CN106843206A - Assisted location method based on existing road network - Google Patents
Assisted location method based on existing road network Download PDFInfo
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- CN106843206A CN106843206A CN201611217566.5A CN201611217566A CN106843206A CN 106843206 A CN106843206 A CN 106843206A CN 201611217566 A CN201611217566 A CN 201611217566A CN 106843206 A CN106843206 A CN 106843206A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005259 measurement Methods 0.000 claims description 36
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 5
- 101100400452 Caenorhabditis elegans map-2 gene Proteins 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of assisted location method based on existing road network.The assisted location method based on existing road network includes the steps such as sign key point, sign range data, range finding, calibration.The assisted location method based on existing road network that the present invention is provided solves the indoor positioning technologies positioning precision technical problem not high of prior art.
Description
Technical field
The present invention relates to navigator fix field, and in particular to a kind of assisted location method based on existing road network.
Background technology
Current indoor navigation often according to identification self-position, is then navigated with map road network coordinate pair ratio, because
And navigate whether it is critical only that accurate positioning.
The indoor orientation method of prior art mainly includes：The localization method of view-based access control model, based on wireless beacon or access
The method of point location, the positioning method based on inertial equipment and sensor, this three major types.
The wherein localization method of view-based access control model, the degree of accuracy of identification is easily influenceed by light change, and easily produces
Cumulative errors are higher to robot calculation processing unit configuration requirement；
, there is contradiction between positioning precision and distance of reaction in the method based on wireless beacon or Site Survey.Technology not enough into
It is ripe, the problems such as have certain positioning time delay.
Positioning method based on inertial equipment and sensor, then have that sensor accuracy is not high, and inertia measurement meter is easily produced
The a large amount of accumulated errors of life.
The content of the invention
It is the indoor positioning technologies positioning precision for solving prior art technical problem not high, the present invention provides a kind of raising
The assisted location method based on existing road network of positioning precision.
A kind of assisted location method based on existing road network, comprises the following steps：
Step one：One navigating robot is provided, and a road network map for treating navigation area for being used for the navigating robot；
The road network map includes mulitpath, and the navigating robot runs according to the path；
Step 2：Each path is included that starting point, terminal, flex point are key point in interior multiple location marks, and is marked
Show the distance between each key point and periphery barrier, be designated as unlabeled data；
Step 3：Navigating robot measurement in real time and the distance of periphery barrier, are designated as measurement data；
Step 4：Determine that the navigating robot is presently in path, by the measurement data and the corresponding unlabeled data
Compare, correct running route：
The navigating robot along the path with linear running when：
The measurement data of its fore-and-aft direction and unlabeled data are contrasted, determines the navigating robot in the path
Position；
The measurement data of its left and right directions and the unlabeled data are contrasted, amendment skew；
The navigating robot along the path with curve motion when：
The measurement data dynamic change of its fore-and-aft direction；
The measurement data of its left and right directions and the unlabeled data are contrasted, amendment skew；
Step 5：When the measurement data is consistent with a certain unlabeled data, the navigating robot selection performs steering
Action is kept straight on, and is redefined and be presently in path；
Step 6：Repeating said steps four and the step 5, until arriving at.
In a kind of preferred embodiment of the assisted location method based on existing road network that the present invention is provided, the guiding aircraft
Device people's outside upright is provided with multiple range finding faces, and each range finding face is equipped with multiple laser ranging units, measures in real time and week
The distance of side barrier.
In a kind of preferred embodiment of the assisted location method based on existing road network that the present invention is provided, the Laser Measuring
Range operation is persistently carried out away from unit, often measuring a number of range data just carries out a Data Fusion；
The Data Fusion is：Maximum and minimum value in multiple range data is removed, remaining data is made even
Average is used as range measurement；
The minimum value in the range measurement that multiple laser ranging units are measured is taken as the measurement data.
In a kind of preferred embodiment of the assisted location method based on existing road network that the present invention is provided, the range finding face
Three laser ranging units are provided with, three laser ranging units are set in isosceles triangle, the bottom of the isosceles triangle
Angle is 5 °, and base is 45 ° with horizontal plane angle.
In a kind of preferred embodiment of the assisted location method based on existing road network that the present invention is provided, each mark
Registration is according to the range data including front, rear, left and right four direction respectively；
The navigating robot is provided with four range finding faces, the measurement data include front, rear, left and right four direction away from
From data.
In a kind of preferred embodiment of the assisted location method based on existing road network that the present invention is provided, according to operation side
To difference, each key point include unlabeled data described in positive, reverse two groups.
