CN109883420A - Robot method for recognizing position and attitude, system and robot - Google Patents
Robot method for recognizing position and attitude, system and robot Download PDFInfo
- Publication number
- CN109883420A CN109883420A CN201910055437.8A CN201910055437A CN109883420A CN 109883420 A CN109883420 A CN 109883420A CN 201910055437 A CN201910055437 A CN 201910055437A CN 109883420 A CN109883420 A CN 109883420A
- Authority
- CN
- China
- Prior art keywords
- robot
- positioning label
- base station
- distance
- antenna
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of robot method for recognizing position and attitude, system and robots, the robot includes at least the first positioning label and the second positioning label, the first positioning label and the second positioning label are at a distance of pre-determined distance, the described method includes: the first positioning label and base station communication obtain the first distance between the first positioning label and the base station, the second positioning label and the base station communication obtain the second distance between the second positioning label and the base station；Azimuth of the robot relative to the base station is calculated according to the first distance, the second distance and the pre-determined distance in the robot.Robot method for recognizing position and attitude, system and robot according to the present invention, robot can only be that can determine the azimuth of robot with a base station communication, and it is not influenced by the mobile azimuthal measurement of robot, improves the positioning accuracy of robot, reduce base station input quantity.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot method for recognizing position and attitude, system and robot.
Background technique
With the development of mobile robot technology, the scene of mobile work robot becomes increasingly complex.Mobile robot exists
When office operation, since indoor environment limits the use of GPS, multiple indoor location solution comes into being.It is common
Indoor orientation method include: inertial navigation positioning, infrared positioning, ultrasonic wave positioning, laser positioning, vision positioning etc..On
The positioning of mobile robot may be implemented in the method for stating.However, mobile robot is generally required towards specified direction movement.How
The pose of robot is accurately identified indoors, i.e., mobile robot is still that current technology urgently to be solved is difficult towards angle
Topic.In the prior art, the method for use is to communicate robot with multiple base stations, and the direction of calculating robot.The party
Case is the problem is that need to arrange multiple base stations, higher cost, especially under the biggish scene of area.
Summary of the invention
The present invention completes in view of above-mentioned current condition, and its purpose is to provide a kind of robot pose identification sides
The pose of accurate judgement robot is capable of in method, system and robot, realizes precision navigation.
To achieve the goals above, embodiment of the present invention provides the following technical solutions:
The present invention provides a kind of robot method for recognizing position and attitude, and the robot includes at least the first positioning label and second
Label is positioned, the first positioning label and the second positioning label are at a distance of pre-determined distance, which is characterized in that the described method includes:
It is described first positioning label and base station communication obtain it is described first positioning label and the base station between first away from
From, it is described second positioning label and the base station communication obtain it is described second positioning label and the base station between second away from
From；
The machine is calculated according to the first distance, the second distance and the pre-determined distance in the robot
Azimuth of the people relative to the base station.
In this case, robot only can determine the azimuth of robot with a base station communication, and not
It is influenced by the mobile azimuthal measurement of robot, improves the positioning accuracy of robot.
The present invention also provides a kind of robot pose identifying systems, comprising: robot and base station, the robot include the
One positioning label, the second positioning label and processing module, the first positioning label and the second positioning label are at a distance of default
Distance；
It is described first positioning label be used for the base station communication, and obtain it is described first positioning label and the base station it
Between first distance, it is described second positioning label be used for the base station communication, and obtain it is described second positioning label with it is described
Second distance between base station；
The processing module is used to that institute to be calculated according to the first distance, the second distance and the pre-determined distance
State azimuth of the robot relative to the base station.
Robot only can determine the azimuth of robot with a base station communication as a result, and not by robot
The influence of mobile azimuthal measurement, improves the positioning accuracy of robot, reduces base station input quantity.
Wherein, the first positioning label and the second positioning label are substantially arranged in same level height.As a result, may be used
To promote the precision of the azimuthal angle calculation.
Wherein, the first positioning label includes first antenna, and the second positioning label includes the second antenna, and described the
One antenna and second antenna are substantially arranged in same level height.In such a case, it is possible to promote the declinometer
The precision of calculation.
Wherein, the first antenna and second antenna are arranged in the top of the robot.Thus, it is possible to convenient for the
One antenna and the second antenna send and receive the signal of communication with base station.
