CN106643694B - A kind of robot indoor orientation method - Google Patents
A kind of robot indoor orientation method Download PDFInfo
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- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The present invention provides a kind of robot indoor orientation methods, comprising: data storing steps, for storing the encoder data and ultra-wideband data of last moment；Data collection steps, the photoelectric encoder of the shaft end for the motor by the way that the left and right wheels for driving the robot are arranged in acquire the encoder data at current time and acquire the ultra-wideband data at current time by ultra-wideband positioning system；Incremental data calculates step, for calculating mileage increment and positional increment according to the encoder data and ultra-wideband data at the encoder data of the last moment stored and ultra-wideband data and current time collected；And location information appraisal procedure, for judging whether the encoder data and the ultra-wideband data are abnormal according to mileage increment calculated and positional increment, so that it is determined that obtaining the robot in the location information at current time using Unscented kalman filtering (UKF) method, dead reckoning method or the ultra wide band posture information that is obtained by the ultra-wideband positioning system.
Description
Technical field
The present invention relates to the Navigation Control fields in ground mobile robot indoors environment, relate more specifically to a kind of machine
Device people's indoor orientation method.
Background technique
Existing intelligent mobile robot is that one kind can perceive environment and oneself state by sensor, real now with obstacle
Object-oriented independent navigation movement in the environment of object, to complete the robot system of preplanned mission.Realize robot certainly
Main Navigational Movements, it is necessary to a series of problems, such as solving environmental modeling, positioning, path planning, motion control in real time；Wherein, it moves
Mobile robot must have an ability of positioning, purpose be exactly determining robot in running environment relative to world coordinate system
Position and course.
Presently, there are a variety of location technologies, such as GPS positioning technology, inertial navigation system location technology and ultra wide band
(UWB, Ultra Wide Band) technology etc..However, robot is not available GPS and is positioned indoors under environment, and make
With inertial navigation system higher cost and it cannot be guaranteed long-time positioning accuracy.
Super-broadband tech has the characteristics that insensitive to channel fading, transmitting power spectrum density is low, low interception capability,
It is capable of providing decimeter grade positioning accuracy.However, since bulk is smaller, wireless system multipath effect is strong indoors under environment,
High accuracy positioning deployment is difficult；Also, since building pillar, partition wall, glass, furniture etc. block the presence of object, more
It is degrading the working environment of wireless location.Therefore, autonomous cannot be fixed by ultra wide band merely under environment indoors for robot
Position system, should be merged with other positioning methods.
In addition, general Indoor Robot drives left and right driving wheel by two DC servo motors, it is real by left and right wheels differential
Turn now to movement.When the photoelectric encoder output to be mounted on two servo motor shaft ends carries out dead reckoning, due to motor
There are gaps for retarder, and inevitably there is slipping phenomenon between wheel and ground, especially slide more in turning
Obviously.Therefore the track of dead reckoning is ideal output trajectory, and in turning, course error has the tendency that significantly increasing.
Summary of the invention
In view of problem above, the present invention provides the robots of the characteristics of combining ultra wide band positioning and dead reckoning a kind of
Indoor orientation method: when ultra-broadband signal is normal, using Unscented kalman filtering (Unscented Kalman Filter,
UKF) method carries out data fusion to ultra wide band, encoder, electronic compass information, to boat position while obtaining position, course
The course misalignment of reckoning is estimated；When ultra-broadband signal exception, pose resolving is carried out by dead reckoning, due to misalignment
Angle can be with real-time compensation, therefore can guarantee the positioning and directing precision of dead reckoning.
According to an aspect of the present invention, a kind of robot indoor orientation method is provided, comprising:
Data storing steps, for storing the encoder data and ultra-wideband data of last moment；
The photoelectricity of data collection steps, the shaft end for the motor by the way that the left and right wheels for driving the robot are arranged in is compiled
The encoder data at code device acquisition current time and the ultra-wideband data that current time is acquired by ultra-wideband positioning system；
Incremental data calculates step, for according to the encoder data and ultra-wideband data of the last moment stored and
The encoder data at current time collected and ultra-wideband data calculate mileage increment and positional increment；And
Location information appraisal procedure, for judging the encoder number according to mileage increment calculated and positional increment
According to whether abnormal with the ultra-wideband data, so that it is determined that using Unscented kalman filtering (UKF) method, dead reckoning method or
The ultra wide band posture information that is obtained by the ultra-wideband positioning system obtains the robot in the location information at current time.
