CN107782304A - The localization method and device of mobile robot, mobile robot and storage medium - Google Patents
The localization method and device of mobile robot, mobile robot and storage medium Download PDFInfo
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- CN107782304A CN107782304A CN201711015330.8A CN201711015330A CN107782304A CN 107782304 A CN107782304 A CN 107782304A CN 201711015330 A CN201711015330 A CN 201711015330A CN 107782304 A CN107782304 A CN 107782304A
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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
- G01C21/005—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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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
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Abstract
The invention discloses a kind of localization method of mobile robot and device, mobile robot and storage medium.This method includes：The original location information of mobile robot is obtained, the original location information includes the upper pose of the first detection pose, the second detection pose respectively exported from locating module and the mobile robot in a upper locating periodically of master positioning module output；Determined if based on the described second detection pose described respectively from locating module in the presence of effectively from locating module, then using setting blending algorithm at least two progress fusion calculations in the described first detection pose, the second detection pose and a upper pose effectively exported from locating module, to determine current pose of the mobile robot in current locating periodically.The embodiment of the present invention can reduce the position error of mobile robot, improve the positioning precision of mobile robot and the accuracy of Mobile Robotics Navigation by using above-mentioned technical proposal.
Description
Technical field
The present invention relates to the localization method and dress of localization for Mobile Robot technical field, more particularly to a kind of mobile robot
Put, mobile robot and storage medium.
Background technology
With the development of automatic control technology, mobile robot has also more and more been applied to production, military kimonos
The fields such as business, to substitute manpower to perform the cumbersome degree of operation intensity, operation and/or dangerous higher etc. task.
During robot autonomous operation, the positional information for obtaining mobile robot is generally required, so as to according to this
It is set in advance by original position to final position that positional information determines whether the current location residing for mobile robot is located at
On navigation way, and when being not located in the current location residing for mobile robot on the navigation way, to the reality of mobile robot
Border course carries out correction processing, and the location of mobile robot is corrected back in navigation way again, and, moving
When current location residing for mobile robot is located on the navigation way, control mobile robot continues to carry out according to the navigation way
Traveling.As can be seen here, accurate reliable navigation information is the basis for realizing mobile robot AUTONOMOUS TASK.
At present, the positioning method of common mobile robot mainly has GPS location, laser positioning and vision system (such as to take the photograph
Camera etc.) positioning etc., still, no matter using which kind of above-mentioned positioning method, its identified location data, which typically can all exist, to be missed
The technical problem that difference is larger, precision is relatively low, causes the accuracy during Mobile Robotics Navigation relatively low, can not meet user's
Use demand.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of localization method and device, mobile robot and storage medium, with solution
The technical problem that certainly localization for Mobile Robot error is larger, precision is relatively low in the prior art.
In a first aspect, the embodiments of the invention provide a kind of localization method of mobile robot, including：
The original location information of mobile robot is obtained, the original location information includes the first of master positioning module output
Detect pose, respectively from the second detection pose of locating module output and the mobile robot upper the one of a upper locating periodically
Pose；
If based on described second detection pose determine it is described respectively from locating module exist effectively from locating module, then adopt
With setting blending algorithm to described first detection pose, it is described effectively from locating module export second detection pose and it is described on
At least two progress fusion calculations in one pose, to determine present bit of the mobile robot in current locating periodically
Appearance.
Second aspect, the embodiments of the invention provide a kind of positioner of mobile robot, including：
Location information acquisition module, for obtaining the original location information of mobile robot, the original location information bag
Include the first detection pose of master positioning module output, respectively from the second detection pose of locating module output and the mobile machine
A upper pose of the people in a upper locating periodically；
First locating module, for based on the described second detection pose determine it is described respectively exist from locating module it is effective
From locating module when, using setting blending algorithm to described first detection pose, it is described effectively from locating module output second
At least two progress fusion calculations in pose and a upper pose are detected, to determine that the mobile robot is working as prelocalization
Current pose in cycle.
The third aspect, the embodiments of the invention provide a kind of mobile robot, including：
One or more processors；
Memory, for storing one or more programs；
At least two locating modules, for detecting the pose of mobile robot；
When one or more of programs are by one or more of computing devices so that one or more of processing
Device realizes the localization method of the mobile robot described in the embodiment of the present invention.
Fourth aspect, the embodiment of the present invention additionally provide a kind of computer-readable recording medium, are stored thereon with computer
Program, the program realize the localization method of the mobile robot described in the embodiment of the present invention when being executed by processor.
In the technical scheme of above-mentioned localization for Mobile Robot, the first inspection of mobile robot master positioning module output is obtained
Location appearance, the upper pose of pose and mobile robot in a upper locating periodically respectively is detected from the second of locating module output,
Determine respectively exist from locating module effectively from locating module, then using setting blending algorithm if based on the second detection pose
To the first detection pose, effectively carry out fusion meter from least two in the second detection pose of locating module and a upper pose
Calculate, to determine current pose of the mobile robot in current locating periodically.The technical scheme of above-mentioned localization for Mobile Robot, base
In the detection pose and mobile robot of multiple locating modules working as mobile robot is determined in the pose of a upper locating periodically
Preceding pose, the position error of mobile robot can be reduced, improve the positioning precision and Mobile Robotics Navigation of mobile robot
Accuracy, and then shorten mobile robot reach home the required time, reduce mobile robot because of position error and and its
His object produce collision the occurrence of, reduce the loss of mobile robot, improve the service life of mobile robot.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, of the invention is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is the schematic flow sheet of the localization method for the mobile robot that the embodiment of the present invention one provides；
Fig. 2 is the schematic flow sheet of the localization method for the mobile robot that the embodiment of the present invention two provides；
Fig. 3 is the schematic flow sheet of the localization method for the preferable mobile robot that the embodiment of the present invention three provides；
Fig. 4 is the structured flowchart of the positioner for the mobile robot that the embodiment of the present invention four provides；
Fig. 5 is the structural representation for the mobile robot that the embodiment of the present invention five provides.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that in order to just
Part related to the present invention rather than full content are illustrate only in description, accompanying drawing.