Wherein, the first antenna is being approximately perpendicular to the robot just with the rectilinear direction where second antenna
Facing towards.In such a case, it is possible to more accurately calculate the azimuth of the robot.
The present invention also provides a kind of robots, comprising:
First positioning label, the second positioning label and processing module, the first positioning label and the second positioning mark
Label are at a distance of pre-determined distance；
The first positioning label is used for and base station communication, and obtains between the first positioning label and the base station
First distance, the second positioning label be used for the base station communication, and obtain the second positioning label and base station
Between second distance；
The processing module is used to that institute to be calculated according to the first distance, the second distance and the pre-determined distance
State azimuth of the robot relative to the base station.
In this case, robot only can determine the azimuth of robot with a base station communication, and not
It is influenced by the mobile azimuthal measurement of robot, improves the positioning accuracy of robot.
Wherein, the robot provided according to the present invention, the first positioning label includes first antenna, second positioning
Label includes the second antenna, and the first antenna and second antenna are substantially arranged in same level height.In such case
Under, the precision of the azimuthal angle calculation can be promoted.
Wherein, the robot provided according to the present invention, the first antenna and second antenna are arranged in the machine
The top of people.Thus, it is possible to send and receive the signal of communication with base station convenient for first antenna and the second antenna.
Wherein, the rectilinear direction where the robot provided according to the present invention, the first antenna and second antenna
Be approximately perpendicular to the robot just facing towards.In such a case, it is possible to more accurately calculate the orientation of the robot
Angle.
Provided robot method for recognizing position and attitude, system and robot according to the present invention, robot can only with one
Base station communication is that can determine the azimuth of robot, and do not influenced by the mobile azimuthal measurement of robot, improves machine
The positioning accuracy of device people reduces base station input quantity.
Detailed description of the invention
Fig. 1 shows the flow chart of robot method for recognizing position and attitude involved in embodiments of the present invention；
Fig. 2 shows the principles of the azimuthal angle calculation of robot method for recognizing position and attitude involved in embodiments of the present invention
Figure.
Specific embodiment
Hereinafter, explaining the preferred embodiment of the present invention in detail with reference to attached drawing.In the following description, for identical
Component assign identical symbol, the repetitive description thereof will be omitted.Scheme in addition, attached drawing is only schematical, the mutual ruler of component
Very little shape of ratio or component etc. can be with actual difference.
Fig. 1 shows the flow chart of robot method for recognizing position and attitude according to the present invention.Robot includes at least first
Position label and the second positioning label.First positioning label and the second positioning label are at a distance of pre-determined distance.The identification of robot pose
Method includes:
101, the first positioning label and base station communication obtain the first distance between the first positioning label and base station, and second is fixed
Position label and base station communication obtain the second distance between the second positioning label and base station.
102, robot according between first distance, second distance, the first positioning label and the second positioning mark it is default away from
From azimuth of the robot relative to base station is calculated.
In this case, robot can only be that can determine the azimuth of robot, robot with a base station communication
In moving process, two positioning labels can by with base station communication, the azimuth of calculating robot, and azimuthal meter
Calculating is not influenced by robot movement, and the positioning accuracy of robot is improved.The direction for solving robot needs multiple base stations
The problem of being positioned with robot communication.
It is understood that first distance can be calculated according to the communication of the first positioning label and base station in robot.
Second distance can be calculated according to the communication of the second positioning label and base station in robot.
In some instances, base station can be arranged in the mobile scene of robot, such as hotel, office building, dining room etc.
Indoor scene.In some instances, base station can be arranged on indoor ceiling.
It is understood that robot method for recognizing position and attitude according to the present invention can also be in the scene of multiple base stations
It uses.Specifically, robot in moving process, can be communicated using this method from different base stations to determine machine
Precision navigation is realized at the azimuth of people.
It is understood that in some instances, robot method for recognizing position and attitude according to the present invention can be with inertia
Navigator fix, infrared positioning, ultrasonic wave positioning, laser positioning, vision positioning scheduling algorithm are used in combination.Thus, it is possible to elevator
The navigation accuracy of device people.
In some instances, positioning label may include locating module and wireless communication module.