According to embodiment, if it is zero and the position that the location information appraisal procedure, which includes: the mileage increment,
Increment is not zero, then judges that the encoder data is normal and the ultra-wideband data is abnormal, so that it is determined that using the boat
Position projectional technique obtains the robot in the position and course at current time, wherein obtained using the dead reckoning method
The robot is obtained the step of the position at current time and course include: bookbinding course misalignment, so that the boat position pushes away
Calculation method calculates the robot at current time using the encoder data at current time and the course misalignment bound
Position and course.
According to embodiment, if the location information appraisal procedure includes: that the positional increment is less than predetermined value and institute
The absolute value for stating mileage increment is more than or equal to the positional increment of prearranged multiple, then judge the encoder data it is abnormal and
The ultra-wideband data is normal, thus using the ultra wide band posture information obtain the robot the position at current time with
And the course at the current time determined by the electronic compass.
According to embodiment, make a reservation for if the absolute value that the location information appraisal procedure includes: the mileage increment is less than
It is worth and the positional increment is more than or equal to the absolute value of the mileage increment of prearranged multiple, then judges the encoder data
The normal and described ultra-wideband data is abnormal, so that it is determined that obtaining the robot current using the dead reckoning method
The position and course at moment, wherein obtaining position and boat of the robot at current time using the dead reckoning method
To include: bookbinding course misalignment the step of so that the dead reckoning method using current time encoder data and
The course misalignment bound calculates the robot in the position and course at current time.
According to embodiment, make a reservation for if the absolute value that the location information appraisal procedure includes: the mileage increment is less than
It is worth and the positional increment is less than the absolute value of the mileage increment of prearranged multiple, then judges that the encoder data is normal
And the ultra-wideband data is normal, to be existed using the Unscented kalman filtering (UKF) method to obtain the robot
The position and course at current time, wherein being worked as using the Unscented kalman filtering (UKF) method to obtain the robot
The position and course at preceding moment include the step that the course data at current time is acquired by the electronic compass being arranged in robot
Suddenly, so that the Unscented kalman filtering (UKF) method uses encoder data, ultra-wideband data and the boat at current time
The robot is calculated to data in the position at current time, course and dead reckoning misalignment.
According to embodiment, in the case where judging the normal encoder data and the ultra-wideband data exception, such as
The absolute value that fruit continuous several times meet the mileage increment is less than predetermined value and the positional increment is less than the institute of prearranged multiple
The absolute value of mileage increment is stated, then judges that the encoder data is normal and the ultra-wideband data is normal, to use institute
Unscented kalman filtering (UKF) method is stated to obtain the robot in the position and course at current time, wherein using described
Unscented kalman filtering (UKF) method is arranged including passing through in machine to obtain the robot in the position at current time and course
The step of course data at the electronic compass acquisition current time on device people, so that the Unscented kalman filtering (UKF) side
Method calculates the robot using the encoder data at current time, ultra-wideband data and course data at current time
Position, course and dead reckoning misalignment.
According to embodiment, if the absolute value that the location information appraisal procedure includes: the mileage increment is more than or equal to
Predetermined value and the positional increment are more than or equal to the predetermined value, then judge that the encoder data is abnormal and the ultra-wide
Band data exception, to stop calculating position data and course data and output upper a period of time of the robot at current time
The position and course at quarter.
According to embodiment, the data storing steps include: the storage robot obtained in the position at current time
It sets, course and course misalignment are with the calculating for subsequent time.
According to an embodiment of the invention, the multiple is preferably 10 times, and the predetermined value is preferably 15cm.
According to an embodiment of the invention, the mileage increment ds is calculated according to the following formula:
Wherein, L=π D η P is the proportionality coefficient of dead reckoning, and wherein encoder accuracy is P (unit: every pulse
Revolution PPR), the reduction ratio of driving motor is η, and wheel diameter is D (unit: m), and two vehicle wheel spacing are w (unit: m)；And
NlAnd NrFor last moment k-1 to the pulse increment of current time k left and right wheels encoder output.