Embodiment one
The embodiment of the present invention one provides a kind of localization method of mobile robot.This method can be determined by mobile robot
Position device performs, wherein, the device can be realized by software and/or hardware, can typically be integrated in mobile robot.Fig. 1 is this
The schematic flow sheet of the localization method for the mobile robot that inventive embodiments one provide, as shown in figure 1, this method includes：
S101, the original location information for obtaining mobile robot, the original location information export including master positioning module
First detection pose, respectively from locating module output second detection pose and the mobile robot in a upper locating periodically
A upper pose.
Wherein, the first detection pose can be the mobile machine that the detection of current time mobile robot master positioning module determines
The pose of people；Second detection pose can be the mobile robot that current time mobile robot determines from locating module detection
Pose；A upper pose can be the pose of the mobile robot that finally determines in a upper locating periodically, i.e., through a upper locating periodically
The pose of the mobile robot finally given after fusion calculation., can be each fixed with active obtaining mobile robot in the present embodiment
The detection pose of position module (master positioning module and from locating module), it be pressed for example, mobile robot can be reached at current time
During the positioning moment set according to the cycle, the detecting position of the mobile robot of each locating module output is obtained from setting storage location
Appearance, or, when reaching the positioning moment that mobile robot was set according to the cycle at current time, control mobile robot respectively to position
Module is detected to the pose of mobile robot and obtains the detection pose of each locating module detection output；Can also passively it connect
The detection pose of each locating module output of mobile robot is received, for example, each locating module hair of mobile robot can received
After starting to obtain a upper pose for a locating periodically in mobile robot during the detection pose for the mobile robot sent and performing
Continuous step, accordingly, when can set the mobile robot to reach the positioning that mobile robot was set according to the cycle at current time
During quarter the pose of automatic detection mobile robot and by resulting detection pose be sent to obtain the original positioning of mobile robot
The corresponding function module of information, is not restricted herein.
In the present embodiment, pose can be understood as position and the posture of mobile robot, wherein, the position of mobile robot
It can be indicated in the form of position coordinates (such as x-axis coordinate and y-axis coordinate), the posture of mobile robot can be with angle
The form of (radian) is indicated.It is exemplary, before being positioned to mobile robot, can be patterned in advance and
The origin position of coordinate system, the unit of two reference axis and the setting mobile machine of description position of mobile robot are determined during composition
0 degree of Angle Position that people rotates in the horizontal plane, so as to phase that can be based on mobile robot with origin during actual location
The position coordinates and angle of mobile robot are determined to position and with the angle of 0 degree of Angle Position, and then determines mobile robot
Pose.
Exemplary, can when obtaining detection pose (the first detection pose and the second detection pose) of mobile robot
The master positioning module of mobile robot is determined to be first according to the method for setting and from locating module, then obtains movement respectively again
The the first detection pose and mobile robot of robot master positioning module detect pose from the second of locating module；Can also be first
First respectively obtain each locating module of mobile robot detection pose, then determine again mobile robot master positioning module and from
Locating module, and the detection pose of master positioning module is defined as the first detection pose, will be true from the detection pose of locating module
It is set to the second detection pose.
S102, if based on described second detection pose determine it is described respectively from locating module exist effectively from positioning mould
Block, then using setting blending algorithm to the described first detection pose, the second detection pose effectively exported from locating module
Fusion calculations are carried out with least two in a upper pose, to determine the mobile robot in current locating periodically
Current pose.
In the present embodiment, in order to avoid testing result appearance wrong (such as error is excessive) from locating module to final true
The influence of the current pose of fixed mobile robot, can only the use of detection pose be the effective from the of locating module of virtual value
Two detection poses are merged with the first detection pose, a upper pose, so as to be obtained after improving fusion to greatest extent current
The accuracy of pose.Wherein it is determined that it is a certain from locating module whether be that can effectively enter as needed from the method for locating module
Row setting, for example, can be based only on this determines the validity from locating module from the second detection pose of locating module output,
If the second detection pose is non-null value (exporting null value assuming that being set in advance in when can not detect pose) or non-default value
When (exporting default value assuming that being set in advance in when can not detect pose), it is determined that should be effectively from positioning mould from locating module
Block；It can also determine to be somebody's turn to do from fixed from the second detection pose of locating module output and a upper pose for mobile robot based on this
The validity of position module, if the second detection pose is non-null value or non-default value, and the second detection pose is relative to upper
One pose is within rational change range, it is determined that second locating module is effectively from locating module.In view of identified
, optionally, can be simultaneously based on the second detection pose from locating module and mobile machine effectively from the accuracy of locating module
The upper pose of people determines the validity from locating module.
In the present embodiment, can be only to the first detection pose, effectively from fixed when determining the current pose of mobile robot
Certain two progress fusion calculations in the second detection pose and a upper pose of position module output,；It can also be detected to first
Pose, fusion calculation effectively is carried out from the second detection pose of locating module output and a upper pose, be not restricted herein.