Fig. 2 shows the schematic diagrams of azimuthal angle calculation.Point A indicates the position of base station, and it is fixed that point B and point C respectively indicate first
The position of position label and the second positioning label.AB indicates first distance, and AC indicates that second distance, BC indicate pre-determined distance.D is
The midpoint of BC.Azimuth δ be base station relative to robot just facing towards angle.Specifically, robot is just facing towards can be with
It is the direction of robot face during advance.In the present embodiment, azimuth δ is the folder of AD and BC perpendicular bisector
Angle.
It in the present embodiment, can be in the hope of the length of AD according to median of a triangle theorem.Known to AB, BD, AD length
In the case of, it can be in the hope of the angle of AD and BD according to the triangle cosine law.The complementary angle of AD and BD angle is azimuth δ.
In some instances, can also be by other algorithm computer azimuth angle δ, this will not be repeated here.
The present invention also provides a kind of robot pose identifying systems.System includes: robot and base station.Robot includes the
One positioning label, the second positioning label and processing module.First positioning label and the second positioning label are at a distance of pre-determined distance.
Further, the first positioning label is used for and base station communication, and obtain between the first positioning label and base station the
One distance.Second positioning label is used for and base station communication, and obtains the second distance between the second positioning label and base station.
Specifically, base station can be arranged in the mobile indoor scene of robot.Base station can be arranged in different positions to be multiple
It sets.
Further, processing module is used to that robot phase to be calculated according to first distance, second distance and pre-determined distance
For the azimuth of base station.
Robot only can determine the azimuth of robot with a base station communication as a result, and not by robot
The influence of mobile azimuthal measurement, improves the positioning accuracy of robot, reduces base station input quantity.
In some instances, positioning label may include locating module and wireless communication module.Processing module may include
Robot central processing unit.In some instances, processing module also may include other modules with computing function.
In the present embodiment, azimuthal calculating can refer to the schematic diagram of azimuthal angle calculation shown in Fig. 2, herein not
It repeats.
In the present embodiment, the first positioning label and the second positioning label are substantially arranged in same level height.Specifically
For, the first positioning label and the second positioning label are identical at a distance from ground.Thus, it is possible to promote the azimuthal angle calculation
Precision.
In the present embodiment, the first positioning label includes first antenna.Second positioning label includes the second antenna.First
Antenna and the second antenna are substantially arranged in same level height.In such a case, it is possible to promote the essence of the azimuthal angle calculation
Degree.
In the present embodiment, first antenna and the second antenna are arranged in the top of robot.Specifically, robot
Top can have support construction.First antenna and the second antenna can be arranged in the two sides of support construction.First antenna and
Two antennas can be arranged in parallel.Thus, it is possible to send and receive the signal of communication with base station convenient for first antenna and the second antenna.
In the present embodiment, first antenna is approximately perpendicular to the front of robot with the rectilinear direction where the second antenna
Direction.In such a case, it is possible to more accurately calculate the azimuth of the robot.
The present invention also provides a kind of robots, comprising: the first positioning label, the second positioning label and processing module.First
Label and the second positioning label are positioned at a distance of pre-determined distance.
Further, the first positioning label is used for and base station communication, and obtain between the first positioning label and base station the
One distance.Second positioning label is used for and base station communication, and obtains the second distance between the second positioning label and base station.
Specifically, base station can be arranged in the mobile indoor scene of robot.Base station can be arranged in different positions to be multiple
It sets.
Further, processing module is used to that robot phase to be calculated according to first distance, second distance and pre-determined distance
For the azimuth of base station.
Robot only can determine the azimuth of robot with a base station communication as a result, and not by robot
The influence of mobile azimuthal measurement, improves the positioning accuracy of robot, reduces base station input quantity.
In some instances, positioning label may include locating module and wireless communication module.Processing module may include
Robot central processing unit.In some instances, processing module also may include other modules with computing function.
In the present embodiment, azimuthal calculating can refer to the schematic diagram of azimuthal angle calculation shown in Fig. 2, herein not
It repeats.
In the present embodiment, the first positioning label includes first antenna.Second positioning label includes the second antenna.First
Antenna and the second antenna are substantially arranged in same level height.In such a case, it is possible to promote the essence of the azimuthal angle calculation
Degree.
In the present embodiment, first antenna and the second antenna are arranged in the top of robot.Specifically, robot
Top can have support construction.First antenna and the second antenna can be arranged in the two sides of support construction.Thus, it is possible to be convenient for
First antenna and the second antenna send and receive the signal of communication with base station.