According to an embodiment of the invention, the positional increment dl is calculated according to the following formula:
Wherein, (xk-1, yk-1) be previous moment k-1 ultra wide band position, (xk, yk) be current time k ultra wide band position
It sets.
According to an embodiment of the invention, the dead reckoning method obtains robot at current time according to the following formula
Position data and course data:
Wherein, (xdk, ydk) andFor the position and course of the robot of current time k, (xdk-1, ydk-1) and
For the position and course of the robot of last moment k-1, andFor course deviation,It is
White Gaussian noise.
Detailed description of the invention
Fig. 1 is the overview flow chart of robot indoor orientation method according to an embodiment of the present invention.
Specific embodiment
Fig. 1 shows the overview flow chart of robot indoor orientation method according to an embodiment of the present invention.As shown in Figure 1,
In the case where the encoder data and the ultra-wideband data that have obtained last moment, by the left and right that driving robot is arranged in
The photoelectric encoder of the shaft end of the motor of wheel acquires the encoder data at current time and is adopted by ultra-wideband positioning system
Collect the ultra-wideband data at current time, the sampling interval is, for example, 100ms.In being calculated separately in the sampling interval based on above-mentioned data
Cheng Zengliang ds and positional increment dl.Location information availability is judged according to ds, dl, and takes different positioning strategies:
When judging dead reckoning exception according to ultra-wideband data, usually wheel seriously skids or dallies, at this time with super
Subject to the posture information of broadband；
When ultra-wideband data and encoder data are in valid value range, positioning calculation is combined by UKF at this time,
And estimate the misalignment of dead reckoning；
When judging ultra-wideband data exception according to encoder information, possible ultra-broadband signal is blocked, or reaches letter
Number effective coverage boundary is subject to dead reckoning posture information (need initial binding navigate position misalignment) at this time.
The calculating of ds, dl described further below, the assessment of location information, UKF algorithm and dead reckoning method:
1, ds, dl calculation method
Remember that two encoder accuracies are P (unit: every pulse revolution PPR), the reduction ratio of driving motor is η, wheel diameter
For D (unit: m), the wheel spacing of two wheels is w (unit: m).L=π D η P is enabled, is the proportionality coefficient of dead reckoning.If
The pulse increment of k-1 to k moment left and right wheels encoder output is NlAnd Nr, then according to the mileage increment of encoder information calculating
The calculation formula of ds is as follows:
If the moment ultra wide band position k-1 is (xk-1, yk-1), the moment ultra wide band position k is (xk, yk), then it is taken a message according to ultra-wide
The calculation formula for ceasing the positional increment dl calculated is as follows:
2, location information is assessed
It is as follows according to the location information assessment level of ds and dl:
If ds=0, dl ≠ 0, robot should be at stationary state, and ultra wide band is since there are position jumps for signal disturbance
Become, be considered as " coded data is normal, ultra-wideband data abnormal ", location information is subject to dead reckoning；
If dl<15cm, | ds | there is phenomenon of skidding or dally in>=10dl, robot, be determined as " coded data is abnormal,
Ultra-wideband data is normal ", location information is subject to ultra wide band and is positioned；
If | ds |<15cm, dl>=10 | ds |, it is believed that ultra-wideband data determines that " coded data is just there are larger jump
Often, ultra-wideband data is abnormal ", location information is subject to dead reckoning；
Under " coded data is normal, and ultra-wideband data is abnormal " state, if continuous 10 satisfactions | ds | < 15cm, dl < 10
| ds |, then it is assumed that ultra wide band restores normal, determines " coded data is normal, and ultra-wideband data is normal ", location information is with UKF
It is quasi-；
If | ds | >=15cm, dl >=15cm, robot run more than the maximum speed upper limit, may be in shape out of control
State, stop position resolve and export the position and course of last moment.