In order to further improve the accuracy of localization for Mobile Robot information (i.e. the current pose of mobile robot), preferably
Can be to the first detection pose, effectively from the second detection pose and upper pose progress fusion calculation of locating module output.This
When, can be first to the first detection pose, effectively from any in the second detection pose of locating module output and a upper pose
Two progress first time fusion calculations, are then again melted the pose that first time fusion calculation obtains and other one for the second time
It is total to calculate, and the result based on second of fusion calculation determines the current pose of mobile robot.Optionally, it is determined that moving machine
During the current pose of device people, the described first detection pose and a upper pose can be carried out using the first blending algorithm first
Fusion calculation, to obtain the main fusion pose of the master positioning module；Then using the second blending algorithm to the main fusion position
Appearance and it is described effectively carry out fusion calculation from the second of locating module the detection pose, to determine that the mobile robot is fixed currently
Current pose in bit period.Wherein, the first blending algorithm and the second blending algorithm can be selected flexibly as needed, such as can be with
Fusion calculation is carried out using the methods of Bayesian filter and/or Kalman filtering, also, the first blending algorithm and the second fusion are calculated
Method can be with identical or differ.
The localization method for the mobile robot that the present embodiment provides, obtain the first of the output of mobile robot master positioning module
Detect pose, respectively from the second detection pose and mobile robot of locating module output at upper one of a upper locating periodically
Appearance, when determining respectively from locating module to exist effectively from locating module based on the second detection pose, calculated using setting fusion
Method detects pose and upper pose progress fusion calculation to the first detection pose, effectively from the second of locating module, to determine to move
Current pose of the mobile robot in current locating periodically.The present embodiment is by using above-mentioned technical proposal, based on multiple positioning
The detection pose and mobile robot of module determine the current pose of mobile robot in the pose of a upper locating periodically, can be with
Reduce the position error of mobile robot, improve the positioning precision of mobile robot and the accuracy of Mobile Robotics Navigation, enter
And shorten mobile robot and reach home the required time, reduce mobile robot and produce and touch with other objects because of position error
The occurrence of hitting, the loss of mobile robot is reduced, improve the service life of mobile robot, that improves user uses body
Test.
On the basis of above-described embodiment, the localization method of the mobile robot can also include：If based on described
Second detection pose determine it is described respectively from locating module be not present effectively from locating module, then using the first blending algorithm to institute
State the first detection pose and a upper pose carries out fusion calculation, to obtain the main fusion pose of the master positioning module, and
The main fusion pose is defined as current pose of the mobile robot in current locating periodically., can in the present embodiment
With in the absence of effectively from locating module when, using the blending algorithm of setting to the first detection information of master positioning module and upper one
Pose carries out fusion calculation, and the pose obtained based on fusion calculation is defined as the current pose of mobile robot, so that it is guaranteed that
Be not present in mobile robot effectively from locating module when can also obtain the higher current pose of accuracy, improve mobile machine
People positions and the accuracy of navigation.
Embodiment two
A kind of schematic flow sheet of the localization method for mobile robot that Fig. 2 provides for the embodiment of the present invention two, this implementation
Example optimizes on the basis of above-described embodiment, in the present embodiment, " will be detected using the first blending algorithm to described first
Pose and a upper pose carry out fusion calculation, to obtain the main fusion pose of the master positioning module " it is optimized for：Obtain institute
The present speed of mobile robot is stated, the present speed includes current linear velocity and current angular velocity；According to the current speed
Degree and a upper pose calculate theoretical pose of the mobile robot in the current detection cycle；Using the first blending algorithm pair
The theoretical pose and the first detection pose carry out fusion calculation, to obtain the main fusion pose of the master positioning module,
First blending algorithm is expanded Kalman filtration algorithm.
Further, the localization method for the mobile robot that the present embodiment provides can also include：According to mobile robot
The sample variance of each locating module detection pose determines the master positioning module of the mobile robot and from locating module.
Accordingly, as shown in Fig. 2 the localization method for the mobile robot that the present embodiment provides includes：
S201, the sample variance for detecting according to each locating module of mobile robot pose determine the master of the mobile robot
Locating module and from locating module.
In the present embodiment, the sample variance that detection pose can be exported based on each locating module of mobile robot determines to move
The master positioning module of mobile robot and from locating module, for example, can be defined as moving by the minimum locating module of sample variance
The master positioning module of robot, and other locating modules in mobile robot in addition to master positioning module are defined as from positioning
Module.Wherein, sample variance can gather multigroup sample data in advance before the first use of mobile robot and determine, can also
Determined in navigation procedure based on the detection pose that each detection module output in locating periodically number is set before current period, or
Person, the update cycle of master positioning module is preset, when reaching the renewable time according to cycle set at current time, based on each
Each detection pose of the locating module within a upper update cycle determines the sample variance of each locating module.
Optionally, the sample variance that pose is detected according to each locating module of mobile robot determines the mobile machine
The master positioning module of people and from locating module, including：Obtain multigroup positioning sample of localization for Mobile Robot module, the positioning
Sample includes the detection pose of each locating module, and the locating module includes motor encoder, laser sensor, vision positioning mould
Block and d GPS locating module；Calculate the sample of each locating module detection pose of the mobile robot respectively according to the detection pose
This variance；The minimum locating module of the sample variance is defined as to the master positioning module of the mobile robot, and by other
Locating module be defined as the mobile robot from locating module.
Wherein, acquired multigroup positioning sample can be the multigroup sample data gathered in advance, or this is fixed
The positioning sample in setting locating periodically number or the positioning sample in a upper update cycle, are not restricted herein before position.For
Mobile robot is reduced it is determined that main fixed on the premise of determined master positioning module and accuracy from locating module is ensured
Position module and from the amount of calculation needed for locating module, it is preferred that can be based on the positioning sample (i.e. upper one in a upper update cycle
The detection pose of each locating module output in update cycle) variance of each locating module of mobile robot is determined, and it is determined that moving
The master positioning module of mobile robot and the relevant information from locating module are stored in the storage location of mobile robot setting.This
When, multiple locating periodicallies are preferably comprised in a update cycle, the time span of a update cycle is preferably a positioning week
The integral multiple of phase time span.
