CN108180908A - Robot navigation method and robot - Google Patents
Robot navigation method and robot Download PDFInfo
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- CN108180908A CN108180908A CN201711218364.7A CN201711218364A CN108180908A CN 108180908 A CN108180908 A CN 108180908A CN 201711218364 A CN201711218364 A CN 201711218364A CN 108180908 A CN108180908 A CN 108180908A
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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
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of robot navigation method and robots, based on path map according to setting initial point and setting terminal generation optimal path, the path navigation parameter of read path map, judge that optimal path corresponds to the navigation mode of configuration based on path navigation parameter, navigation data is acquired according to determining navigation mode, the movement based on navigation data control robot.Robot is according to preset path map, after setting initial point and setting terminal is determined, obtain optimal path, judge the corresponding navigation mode of every segmented paths in optimal path, current fragment path is switched to when marching to every segmented paths and corresponds to the navigation mode of configuration to acquire navigation data realization navigation, the advantage and disadvantage that various navigation modes can be combined according to practical application request realize navigation using optimum navigation mode, realize a kind of robot navigation's mode not only saved cost but also can realize precision navigation.
Description
Technical field
The invention belongs to robot navigation's technical field, specifically, being to be related to a kind of robot navigation method and machine
People.
Background technology
Autonomous positioning navigation is that robot realizes one of intelligentized premise, is to confer to the pass of robot perception ability to act
Key factor.Navigation refers to that mobile robot perceives environment and oneself state by sensor, real now in the environment of barrier
Object-oriented autokinetic movement.
The navigation mode of mobile robot is such as inertial navigation, two-dimension code navigation；Among these, inertial navigation is with gyro
Instrument forms the independent navigation mode of a navigational coordinate system, will acquire the data of gyroscope, it integrates the time, with regard to energy
The information such as the deviation angle and the position of mobile robot are accessed, need to carry out school using magnetic nail come auxiliary robot independent navigation
Calibration, but this are realized in standard, the magnetic field that robot is generated by magnetic navigation sensor detection magnetic nail according to the variation of magnetic field intensity
Kind of navigation mode needs to be laid with magnetic nail, there are Expenses Cost it is high the problem of；Two-dimension code navigation is then on robot operating path
Quick Response Code is attached according to certain intervals, robot obtains position, angle etc. by the Quick Response Code on scanning device scan path
Information needs the interval being laid between Quick Response Code very short so as to fulfill the navigation to robot, but in this mode, cause compared with
It is too many to be laid with quantity for Quick Response Code on long path, and Quick Response Code is frayed needs to be replaced frequently, and there are problems that maintenance takes time and effort.
Invention content
This application provides a kind of robot navigation method and robot, for above-mentioned navigation mode there are the problem of, it is real
A kind of existing robot navigation's mode not only saved cost but also can realize precision navigation.
In order to solve the above technical problems, the application is achieved using following technical scheme：
It is proposed a kind of robot navigation method, including：It is best according to setting initial point and setting terminal generation based on path map
Path；The path navigation parameter of the path map is read, judges that the optimal path corresponds to based on the path navigation parameter
The navigation mode of configuration；Navigation data is acquired according to determining navigation mode；Fortune based on navigation data control robot
It is dynamic.
Further, the optimal path includes several segmented paths, then acquires navigation number according to determining navigation mode
According to specially：Judge that every segmented paths correspond to the navigation mode of configuration；For every segmented paths, control switching segmentation road
The navigation mode that diameter corresponds to configuration acquires navigation data.
Further, before based on path map according to setting initial point and setting terminal generation path, the method is also
Including：Establish the path map；For every segmented paths configuration path navigational parameter in the path map.
Further, every segmented paths configuration path navigational parameter in the path map, specially：Needle
To every segmented paths, judge whether segmented paths length is more than setpoint distance；If so, configuration path navigational parameter is led for inertia
Boat mode；If it is not, configuration path navigational parameter is two-dimension code navigation mode.
It proposes a kind of robot, mould is determined including path map memory module, optimal path determining module, navigation mode
Block, navigation data acquisition module and navigation module；The path map memory module, for store path map；It is described best
Path determination module, for being based on the path map according to setting initial point and setting terminal generation optimal path；It is described to lead
Boat mode determining module, for reading the path navigation parameter of the path map from the memory module, based on the path
Navigational parameter judges that the optimal path corresponds to the navigation mode of configuration；The navigation data acquisition module, for according to determining
Navigation mode acquire navigation data；The navigation module, for controlling the movement of the robot based on the navigation data.