3, UKF algorithm
(1) state equation and observational equation
Filter stateWherein (x, y) is the position coordinates of robot；For the current course of robot,
Including the robot course obtained according to dead reckoningIt is inclined with the course of the dead reckoning as caused by drive gap and skidding
DifferenceState equation is as follows:
Wherein,It is white Gaussian noise, COV [w (k), w (l)]=Q δkl。NR、NL
The respectively encoder pulse of left and right wheels driving motor can regard the control variable of state equation as.Above-mentioned state equation can be abbreviated
Are as follows:
Take measured value Z=[z1, z2, z3] it is respectively the XY axial coordinate of ultra-wideband detection and the course that electronic compass measures
(having been converted under ultra wide band location coordinate).It is as follows then to measure equation:
Z (k)=HX (k)+v (k) (8)
Wherein,
Measure noise v=[v1, v2, v3] it is white Gaussian noise, COV [v (k), v (l)]=R δkl。
UKF calculating process, which is divided into the calculating of Sigma point, one-step prediction and measurement updaue three parts, the process of filtering, is exactly
This three parts operation iterates.
(2) Sigma point calculates
Sigma sampled point calculation formula is as follows:
Scale factor λ=α2(n+ κ)-n, wherein n is state dimension, and κ is secondary scale factor, is usually taken to be 0.For
State error variance battle array when kth walks,Then representing matrixOn Square-Rooting Matrices the i-th row.
The weight setting calculated using each sampled point is as follows:
Wherein β=2.When for vector estimation, weighting coefficient is selectedWhen for square
When battle array estimation, weighting coefficient is selected
(3) one-step prediction
(4) measurement updaue
4, dead reckoning
The k moment is according to the position (x of robotdk, ydk) and courseRecurrence formula it is as follows:
Wherein, (xdk-1, ydk-1) andFor the position and course of the robot of last moment k-1, andFor boat
To deviation,It is white Gaussian noise.
As described above, the present invention provides in the robot chamber of the characteristics of combining ultra wide band positioning and dead reckoning a kind of
Localization method: when ultra-broadband signal is normal, using Unscented kalman filtering (Unscented Kalman Filter, UKF) side
Method carries out data fusion to ultra wide band, encoder, electronic compass information, to dead reckoning while obtaining position, course
Course misalignment is estimated；When ultra-broadband signal exception, pose resolving is carried out by dead reckoning, since misalignment can be with
Real-time compensation, therefore can guarantee the positioning and directing precision of dead reckoning.
Obviously, the above embodiment is merely an example for clearly illustrating the present invention, and is not to of the invention
The restriction of embodiment.For those of ordinary skill in the art, it can also be made on the basis of the above description
Its various forms of variation or variation.There is no necessity and possibility to exhaust all the enbodiments.And these belong to this hair
The obvious changes or variations that bright spirit is extended out are still in the protection scope of this invention.
Claims (8)
1. a kind of robot indoor orientation method, comprising:
Data storing steps, for storing the encoder data and ultra-wideband data of last moment；
Data collection steps, the photoelectric encoder of the shaft end for the motor by the way that the left and right wheels for driving the robot are arranged in
It acquires the encoder data at current time and acquires the ultra-wideband data at current time by ultra-wideband positioning system；
Incremental data calculates step, for according to the encoder data and ultra-wideband data of the last moment stored and being adopted
The encoder data at the current time of collection and ultra-wideband data calculate mileage increment and positional increment；And
Location information appraisal procedure, for judged according to mileage increment calculated and positional increment the encoder data and
Whether the ultra-wideband data is abnormal, so that it is determined that using Unscented kalman filtering method, dead reckoning method or by described super
The ultra wide band posture information that broadband positioning system obtains obtains the robot in the location information at current time.
2. robot indoor orientation method as described in claim 1, wherein if the location information appraisal procedure includes:
The mileage increment is zero and the positional increment is not zero, then judges that the encoder data is normal and the ultra wide band
Data exception, so that it is determined that the robot is obtained using the dead reckoning method in the position and course at current time,
It includes: that bookbinding course is lost that the robot is wherein obtained using the dead reckoning method in the position at current time and course
The step of quasi- angle, so that encoder data and the course misalignment bound of the dead reckoning method using current time
To calculate the robot in the position and course at current time.
3. robot indoor orientation method as described in claim 1, wherein if the location information appraisal procedure includes:
The positional increment is more than or equal to the positional increment of prearranged multiple less than the absolute value of predetermined value and the mileage increment,
Then judge that the encoder data is abnormal and the ultra-wideband data is normal, so that the ultra wide band posture information be used to obtain
The course at the current time that the robot is determined in the position at current time and the electronic compass by being arranged in robot.