S202, the original location information for obtaining mobile robot, the original location information export including master positioning module
First detection pose, respectively from locating module output second detection pose and the mobile robot in a upper locating periodically
A upper pose.
S203, if based on described second detection pose determine it is described respectively from locating module exist effectively from positioning mould
Block, then obtain the present speed of the mobile robot, and the present speed includes current linear velocity and current angular velocity.
Exemplary, the present speed of mobile robot can pass through the velocity sensor in mobile robot
(linear velocity trans and angular-rate sensor) detection determines, can also read the shifting of mobile robot motor feedback module return
The rotary speed information of each motor of mobile robot determines, is not restricted herein.
S204, the mobile robot calculated in the current detection cycle according to the present speed and the upper pose
Theoretical pose.
In the present embodiment, determining the method for mobile robot theory pose can be arranged as required to, for example, can basis
The information scores such as speed and acceleration of the upper pose and mobile robot for mobile robot in current locating periodically are true
Determine the theoretical pose of mobile robot；The theoretical pose of mobile robot can also be determined based on derivation model set in advance.
Convenience in view of determining mobile robot theory pose, it is preferred that derivation model set in advance can be based on and determine to move
The theoretical pose of mobile robot.For example, the situation that can be directed to mobile robot linear running and curvilinear motion is in advance movement
Robot sets straight line to derive model and circular arc and derives model, accordingly, it is determined that mobile robot theoretical pose when, can be with
Whether the current angular velocity for judging mobile robot first is 0, if the current angular velocity is 0, obtains the moving machine
The straight line of device people derives model, and the present speed and a upper pose are substituted into the straight line and derived in model, to adopt
Model, which is derived, with the straight line determines theoretical pose of the mobile robot in the current detection cycle；It is if described when anterior angle speed
Degree is not 0, then the circular arc for obtaining the mobile robot derives model, and the present speed and a upper pose are substituted into
The circular arc is derived in model, and reason of the mobile robot in the current detection cycle is determined to derive model using the circular arc
By pose.
Exemplary, when angular speed is 0, theoretical pose of the mobile robot in the current detection cycle can use as follows
Straight line derives model and calculates acquisition：
Wherein,The theoretical pose of the current locating periodically of mobile robot when being merged for main locating module,For movement
A upper pose for the upper locating periodically of robot；U=[V, W]TThe present speed of mobile robot is represented, V is mobile robot
Current linear velocity, W be mobile robot current angular velocity；εt=[εx,εy,εθ]TThe model error of model is derived for straight line,
It can be the Gaussian noise distribution that average is 0.FunctionConcrete form can be：
In formula, xt-1For the x-axis coordinate of a locating periodically in mobile robot, yt-1For a locating periodically in mobile robot
Y-axis coordinate, θt-1For the angle coordinate of a locating periodically in mobile robot, Δ t is the locating periodically length of mobile robot
T。
When angular speed is not 0, theoretical pose of the mobile robot in the current detection cycle can be pushed away using following circular arc
Guided mode type, which calculates, to be obtained：
Wherein, ε 't=[ε 'x,ε′y,ε′θ]TThe model error of model is derived for circular arc, it can be the Gauss that average is 0
Noise profile, functionConcrete form can be：
S205, using the first blending algorithm to the theoretical pose and it is described first detection pose carry out fusion calculation, with
The main fusion pose of the master positioning module is obtained, first blending algorithm is expanded Kalman filtration algorithm.
Exemplary, it can be calculated first according to information such as the linear velocities of mobile robot and determine mobile robot master positioning
The first kalman gain matrix (Jacobian matrix) when module merges, then being utilized according to expanded Kalman filtration algorithm should
First kalman gain matrix is calculated the theoretical pose of mobile robot and the first detection pose, obtains mobile robot
The main fusion pose of master positioning module.
S206, using the second blending algorithm to the main fusion pose and described effectively from the second detecting position of locating module
Appearance carries out fusion calculation, to determine current pose of the mobile robot in current locating periodically.
Wherein, the second blending algorithm can be determined as needed.Exemplary, when the second blending algorithm is expansion card
During Germania blending algorithm, the mobile robot master positioning module of determination mobile robot can be calculated first and effectively from positioning mould
The second kalman gain matrix (now the linear velocity of mobile robot could be arranged to 0) when block merges, then according to extension
Kalman filtering algorithm is using second kalman gain matrix to the main fusion pose of mobile robot and effective locating module
Second detection pose calculated, obtain the current pose of mobile robot master positioning module.
Herein, it should be pointed out that, can be according to advance when mobile robot effective has multiple from locating module
The fusion priority of setting is effectively merged main fusion pose according to random order, example with each from locating module successively
Such as, the second blending algorithm can be used main fusion pose with merging sequence first in highest priority or random sequence first
First is effectively merged from the second detection pose of locating module, with the fusion pose of generation first；Then using the second fusion
Algorithm is effectively after locating module and adjacent effectively from locating module with first first by the first fusion pose and order
Second effectively merged from the second of locating module the detection pose, with the fusion pose of generation second, by that analogy, until each
Untill effectively merging completion from the second of locating module the detection pose, and obtained pose will be merged for the last time and is defined as moving
The current pose of mobile robot.
The localization method for the mobile robot that the present embodiment provides, pose is detected according to each locating module of mobile robot
Sample variance determines the master positioning module of mobile robot and from locating module, obtains the original location information of mobile robot,
If exist in mobile robot effectively from locating module, the present speed of acquisition mobile robot, according to the present speed
The theoretical pose of mobile robot is calculated with a upper pose, using the first blending algorithm to the theoretical pose and mobile robot master
First detection pose of locating module carries out fusion calculation, obtains the main fusion pose of mobile robot master positioning module, uses
Second blending algorithm carries out fusion calculation to the main fusion pose and effectively from the second detection pose of locating module, to determine to move
Current pose of the mobile robot in current locating periodically.The present embodiment can be improved further by using above-mentioned technical proposal
The positioning precision of mobile robot and the accuracy of Mobile Robotics Navigation, improve the usage experience of user.