Further, the optimal path includes several segmented paths, and the navigation data acquisition module includes switching and controls
Unit processed and multiple navigation data collecting units；The multiple navigation data collecting unit, respectively for multiple and different navigation
Mode acquires navigation data；The switch control unit, for judging that every segmented paths correspond to the navigation mode of configuration, for
Every segmented paths, the corresponding navigation data collecting unit of navigation mode that control switching segmented paths correspond to configuration are led to acquire
Boat data.
Further, the robot further includes path map and establishes module and parameter configuration module；The path map
Module is established, for establishing the path map；The parameter configuration module, for being segmented for every in the path map
Path configuration path navigational parameter.
Further, the parameter configuration module includes segmented paths length determining unit and parameter configuration unit；Segmentation
Path length judging unit for being directed to every segmented paths, judges whether segmented paths length is more than setpoint distance；If so,
Then the parameter configuration unit configuration path navigational parameter is inertial navigation mode, if it is not, the then parameter configuration unit configuration
Path navigation parameter is two-dimension code navigation mode.
Compared with prior art, the advantages of the application and good effect is：The application propose robot navigation method and
In robot, every segmented paths in the path map of planning are equipped with path navigation parameter, the path navigation parameter
It is assigned with the navigation mode that robot takes when being moved in every segmented paths, e.g. inertial navigation mode or Quick Response Code
Navigation mode after optimal path is generated according to setting initial point and setting terminal, is read as the road of optimal path configuration
Diameter navigational parameter according to the navigation mode of path navigation parameter characterization to acquire navigation data, and then is realized according to navigation data
Navigation and positioning to robot；Among these, a plurality of segmented paths included in optimal path, may according to actual application environment
Different navigation modes is configured with, such as inertial navigation mode is configured to the longer segmented paths of path length, and to path length
The shorter segmented paths configuration two-dimension code navigation mode of degree, then in robot from setting initial point to setting terminal along optimal path
In motion process, the navigation of robot is realized according to the different navigation mode of different segmented paths switchings, it can be according to reality
Application environment makes full use of the advantages of different navigation mode, selectively switches most suitable or optimal navigation mode to robot
Implement navigation and positioning, for example, for path length segmented paths using inertial navigation mode come reduce navigation maintenance time and
Safeguard the consumption of manpower, and segmented paths short for path and high precision prescribed improve navigation using two-dimension code navigation mode
Precision realizes a kind of robot navigation's mode not only saved cost but also can realize precision navigation.
After the detailed description of the application embodiment is read in conjunction with the figure, other features and advantages of the application will become more
Add clear.
Description of the drawings
Fig. 1 is the robot navigation method and method flow diagram that the application proposes；
Fig. 2 is the functional framework figure for the robot that the application proposes.
Specific embodiment
The specific embodiment of the application is described in more detail below in conjunction with the accompanying drawings.
The robot navigation method that the application proposes, as shown in Figure 1, including the following steps：
Step S11：Based on path map according to setting initial point and setting terminal generation optimal path.
Path map is according to practical application scene pre-defines and is stored in robot system, in path map
In, for it includes every segmented paths, be all that corresponding path navigation parameter, the path navigation parameter characterization needle is configured in it
To the navigation mode that the segmented paths are taken, such as vision guided navigation, magnetic navigation, two-dimension code navigation, laser navigation, inertial navigation etc.
Deng, according to the characteristics of every segmented paths actual application environment and optimum path navigation parameter is configured in practical application request,
Such as inertial navigation mode is configured for the longer segmented paths of path length to realize the consuming for safeguarding manpower and maintenance time
At least, two-dimension code navigation mode is configured to realize more accurate navigation effect for the longer segmented paths of path length, for
Vision guided navigation mode is configured to realize more accurately navigation effect etc. in the more complicated segmented paths of environment.
In a manner that path length is navigation for configuration condition, for every segmented paths, first determine whether that segmented paths are long
Whether degree is more than setpoint distance；If so, configuration path navigational parameter is inertial navigation mode；If it is not, configuration path navigation ginseng
Number is two-dimension code navigation mode.
In a manner that path ambient enviroment is navigation for configuration condition, for every segmented paths, it is first determined segmentation road
Whether diameter local environment is clear, if clearly, configuration path navigational parameter is vision guided navigation mode, if unintelligible, road is configured
Diameter navigational parameter is laser navigation mode, etc..
Step S12：The path navigation parameter of read path map judges that optimal path correspondence is matched based on path navigation parameter
The navigation mode put.
After determining optimal path, the path navigation parameter to path map configuration is read, judges that optimal path is configured
Path navigation parameter what is, so that it is determined that optimal path correspond to configuration navigation mode what is.
Step S13：Navigation data is acquired according to determining navigation mode.
For an optimal path, a plurality of segmented paths may be included, then need to judge that every segmented paths correspondence is matched
The navigation mode put；In robot traveling process, for every segmented paths, control is switched to segmented paths and corresponds to configuration
Navigation mode acquires navigation data.