4. robot indoor orientation method as described in claim 1, wherein if the location information appraisal procedure includes:
The absolute value of the mileage increment is less than predetermined value and the positional increment is more than or equal to the mileage increment of prearranged multiple
Absolute value, then judge that the encoder data is normal and the ultra-wideband data is abnormal, so that it is determined that using the boat position
Projectional technique obtains the robot in the position and course at current time, wherein obtained using the dead reckoning method
The robot is the step of the position at current time and course include: bookbinding course misalignment, so that the dead reckoning
Method calculates the robot at current time using the encoder data at current time and the course misalignment bound
Position and course.
5. robot indoor orientation method as described in claim 1, wherein if the location information appraisal procedure includes:
The absolute value of the mileage increment is less than predetermined value and the positional increment is exhausted less than the mileage increment of prearranged multiple
To value, then judge that the encoder data is normal and the ultra-wideband data is normal, to filter using the Unscented kalman
Wave method obtains the robot in the position and course at current time, wherein the Unscented kalman filtering method is used
It includes current by the electronic compass acquisition being arranged in robot that the robot, which is obtained, in the position at current time and course
The step of course data at moment, so that the Unscented kalman filtering method uses the encoder data at current time, surpasses
Wideband data and course data calculate the robot in the position at current time, course and dead reckoning misalignment.
6. robot indoor orientation method as claimed in claim 4, wherein judging that the encoder data is normal and institute
In the case where stating ultra-wideband data exception, if the absolute value that continuous several times meet the mileage increment is less than predetermined value and institute
Absolute value of the positional increment less than the mileage increment of prearranged multiple is stated, then judges that the encoder data is normal and described
Ultra-wideband data is normal, to obtain the robot in the position at current time using the Unscented kalman filtering method
And course, it is wrapped wherein obtaining the robot using the Unscented kalman filtering method in the position at current time and course
The step of course data at current time is acquired by the electronic compass being arranged in robot is included, so that the no mark karr
Graceful filtering method is calculated the robot using the encoder data at current time, ultra-wideband data and course data and worked as
Position, course and the dead reckoning misalignment at preceding moment.
7. robot indoor orientation method as described in claim 1, wherein if the location information appraisal procedure includes:
The absolute value of the mileage increment is more than or equal to predetermined value and the positional increment is more than or equal to the predetermined value, then judges institute
State that encoder data is abnormal and the ultra-wideband data is abnormal, to stop calculating the robot in the position at current time
Data and course data and the position and course for exporting last moment.
8. robot indoor orientation method according to any one of claims 1 to 6, wherein the data storing steps
It include: to store the robot obtained in the position at current time, course and course misalignment for subsequent time
Calculating.
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| CN108613671A (en) * | 2018-04-25 | 2018-10-02 | 东南大学 | A kind of intelligent grass-removing positioning device and method based on UWB positioning and flight path positioning |
| CN108680167B (en) * | 2018-05-16 | 2020-10-16 | 深迪半导体(上海)有限公司 | Indoor dead reckoning positioning method and system based on UWB and laser ranging |
| CN108733058B (en) * | 2018-05-28 | 2022-01-18 | 苏州光立智能装备技术有限公司 | Intelligent navigation system of unmanned trestle vehicle |
| CN108896049A (en) * | 2018-06-01 | 2018-11-27 | 重庆锐纳达自动化技术有限公司 | A kind of motion positions method in robot chamber |
| CN109341683A (en) * | 2018-06-29 | 2019-02-15 | 中国人民解放军海军工程大学 | Course based on the bis- labels of UWB calculates and its method for analyzing performance |
| CN110012419A (en) * | 2018-11-13 | 2019-07-12 | 斯沃德教育科技股份有限公司 | A kind of wearable localization method |
| CN111568304B (en) * | 2019-02-18 | 2023-09-01 | 北京奇虎科技有限公司 | Sweeping robot positioning method and device and sweeping robot |
| CN110186459B (en) * | 2019-05-27 | 2021-06-29 | 深圳市海柔创新科技有限公司 | Navigation method, mobile carrier and navigation system |
| CN110132270B (en) * | 2019-06-13 | 2021-08-31 | 深圳汉阳科技有限公司 | Positioning method of automatic snow sweeping device |
| CN112050811A (en) * | 2020-06-22 | 2020-12-08 | 华东理工大学 | Intelligent forklift track reckoning method based on encoder data |
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