Embodiment three
The embodiment of the present invention three provides a kind of localization method of preferable mobile robot.This method can be by mobile machine
The positioner of people performs, wherein, the device can be realized by software and/or hardware, can typically be integrated in mobile robot.Figure
3 be the schematic flow sheet of the localization method for the preferable mobile robot that the embodiment of the present invention three provides, as shown in figure 3, the party
Method includes：
S301, the sample variance for obtaining each locating module detection pose of mobile robot, and sample variance minimum is determined
Position module is defined as the master positioning module of the mobile robot, by other locating modules be defined as the mobile robot from
Locating module.
S302, the original location information and present speed for obtaining the mobile robot, the original location information include
First detection pose of master positioning module output, second respectively from locating module output detect pose and the mobile robot
In a upper pose for a upper locating periodically, the present speed includes current linear velocity and current angular velocity.
Whether S303, the current angular velocity for judging the mobile robot are 0, if so, then performing S304；If it is not, then hold
Row S305.
S304, the calculation formula of the corresponding expanded Kalman filtration algorithm of mobile robot linear motion is obtained as moving machine
The master positioning module fusion formula of device people.
Exemplary, the derivation of the calculation formula of expanded Kalman filtration algorithm corresponding to mobile robot linear motion
Journey can be：
A1, mobile robot straight line derive model can be as shown in formula (1) and formula (2).
It is also, right based on formula (2)Derivation, the Jacobian matrix that mobile robot straight line derives model can be obtained
It is as follows：
B1, the measurement model of mobile robot can be：
Zt=h (Μt)+δt (6)
Wherein, ZtThe first measurement pose to be fused that the current locating periodically measurement of mobile robot master positioning module obtains is represented,
Μt=[Xt,Yt,Θt]TFirst for mobile robot master positioning module measures pose, XtFor mobile robot master positioning module
Detect the x-axis coordinate of the current locating periodically of mobile robot of output, YtFor the movement of mobile robot master positioning module output
The y-axis coordinate of the current locating periodically of robot, ΘtMobile robot for the output of mobile robot master positioning module works as prelocalization
The angle coordinate in cycle；δt=[δx,δy,δθ]TFor the model error of measurement model, it can be the Gaussian noise point that average is 0
Cloth.Function h (Μt) concrete form can be：
Also, based on formula (5) to ΜtDerivation, the Jacobian matrix that can obtain mobile robot measurement model are as follows：
C1, based on above-mentioned formula (1)~(2) and formula (5)~(8), with reference to expanded Kalman filtration algorithm, can obtain
Calculation formula to expanded Kalman filtration algorithm corresponding to mobile robot linear motion is as follows：
Wherein, functionConcrete form such as formula (2) shown in, function GtConcrete form such as formula (5)
It is shown, function ZtConcrete form such as formula (6) shown in, functionConcrete form can be based on formula (7) determine, function
HtConcrete form such as formula (8) shown in；I is unit matrix, μtRepresent the main fusion pose of mobile robot master positioning module；
Rt=E (εtεt T) be straight line derive model error variance, Qt=E (δtδt T) be measurement model error variance, ∑t=E
(eeT) be system covariance matrix, represent the variance of error between actual value and this calculation formula output result, e=[ex,
ey,eθ]TFor the error vector of this calculation formula, Rt、QtAnd ∑tIt is defeated that formula (1), formula (6) and formula (9) can be in advance based on
The pose and the true pose of mobile robot gone out, which calculates, to be obtained.
S305, acquisition mobile robot curvilinear motion correspond to the calculation formula of expanded Kalman filtration algorithm as moving machine
The master positioning module fusion formula of device people.
Exemplary, the derivation of the calculation formula of expanded Kalman filtration algorithm corresponding to mobile robot curvilinear motion
Journey can be：
A2, mobile robot circular arc derive model can be as shown in formula (3) and formula (4).
It is also, right based on formula (4)Derivation, the Jacobian matrix that mobile robot circular arc derives model can be obtained
It is as follows：
B2, measurement model such as formula (6)~(8) of mobile robot are shown.
C2, based on above-mentioned formula (3)~(4), formula (6)~(8) and formula (10), calculated with reference to EKF
Method, the calculation formula that can obtain expanded Kalman filtration algorithm corresponding to mobile robot curvilinear motion are：
Wherein, function g2(ut,μt-1) concrete form such as formula (4) shown in, function G 'tConcrete form such as formula (10)
It is shown, function ZtConcrete form such as formula (6) shown in, functionConcrete form can be based on formula (7) determine, function
HtConcrete form such as formula (8) shown in；I is unit matrix, μtRepresent the main fusion pose of mobile robot master positioning module；
R′t=E (ε 'tε′t T) be circular arc derive model error variance, Qt=E (δtδt T) be measurement model error variance, ∑ 't=E
(e′e′T) be system covariance matrix, represent the variance of error between actual value and this calculation formula output result, e '=
[e′x,e′y,e′θ]TFor the error vector of this calculation formula, R 't、QtWith ∑ 'tCan be in advance based on formula (3), formula (6) and
The pose of formula (11) output and the true pose of mobile robot are calculated and obtained.
S306, a upper pose for mobile robot, the present speed and described first are detected to pose substitution institute
State in master positioning module fusion formula, to obtain the main fusion pose of the mobile robot master positioning module.
S307, based on described second detection pose determine it is described respectively from locating module whether there is effectively from positioning mould
Block, if so, then performing S308；If it is not, then perform S309.