In the present embodiment, first antenna is approximately perpendicular to the front of robot with the rectilinear direction where the second antenna
Direction.In such a case, it is possible to more accurately calculate the azimuth of the robot.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (10)
1. a kind of robot method for recognizing position and attitude, which is characterized in that the robot includes at least the first positioning label and second
Label is positioned, the first positioning label and the second positioning label are at a distance of pre-determined distance, which comprises
The first positioning label and base station communication obtain the first distance between the first positioning label and the base station, institute
It states the second positioning label and the base station communication obtains second distance between the second positioning label and the base station；
The robot phase is calculated according to the first distance, the second distance and the pre-determined distance in the robot
For the azimuth of the base station.
2. a kind of robot pose identifying system characterized by comprising robot and base station, the robot include first
Position label, the second positioning label and processing module, the first positioning label and the second positioning label at a distance of it is default away from
From；
It is described first positioning label be used for the base station communication, and obtain it is described first positioning label and the base station between
First distance, the second positioning label be used for the base station communication, and obtain the second positioning label and base station
Between second distance；
The processing module is used to that the machine to be calculated according to the first distance, the second distance and the pre-determined distance
Azimuth of the device people relative to the base station.
3. robot pose identifying system as claimed in claim 2, which is characterized in that the first positioning label and described the
Two positioning labels are substantially arranged in same level height.
4. robot pose identifying system as claimed in claim 2, which is characterized in that the first positioning label includes first
Antenna, the second positioning label includes the second antenna, and the first antenna and second antenna are substantially arranged in same water
Flat height.
5. robot pose identifying system as claimed in claim 4, which is characterized in that the first antenna and second day described
Line is arranged in the top of the robot.
6. robot method for recognizing position and attitude as claimed in claim 4, which is characterized in that the first antenna and described second day
Rectilinear direction where line be approximately perpendicular to the robot just facing towards.
7. a kind of robot characterized by comprising
First positioning label, the second positioning label and processing module, the first positioning label and the second positioning label phase
Away from pre-determined distance；
The first positioning label is used for and base station communication, and obtain between the first positioning label and the base station first
Distance, it is described second positioning label be used for the base station communication, and obtain it is described second positioning label and the base station between
Second distance；
The processing module is used to that the machine to be calculated according to the first distance, the second distance and the pre-determined distance
Azimuth of the device people relative to the base station.
8. robot as claimed in claim 7, which is characterized in that the first positioning label includes first antenna, and described the
Two positioning labels include the second antenna, and the first antenna and second antenna are substantially arranged in same level height.
9. robot as claimed in claim 8, which is characterized in that the first antenna and second antenna are arranged in described
The top of robot.
10. robot as claimed in claim 8, which is characterized in that the first antenna is straight where with second antenna
Line direction be approximately perpendicular to the robot just facing towards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055437.8A CN109883420A (en) | 2019-01-21 | 2019-01-21 | Robot method for recognizing position and attitude, system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910055437.8A CN109883420A (en) | 2019-01-21 | 2019-01-21 | Robot method for recognizing position and attitude, system and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109883420A true CN109883420A (en) | 2019-06-14 |
Family
ID=66926413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910055437.8A Pending CN109883420A (en) | 2019-01-21 | 2019-01-21 | Robot method for recognizing position and attitude, system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109883420A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111437556A (en) * | 2020-04-15 | 2020-07-24 | 上海翼捷工业安全设备股份有限公司 | Fire detector, fire detection method and automatic fire extinguishing system |