Compared to prior art, before the assisted location method based on existing road network that the present invention is provided passes through to obtain,
Afterwards, the left and right measurement data is contrasted with the unlabeled data, realizes the positioning to mobile target and navigation.
Both possessed range accuracy very high, but also with the low advantage of simple structure, cost of implementation.And be easy to indoor with other
Navigation mode is combined, and effectively increases positioning precision.
Brief description of the drawings
Fig. 1 is the implementation schematic diagram of the assisted location method based on existing road network that the present invention is provided；
Fig. 2 is the structural representation in the range finding face in the assisted location method based on existing road network that the present invention is provided.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
Embodiment 1：
Please refer to Fig. 1 and Fig. 2, wherein Fig. 1 is the implementation of the assisted location method based on existing road network that the present invention is provided
Schematic diagram, Fig. 2 is the structural representation in the range finding face in the assisted location method based on existing road network that the present invention is provided.
The assisted location method based on existing road network is comprised the following steps：
Step one：One navigating robot 1 is provided, and a road network map 2 for treating navigation area for being used for the navigating robot.
The navigating robot 1 is respectively equipped with a range finding face 11 in front, rear, left and right, and each range finding face 11 is equipped with
Three laser ranging units 12, three laser ranging units 12 are set in isosceles triangle, the bottom of the isosceles triangle
Angle is 5 °, and base is 45 ° with horizontal plane angle.
The road network map 2 includes first path 21, the second path 22, the 3rd path 23, wherein second path 22
The middle part of the first path 21 is connected to, the 3rd path 23 is curved path, is connected to the end of the first path 21.
The navigating robot 1 runs according to the road network map 2.
Step 2：By the first path 21, second path 22, the 3rd path 23 starting point, terminal, flex point
Key point is denoted as, A, B, C, D, E are designated as respectively.
The distance between barrier of each key point and front, rear, left and right is indicated, unlabeled data is designated as.If crucial
Point A operates to forward direction to key point D and to key point E, otherwise for reverse：
Key point A：
It is positive：Fb1=100、Bb1=5、Lb1=10、Rb1=10；
Reversely：F`b1=5、B`b1=100、L`b1=10、R`b1=10。
Key point B：
It is positive：Fb2=50、Bb2=50、Lb2=10、Rb2=10；
Reversely：F`b2=50、B`b2=50、L`b2=10、R`b2=10。
Key point C：
……。
Step 3：The measurement of the continuation of laser ranging unit 12 of the surrounding of the navigating robot 1 and periphery obstacle
The distance of thing.5 range data are often measured, just maximum therein and minimum value is removed, three item datas is average under remainder
It is range measurement to be worth.
Each range finding face 11 only takes the minimum value conduct that three laser ranging units 12 are measured in range measurement
Measurement data, is designated as Fc、Bc、Lc、Rc。
Step 4：Determine the navigating robot 1 is currently at the first path 21, and run to key point B, will
The measurement data is compared with the unlabeled data of key point A and key point B：
Respectively by FcWith Fb1And Fb2Contrasted, BcWith Bb1And Bb2Contrasted, determined that the navigating robot 1 is current specific
Position；
Respectively by LcWith Lb1And Lb2Contrasted, RcWith Rb1And Rb2Contrasted, corrected the left and right directions of navigating robot 1
Skew.
Step 5：Work as Fc、Bc、Lc、RcWith Fb2、Bb2、Lb2、Rb2When consistent, the navigating robot 1 is run to key point B.
The selection of the navigating robot 1 performs go to action.
Redefine and be currently at second path 22, and run to key point D, by the measurement data and key point
The unlabeled data of B and key point D is compared：
Specific steps are similar with the step 4, will not be described here.
Step 6：The continuous service of the navigating robot 1 is to key point D.
Embodiment 2：
Fig. 1 is referred to, is the implementation schematic diagram of the assisted location method based on existing road network that the present invention is provided.
Step one is consistent with embodiment 1 to step 4, will not be described here.
Step 5：Work as Fc、Bc、Lc、RcWith Fb2、Bb2、Lb2、Rb2When consistent, the navigating robot 1 is run to key point B.
The selection of the navigating robot 1 continues to keep straight on.
It is determined that current run still in the first path 21 to key point C, by the measurement data and key point B and
The unlabeled data of key point C is compared：
Specific steps are similar with the step 4, will not be described here.
Work as Fc、Bc、Lc、RcWith Fb3、Bb3、Lb3、Rb3When consistent, the navigating robot 1 is run to key point C.It is described to lead
Boat robot 1 continues arrival curve section of keeping straight on.