S308, obtain mobile robot master positioning module with from the corresponding expanded Kalman filtration algorithm of locating module fusion
Principal and subordinate's fusion formula, and by the main fusion pose and described effectively substitute into the master from the second of locating module the detection pose
From fusion formula, to determine the current pose of the mobile robot.
Pose is merged with one effectively exemplified by the second measurement pose of locating module is merged by main, mobile robot
The derivation of principal and subordinate's fusion formula can be：
A3, when master positioning module from locating module with merging, current linear velocity and current angular velocity can be considered as 0, because
This, with reference to formula (1), it is known that, theoretical model when mobile robot master positioning module from locating module with effectively merging can be with
For：
Wherein,The theory of the current locating periodically of mobile robot during for main locating module with effectively being merged from locating module
Pose；μtFor the main fusion pose of mobile robot；U=[V, W]TThe present speed of mobile robot is represented, V is mobile machine
The current linear velocity of people, W be mobile robot current angular velocity, V=0, W=0；For theoretical mould
The model error of type, it can be the Gaussian noise distribution that average is 0；Therefore, function g can be determined with reference to formula (2)3(ut,
μt) concrete form can be：
In formula, xtFor the x-axis coordinate in the main fusion pose of mobile robot, ytFor the y in the main fusion pose of mobile robot
Axial coordinate, θtFor the angle coordinate in the main fusion pose of mobile robot.
Also, based on formula (11) to μtDerivation, the Jacobian matrix that can obtain mobile robot theoretical model are as follows：
B3, the measurement model of mobile robot can be：
Z′t=h (Μ 't)+δ′t (15)
Wherein, Z 'tRepresent the second measurement to be fused that mobile robot effectively obtains from the current locating periodically measurement of locating module
Pose, Μ 't=[X 't,Y′t,Θ′t]TEffectively pose, X ' are measured for mobile robot from the second of locating moduletFor moving machine
The x-axis coordinate for the current locating periodically of mobile robot that device people effectively exports from locating module detection, Y 'tHave for mobile robot
Imitate the y-axis coordinate of the current locating periodically of mobile robot from locating module output, Θ 'tIt is mobile robot effectively from positioning
The angle coordinate of the current locating periodically of mobile robot of module output；δ′t=[δ 'x,δ′y,δ′θ]TFor the model of measurement model
Error, it can be the Gaussian noise distribution that average is 0.Function h (Μ 't) concrete form can be：
Also, based on formula (16) to Μ 'tDerivation, the Jacobian matrix of mobile robot measurement model can be obtained such as
Under：
C1, based on above-mentioned formula (12)~(17), with reference to expanded Kalman filtration algorithm, mobile robot master can be obtained
Locating module is as follows with effectively from the calculation formula of the corresponding expanded Kalman filtration algorithm of locating module fusion：
Wherein, function g3(ut,μt) concrete form such as formula (13) shown in, function G "tConcrete form such as formula (14)
It is shown, function H 'tConcrete form such as formula (17) shown in；R″t=E (ε "tε″t T) be theoretical model error variance, Q 't=E
(δ′tδ′t T) be measurement model error variance, ∑ "t=E1(e″e″T) be system covariance matrix, represent actual value with this
The variance of error between calculation formula output result, e "=[e "x,e″y,e″θ]TFor the error vector of this calculation formula, R "t、Q′t
With ∑ "tThe true position of formula (12), the pose of formula (15) and formula (18) output and mobile robot can be in advance based on
Appearance, which calculates, to be obtained.
S309, by it is described it is main fusion pose be defined as current pose of the mobile robot in current locating periodically.
The localization method for the preferable mobile robot that the present embodiment provides, sets multiple positioning moulds in mobile robot
Block, and from master positioning module of the minimum locating module of variance as mobile robot, according to the angular speed of mobile robot
Whether be zero from different derivations models determine mobile robot theoretical pose carry out fusion calculation, and presence effectively from
During locating module, by the fusion results of master positioning module with effectively being merged again from the second detection pose of locating module,
The positioning precision of mobile robot can be not only improved, it may also be ensured that when a certain locating module timeliness, mobile robot is still
Task can be so effectively completed, improves the usage experience of user.
Example IV
The embodiment of the present invention four provides a kind of positioner of mobile robot.The device can be real by software and/or hardware
It is existing, it can typically be integrated in mobile robot, can be realized by performing the localization method of mobile robot to mobile robot
Positioning.Fig. 4 is the structured flowchart of the positioner for the mobile robot that the embodiment of the present invention four provides, as shown in figure 4, the device
Including：
Location information acquisition module 401, for obtaining the original location information of mobile robot, the original location information
The first detection pose including the output of master positioning module, second respectively from locating module output detect pose and the moving machine
A upper pose of the device people in a upper locating periodically；
First locating module 402, for determining described respectively exist from locating module based on the described second detection pose
Effectively from locating module when, using setting blending algorithm to described first detection pose, it is described effectively from locating module output
At least two progress fusion calculations in second detection pose and a upper pose, to determine the mobile robot current
Current pose in locating periodically.
The positioner for the mobile robot that the present embodiment provides, mobile robot is obtained by location information acquisition module
First detection pose of master positioning module output, pose and mobile robot respectively are detected upper from the second of locating module output
A upper pose for one locating periodically, determine respectively to deposit from locating module based on the second detection pose by the first locating module
When effectively from locating module, using setting blending algorithm to the first detection pose, effectively from the second detecting position of locating module
Appearance and a upper pose carry out fusion calculation, to determine current pose of the mobile robot in current locating periodically.The present embodiment
By using above-mentioned technical proposal, detection pose and mobile robot based on multiple locating modules are in a upper locating periodically
Pose determines the current pose of mobile robot, can reduce the position error of mobile robot, improve determining for mobile robot
The accuracy of position precision and Mobile Robotics Navigation, and then shorten mobile robot and reach home the required time, reduce movement
Robot produces the generation of collision situation because of position error with other objects, reduces the loss of mobile robot, improves movement
The service life of robot, improve the usage experience of user.