By taking optimal path includes segmented paths 1, segmented paths 2 and segmented paths 3 as an example, wherein, the correspondence of segmented paths 1 is matched
The path navigation parameter put is inertial navigation mode, and the path navigation parameter that segmented paths 2 correspond to configuration is laser navigation side
Formula, the path navigation parameter that segmented paths 3 correspond to configuration is two-dimension code navigation mode, then marches to segmented paths 1 in robot
When, switch the magnetic induction sensor in robot and generated after the power is turned on to acquire the magnetic stripe set in segmented paths 1, magnetic nail or cable
Magnetic field the navigator fix of itself is realized as navigation data, when marching to segmented paths 2, switch robot on laser lead
Model plane block realizes the navigator fix of itself as navigation data to acquire the facula information in segmented paths 2, is segmented when marching to
During path 3, the Quick Response Code that is laid on the scanning device sweep segment path 3 of switching robot bottom, using 2 D code information as
Navigation data realizes the navigator fix of itself.
Step S14：Movement based on navigation data control robot.
In different segmented paths, navigation data is acquired using the corresponding navigation mode of segmented paths, based on navigation number
According to robot movement position, direction is positioned, specific embodiment the application for calibrating etc. is not specific limits, can adopt
It is realized with existing any mode using the realization navigation of these data.
Above-mentioned, every segmented paths in the path map of planning are equipped with path navigation parameter, the path navigation
The navigation mode that parametric distribution robot takes when being moved in every segmented paths, e.g. inertial navigation mode or two
Code navigation mode is tieed up, after optimal path is generated according to setting initial point and setting terminal, is read as optimal path configuration
Path navigation parameter, navigation data is acquired, and then according to navigation data according to the navigation mode of path navigation parameter characterization
Realize the navigation and positioning to robot；Among these, a plurality of segmented paths included in optimal path, according to actual application environment
Different navigation modes is configured with, such as inertial navigation mode is configured to the longer segmented paths of path length, and is satisfied the need
The shorter segmented paths configuration two-dimension code navigation mode of electrical path length, then in robot from setting initial point to setting terminal along best
In the motion process of path, the navigation of robot is realized according to the different navigation mode of different segmented paths switchings, it being capable of basis
Actual application environment makes full use of the advantages of different navigation mode, selectively switches most suitable or optimal navigation mode to machine
Device people implements navigation and positioning, for example, when the segmented paths for path length are safeguarded using inertial navigation mode to reduce navigation
Between and safeguard the consumption of manpower, and segmented paths short for path and high precision prescribed are improved using two-dimension code navigation mode
Navigation accuracy realizes a kind of robot navigation's mode not only saved cost but also can realize precision navigation.
Based on robot navigation method set forth above, the application also proposes a kind of robot, as shown in Fig. 2, the machine
People includes path map memory module 21, optimal path determining module 22, navigation mode determining module 23, navigation data acquisition mould
Block 24 and navigation module 25.
Path map memory module 21 is used for store path map；Optimal path determining module 22 is used for based on path map
According to setting initial point and setting terminal generation optimal path；Navigation mode determining module 23 is used for from memory module read path
The path navigation parameter of map judges that optimal path corresponds to the navigation mode of configuration based on path navigation parameter；Navigation data is adopted
Collection module 24 is used to acquire navigation data according to determining navigation mode；Navigation module 25 is used to control machine based on navigation data
The movement of people.
In the embodiment of the present application, optimal path includes several segmented paths, and navigation data acquisition module 24 includes switching and controls
Unit 241 processed and multiple navigation data collecting units 242；Multiple navigation data collecting units 242 such as magnetic induction sensor, two
Code scanning device, laser navigation gear, picture pick-up device etc. are tieed up, acquires navigation number for multiple and different navigation modes respectively
According to；Switch control unit 241 is used to judge the navigation mode that every segmented paths correspond to configuration, for every segmented paths, control
System switching segmented paths correspond to the corresponding navigation data collecting unit of navigation mode of configuration to acquire navigation data.
The robot that the embodiment of the present application proposes further includes path map and establishes module 26 and parameter configuration module 27；Path
Map establishes module 26 for establishing path map；Parameter configuration module 27 is used to match for every segmented paths in path map
Put path navigation parameter.
Specifically, parameter configuration module 27 includes segmented paths length determining unit 271 and parameter configuration unit 272；Point
Section path length judging unit 271 is used for for every segmented paths, judges whether segmented paths length is more than setpoint distance；If
It is that then 272 configuration path navigational parameter of parameter configuration unit is inertial navigation mode, if it is not, then parameter configuration unit 272 is configured
Path navigation parameter is two-dimension code navigation mode.