Redefine and be currently at the 3rd path 23, and run to key point E, by the measurement data and key point
The unlabeled data of C and key point E is compared：
FcAnd BcIn dynamic change, without reference value；
By LcWith Lb3And Lb5Contrasted, corrected the side-play amount when navigating robot 1 runs.
Step 6：The continuous service of the navigating robot 1 is to key point E.
Compared to prior art, before the assisted location method based on existing road network that the present invention is provided passes through to obtain,
Afterwards, the left and right measurement data is contrasted with the unlabeled data, realizes the positioning to mobile target and navigation.
Both possessed range accuracy very high, but also with the low advantage of simple structure, cost of implementation.And be easy to indoor with other
Navigation mode is combined, and effectively increases positioning precision.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright description is made, or directly or indirectly it is used in other related technology necks
Domain, is similarly included within scope of patent protection of the invention.
Claims (6)
1. a kind of assisted location method based on existing road network, it is characterised in that comprise the following steps：
Step one：One navigating robot is provided, and a road network map for treating navigation area for being used for the navigating robot；
The road network map includes mulitpath, and the navigating robot runs according to the path；
Step 2：Each path is included that starting point, terminal, flex point are key point in interior multiple location marks, and is marked
Show the distance between each key point and periphery barrier, be designated as unlabeled data；
Step 3：Navigating robot measurement in real time and the distance of periphery barrier, are designated as measurement data；
Step 4：Determine that the navigating robot is presently in path, by the measurement data and the corresponding unlabeled data
Compare, correct running route：
The navigating robot along the path with linear running when：
The measurement data of its fore-and-aft direction and unlabeled data are contrasted, determines the navigating robot in the path
Position；
The measurement data of its left and right directions and the unlabeled data are contrasted, amendment skew；
The navigating robot along the path with curve motion when：
The measurement data dynamic change of its fore-and-aft direction；
The measurement data of its left and right directions and the unlabeled data are contrasted, amendment skew；
Step 5：When the measurement data is consistent with a certain unlabeled data, the navigating robot selection performs steering
Action is kept straight on, and is redefined and be presently in path；
Step 6：Repeating said steps four and the step 5, until arriving at.
2. the assisted location method based on existing road network according to claim 1, it is characterised in that：The navigating robot
Outside upright is provided with multiple range finding faces, and each range finding face is equipped with multiple laser ranging units, and measurement in real time hinders with periphery
Hinder the distance of thing.
3. the assisted location method based on existing road network according to claim 2, it is characterised in that：The laser ranging list
Unit persistently carries out range operation, and often measuring a number of range data just carries out a Data Fusion；
The Data Fusion is：Maximum and minimum value in multiple range data is removed, remaining data is made even
Average is used as range measurement；
The minimum value in the range measurement that multiple laser ranging units are measured is taken as the measurement data.
4. the assisted location method based on existing road network according to claim 2, it is characterised in that：The range finding face is provided with
Three laser ranging units, three laser ranging units are set in isosceles triangle, and the base angle of the isosceles triangle is
5 °, base is 45 ° with horizontal plane angle.
5. the assisted location method based on existing road network according to claim 2, it is characterised in that：Each sign number
According to the range data including front, rear, left and right four direction respectively；
The navigating robot is provided with four range finding faces, the measurement data include front, rear, left and right four direction away from
From data.
6. the assisted location method based on existing road network according to claim 5, it is characterised in that：According to traffic direction
Difference, each key point includes unlabeled data described in positive, reverse two groups.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611217566.5A CN106843206B (en) | 2016-12-26 | 2016-12-26 | Auxiliary positioning method based on existing road network |
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| CN201611217566.5A CN106843206B (en) | 2016-12-26 | 2016-12-26 | Auxiliary positioning method based on existing road network |
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| CN112015184A (en) * | 2020-09-08 | 2020-12-01 | 广东博智林机器人有限公司 | Mobile equipment collision detection method and device and storage medium |
| CN112033395A (en) * | 2020-09-08 | 2020-12-04 | 广东博智林机器人有限公司 | Mobile platform positioning method and device, electronic equipment and storage medium |
| CN112215443A (en) * | 2020-12-03 | 2021-01-12 | 炬星科技（深圳）有限公司 | Robot rapid routing customization method and device |
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Denomination of invention: Auxiliary positioning method based on existing road network Effective date of registration: 20231007 Granted publication date: 20200221 Pledgee: Changsha Bank Co.,Ltd. Xiangtan County Branch Pledgor: HUNAN AOPAI AUTOMATION EQUIPMENT Co.,Ltd. Registration number: Y2023980059864 |
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