In such scheme, first locating module 402 can include：Main fusion pose determining unit, for using
First blending algorithm carries out fusion calculation to the described first detection pose and a upper pose, to obtain the master positioning module
Main fusion pose；Current pose determining unit, for using the second blending algorithm to the main fusion pose and it is described effectively
Fusion calculation is carried out from the second detection pose of locating module, to determine the mobile robot working as in current locating periodically
Preceding pose.
Further, the localization method for the mobile robot that the present embodiment provides can also include：Second locating module, use
In based on described second detection pose determine it is described respectively from locating module be not present effectively from locating module when, using first
Blending algorithm carries out fusion meter to a upper pose described in progress fusion calculation in the described first detection pose and a upper pose
Calculate, to obtain the main fusion pose of the master positioning module, and the main fusion pose is defined as the mobile robot and existed
Current pose in current locating periodically.
It is described that the described first detection pose and a upper pose are carried out using the first blending algorithm in such scheme
Fusion calculation, to obtain the main fusion pose of the master positioning module, it can include：Obtain the current speed of the mobile robot
Degree, the present speed include current linear velocity and current angular velocity；Calculated according to the present speed and a upper pose
Theoretical pose of the mobile robot in the current detection cycle；Using the first blending algorithm to the theoretical pose and described
One detection pose carries out fusion calculation, and to obtain the main fusion pose of the master positioning module, first blending algorithm is expansion
Open up Kalman filtering algorithm.
Further, it is described to calculate the mobile robot with a upper pose according to the present speed and examined currently
The theoretical pose in cycle is surveyed, can be included：If the current angular velocity is 0, the straight line for obtaining the mobile robot pushes away
Guided mode type, and the present speed and a upper pose are substituted into the straight line and derived in model, to be pushed away using the straight line
Guided mode type determines theoretical pose of the mobile robot in the current detection cycle；If the current angular velocity is not 0, obtain
Take the circular arc of the mobile robot to derive model, and the present speed and a upper pose are substituted into the circular arc and derived
In model, theoretical pose of the mobile robot in the current detection cycle is determined to derive model using the circular arc.
Further, the localization method for the mobile robot that the present embodiment provides can also include：Determining module is positioned, is used
Before the original location information in the acquisition mobile robot, the sample of pose is detected according to each locating module of mobile robot
This variance determines the master positioning module of the mobile robot and from locating module.
In such scheme, the positioning determining module can include：Sample acquisition unit is positioned, for obtaining moving machine
Multigroup positioning sample of device people's locating module, the positioning sample include the detection pose of each locating module, the locating module
Including motor encoder, laser sensor, vision positioning module and d GPS locating module；Sample variance computing unit, for basis
The detection pose calculates the sample variance of each locating module detection pose of the mobile robot respectively；Position determination unit,
For the minimum locating module of the sample variance to be defined as into the master positioning module of the mobile robot, and other are positioned
Module be defined as the mobile robot from locating module.
The positioner for the mobile robot that the embodiment of the present invention four provides can perform what any embodiment of the present invention provided
The localization method of mobile robot, possess the corresponding functional module of localization method and beneficial effect for performing mobile robot.Not
The ins and outs of detailed description in the present embodiment, reference can be made to the positioning for the mobile robot that any embodiment of the present invention is provided
Method.
Embodiment five
Fig. 5 is a kind of structural representation for mobile robot that the embodiment of the present invention five provides, as shown in figure 5, the movement
Robot includes processor 50 and memory 51, can also include input unit 52 and output device 53；Locate in mobile robot
The quantity of reason device 50 can be one or more, in Fig. 5 by taking a processor 50 as an example；Processor 50 in mobile robot,
Memory 51, input unit 52 can be connected with output device 53 by bus or other modes, to be connected by bus in Fig. 5
Exemplified by.
Memory 51 is used as a kind of computer-readable recording medium, and journey is can perform available for storage software program, computer
Sequence and module, programmed instruction/module is (for example, move as corresponding to the localization method of the mobile robot in the embodiment of the present invention
The locating module 402 of location information acquisition module 401 and first in the positioner of mobile robot).Processor 50 passes through operation
Software program, instruction and the module being stored in memory 51, so as to perform the various function application of mobile robot and
Data processing, that is, realize the localization method of above-mentioned mobile robot.
Memory 51 can mainly include storing program area and storage data field, wherein, storing program area can store operation system
Application program needed for system, at least one function；Storage data field can store uses created data etc. according to terminal.This
Outside, memory 51 can include high-speed random access memory, can also include nonvolatile memory, for example, at least a magnetic
Disk storage device, flush memory device or other non-volatile solid state memory parts.In some instances, memory 51 can be further
Including network connection to mobile machine can be passed through relative to the remotely located memory of processor 50, these remote memories
People.The example of above-mentioned network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Input unit 52 can be used for the numeral or character information for receiving input, and produces and set with the user of mobile robot
Put and the input of key signals that function control is relevant.Output device 53 may include the display devices such as display screen.
Embodiment six
The embodiment of the present invention six also provides a kind of storage medium for including computer executable instructions, and the computer can be held
When being performed by computer processor for performing a kind of localization method of mobile robot, this method includes for row instruction：
The original location information of mobile robot is obtained, the original location information includes the first of master positioning module output
Detect pose, respectively from the second detection pose of locating module output and the mobile robot upper the one of a upper locating periodically
Pose；
If based on described second detection pose determine it is described respectively from locating module exist effectively from locating module, then adopt
With setting blending algorithm to described first detection pose, it is described effectively from locating module export second detection pose and it is described on
At least two progress fusion calculations in one pose, to determine present bit of the mobile robot in current locating periodically
Appearance.