The navigation mode of specific robot is described in detail in robot navigation method set forth above, not superfluous herein
It states.The robot after setting initial point and setting terminal is determined, obtains optimal path according to preset path map,
Judge the corresponding navigation mode of every segmented paths in optimal path, current fragment is switched to when marching to every segmented paths
Path corresponds to the navigation mode of configuration and realizes navigation to acquire navigation data, can combine various navigation according to practical application request
The advantage and disadvantage of mode realize navigation using optimum navigation mode, and realization is a kind of not only to have saved cost but also can realize precision navigation
Robot navigation's mode.
It should be noted that it is limitation of the present invention that above description, which is not, the present invention is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made in the essential scope of the present invention also should
It belongs to the scope of protection of the present invention.
Claims (8)
1. robot navigation method, which is characterized in that including：
Based on path map according to setting initial point and setting terminal generation optimal path；
The path navigation parameter of the path map is read, judges that the optimal path correspondence is matched based on the path navigation parameter
The navigation mode put；
Navigation data is acquired according to determining navigation mode；
Movement based on navigation data control robot.
2. robot navigation method according to claim 1, which is characterized in that the optimal path includes several segmentation roads
Diameter then acquires navigation data, specially according to determining navigation mode：
Judge that every segmented paths correspond to the navigation mode of configuration；
For every segmented paths, the navigation mode that control switching segmented paths correspond to configuration acquires navigation data.
3. robot navigation method according to claim 1, which is characterized in that based on path map according to setting initial point
Before setting terminal generation path, the method further includes：
Establish the path map；
For every segmented paths configuration path navigational parameter in the path map.
4. robot navigation method according to claim 3, which is characterized in that described is every in the path map
Segmented paths configuration path navigational parameter, specially：
For every segmented paths, judge whether segmented paths length is more than setpoint distance；If so,
Configuration path navigational parameter is inertial navigation mode；If it is not, configuration path navigational parameter is two-dimension code navigation mode.
5. robot, which is characterized in that determine mould including path map memory module, optimal path determining module, navigation mode
Block, navigation data acquisition module and navigation module；
The path map memory module, for store path map；
The optimal path determining module, it is best according to setting initial point and setting terminal generation for being based on the path map
Path；
The navigation mode determining module, for reading the path navigation parameter of the path map, base from the memory module
Judge that the optimal path corresponds to the navigation mode of configuration in the path navigation parameter；
The navigation data acquisition module, for acquiring navigation data according to determining navigation mode；
The navigation module, for controlling the movement of the robot based on the navigation data.
6. robot according to claim 5, which is characterized in that the optimal path includes several segmented paths, described
Navigation data acquisition module includes switch control unit and multiple navigation data collecting units；
The multiple navigation data collecting unit acquires navigation data for multiple and different navigation modes respectively；
The switch control unit, for judging that every segmented paths correspond to the navigation mode of configuration, for every segmented paths,
Control switching segmented paths correspond to the corresponding navigation data collecting unit of navigation mode of configuration to acquire navigation data.
7. robot according to claim 5, which is characterized in that the robot further include path map establish module and
Parameter configuration module；
The path map establishes module, for establishing the path map；
The parameter configuration module, for for every segmented paths configuration path navigational parameter in the path map.
8. robot according to claim 7, which is characterized in that the parameter configuration module includes segmented paths length
Judging unit and parameter configuration unit；
Segmented paths length determining unit, for being directed to every segmented paths, judge segmented paths length whether be more than setting away from
From；If so, the parameter configuration unit configuration path navigational parameter is inertial navigation mode, if it is not, the then parameter configuration
Unit configuration path navigational parameter is two-dimension code navigation mode.
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| CN109062218A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | Control the method and device of robot driving path |
| CN110427033A (en) * | 2019-08-12 | 2019-11-08 | 苏州寻迹智行机器人技术有限公司 | A kind of laser navigation AGV high-precision locating method based on two dimensional code |
| CN110440806A (en) * | 2019-08-12 | 2019-11-12 | 苏州寻迹智行机器人技术有限公司 | A kind of AGV accurate positioning method that laser is merged with two dimensional code |
| CN111736606A (en) * | 2020-06-28 | 2020-10-02 | 杭州海康机器人技术有限公司 | Mobile robot driving method, device and storage medium |
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Address after: 215100 building 3, Tianlong science and Technology Park, No. 1, Zhufeng Road, Mudu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Haitong Robot System Co.,Ltd. Address before: B3, 10th floor, block B, Qingdao International Innovation Park, 169 Songling Road, Laoshan District, Qingdao City, Shandong Province, 266101 Patentee before: QINGDAO HTAGV ROBOT SYSTEMS CO.,LTD. |