to obtain accurate location information；
When robot in camera coverage there is no the region of effectively infrared dot matrix imaging, be moved in camera coverage exist it is effective
The region of infrared dot matrix imaging, needs in relative positioning area, the offset deviation as caused by accumulating position error is repaiied before
Just.
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| 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 |
| 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 |
| 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 |
| CN115752425A (en) * | 2021-09-03 | 2023-03-07 | 华为技术有限公司 | Positioning method and device |
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