Certainly, a kind of storage medium for including computer executable instructions that the embodiment of the present invention is provided, its computer
The method operation that executable instruction is not limited to the described above, can also carry out the mobile machine that any embodiment of the present invention is provided
Associative operation in the localization method of people.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to realized by hardware, but the former is more in many cases
Good embodiment.Based on such understanding, what technical scheme substantially contributed to prior art in other words
Part can be embodied in the form of software product, and the computer software product can be stored in computer-readable recording medium
In, floppy disk, read-only storage (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are causing a computer to set
Standby (can be personal computer, server, or network equipment etc.) performs the method described in each embodiment of the present invention.
It is worth noting that, in the embodiment of the positioner of above-mentioned mobile robot, included unit and mould
Block is simply divided according to function logic, but is not limited to above-mentioned division, as long as corresponding function can be realized i.e.
Can；In addition, the specific name of each functional unit is also only to facilitate mutually distinguish, the protection model being not intended to limit the invention
Enclose.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
- A kind of 1. localization method of mobile robot, it is characterised in that including：The original location information of mobile robot is obtained, the original location information includes the first detection of master positioning module output Pose, respectively from the second detection pose of locating module output and the mobile robot at upper one of a upper locating periodically Appearance；If based on the described second detection pose determine it is described respectively exist from locating module effectively from locating module, then using setting Blending algorithm is determined to the described first detection pose, described effectively from the second detection pose and described upper one of locating module output At least two progress fusion calculations in appearance, to determine current pose of the mobile robot in current locating periodically.
- 2. according to the method for claim 1, it is characterised in that described to use setting blending algorithm to first detecting position At least two in appearance, the second detection pose and a upper pose effectively exported from locating module carry out fusion meter Calculate, to determine current pose of the mobile robot in current locating periodically, including：Fusion calculation is carried out to the described first detection pose and a upper pose using the first blending algorithm, to obtain the master The main fusion pose of locating module；Described effectively melted using the second blending algorithm to the main fusion pose and from the second of locating module the detection pose It is total to calculate, to determine current pose of the mobile robot in current locating periodically.
- 3. according to the method for claim 1, it is characterised in that also include：If based on described second detection pose determine it is described respectively from locating module be not present effectively from locating module, then use First blending algorithm carries out fusion calculation to the described first detection pose and a upper pose, to obtain the master positioning module Main fusion pose, and by it is described it is main fusion pose be defined as present bit of the mobile robot in current locating periodically Appearance.
- 4. according to the method in claim 2 or 3, it is characterised in that described to be examined using the first blending algorithm to described first Location appearance and a upper pose carry out fusion calculation, to obtain the main fusion pose of the master positioning module, including：The present speed of the mobile robot is obtained, the present speed includes current linear velocity and current angular velocity；Theoretical pose of the mobile robot in the current detection cycle is calculated according to the present speed and a upper pose；Fusion calculation is carried out to the theoretical pose and the first detection pose using the first blending algorithm, to obtain the master The main fusion pose of locating module, first blending algorithm are expanded Kalman filtration algorithm.
- 5. according to the method for claim 4, it is characterised in that described according to the present speed and the upper pose meter Theoretical pose of the mobile robot in the current detection cycle is calculated, including：If the current angular velocity is 0, the straight line for obtaining the mobile robot derives model, and by the present speed The straight line is substituted into a upper pose to derive in model, and the mobile robot is determined to derive model using the straight line In the theoretical pose in current detection cycle；If the current angular velocity is not 0, the circular arc for obtaining the mobile robot derives model, and will be described current fast Degree and a upper pose substitute into the circular arc and derived in model, and the mobile machine is determined to derive model using the circular arc Theoretical pose of the people in the current detection cycle.
- 6. according to the method for claim 1, it is characterised in that it is described acquisition mobile robot original location information it Before, in addition to：The master positioning module of the mobile robot is determined according to the sample variance of each locating module detection pose of mobile robot With from locating module.
- 7. according to the method for claim 6, it is characterised in that described that pose is detected according to each locating module of mobile robot Sample variance determine the master positioning module of the mobile robot and from locating module, including：Multigroup positioning sample of localization for Mobile Robot module is obtained, the positioning sample includes the detecting position of each locating module Appearance, the locating module include motor encoder, laser sensor, vision positioning module and d GPS locating module；Calculate the sample variance of each locating module detection pose of the mobile robot respectively according to the detection pose；The minimum locating module of the sample variance is defined as the master positioning module of the mobile robot, and other are positioned Module be defined as the mobile robot from locating module.
- A kind of 8. positioner of mobile robot, it is characterised in that including：Location information acquisition module, for obtaining the original location information of mobile robot, the original location information includes master First detection pose of locating module output, respectively exist from the second detection pose of locating module output and the mobile robot A upper pose for a upper locating periodically；First locating module, for determining described respectively exist from locating module effectively from fixed based on the described second detection pose During the module of position, using setting blending algorithm to the described first detection pose, second detection effectively exported from locating module At least two progress fusion calculations in pose and a upper pose, to determine the mobile robot in current locating periodically Interior current pose.
- 9. a kind of mobile robot, it is characterised in that the mobile robot includes：One or more processors；Memory, for storing one or more programs；When one or more of programs are by one or more of computing devices so that one or more of processors are real The now localization method of the mobile robot as described in any in claim 1-7.
- 10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by processor The localization method of the mobile robot as described in any in claim 1-7 is realized during execution.
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