| WO2021093040A1 (en) * | 2019-11-15 | 2021-05-20 | 垒途智能教科技术研究院江苏有限公司 | Positioning system and positioning method for lawn mowing robot |
| CN113110432A (en) * | 2021-04-02 | 2021-07-13 | 深圳优地科技有限公司 | Robot posture adjusting method and device, robot and storage medium |
| CN113137967A (en) * | 2021-05-19 | 2021-07-20 | 深圳市优必选科技股份有限公司 | Robot positioning method and device, robot and readable storage medium |
| CN117405108A (en) * | 2023-11-08 | 2024-01-16 | 中国人民解放军63620部队 | Target attitude measurement method, system, electronic equipment and medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050218292A1 (en) * | 2004-03-31 | 2005-10-06 | Honda Motor Co., Ltd. | Position detection system for mobile object |
| CN107225575A (en) * | 2017-07-22 | 2017-10-03 | 广东大仓机器人科技有限公司 | The robot of indoor precise positioning is realized using six ultra wide band modules |
| CN108646215A (en) * | 2018-05-15 | 2018-10-12 | 重庆邮电大学 | It is a kind of that method for rapidly positioning is followed based on ultra wide band automatically |
| CN109212470A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of position and orientation estimation method based on UWB array module, system and robot |
-
2019
- 2019-01-21 CN CN201910055437.8A patent/CN109883420A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050218292A1 (en) * | 2004-03-31 | 2005-10-06 | Honda Motor Co., Ltd. | Position detection system for mobile object |
| CN109212470A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of position and orientation estimation method based on UWB array module, system and robot |
| CN107225575A (en) * | 2017-07-22 | 2017-10-03 | 广东大仓机器人科技有限公司 | The robot of indoor precise positioning is realized using six ultra wide band modules |
| CN108646215A (en) * | 2018-05-15 | 2018-10-12 | 重庆邮电大学 | It is a kind of that method for rapidly positioning is followed based on ultra wide band automatically |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021093040A1 (en) * | 2019-11-15 | 2021-05-20 | 垒途智能教科技术研究院江苏有限公司 | Positioning system and positioning method for lawn mowing robot |
| CN111437556A (en) * | 2020-04-15 | 2020-07-24 | 上海翼捷工业安全设备股份有限公司 | Fire detector, fire detection method and automatic fire extinguishing system |
| CN113110432A (en) * | 2021-04-02 | 2021-07-13 | 深圳优地科技有限公司 | Robot posture adjusting method and device, robot and storage medium |
| CN113110432B (en) * | 2021-04-02 | 2024-05-28 | 深圳优地科技有限公司 | Robot posture adjustment method, apparatus, robot, and storage medium |
| CN113137967A (en) * | 2021-05-19 | 2021-07-20 | 深圳市优必选科技股份有限公司 | Robot positioning method and device, robot and readable storage medium |
| WO2022242075A1 (en) * | 2021-05-19 | 2022-11-24 | 深圳市优必选科技股份有限公司 | Robot positioning method and apparatus, robot and readable storage medium |
| CN113137967B (en) * | 2021-05-19 | 2023-05-26 | 深圳市优必选科技股份有限公司 | Robot positioning method, device, robot and readable storage medium |
| CN117405108A (en) * | 2023-11-08 | 2024-01-16 | 中国人民解放军63620部队 | Target attitude measurement method, system, electronic equipment and medium |
| CN117405108B (en) * | 2023-11-08 | 2024-05-07 | 中国人民解放军63620部队 | Target attitude measurement method, system, electronic equipment and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109883420A (en) | Robot method for recognizing position and attitude, system and robot | |
| Zhu et al. | Three-dimensional VLC positioning based on angle difference of arrival with arbitrary tilting angle of receiver | |
| Thiesse et al. | LotTrack: RFID-based process control in the semiconductor industry | |
| US9883351B2 (en) | Indoor positioning device and indoor positioning method | |
| US20110057840A1 (en) | Method of Positioning RFID Tags | |
| CN110026993B (en) | Human body following robot based on UWB and pyroelectric infrared sensor | |
| CN103207383A (en) | Method for performing two-dimensional wireless positioning on stationary node based on single mobile node | |
| CN109129463B (en) | Device and method for positioning tail end of movable mechanical arm based on vision | |
| CN208636421U (en) | A kind of locating base station and system | |
| Roa et al. | Optimal placement of sensors for trilateration: Regular lattices vs meta-heuristic solutions | |
| CN103135551A (en) | Accurate positioning fire search-and-rescue robot | |
| CN111782064B (en) | 6DOF tracking system of motion type wireless positioning | |
| JP2014153118A (en) | System and method for obtaining information indicating the position or direction of mobile object | |
| CN105319531A (en) | Indoor robot positioning system | |
| CN109883419A (en) | Robot navigation method and system | |
| Miah et al. | Indoor robot navigation through intelligent processing of RFID signal measurements | |
| Modeer et al. | Compensating signal loss in rfid-based localization systems | |
| Zarrini et al. | Directional of arrival tag response for reverse RFID localization | |
| CN110197095A (en) | The method and system of robot identification positioning identifier | |
| CN103913759B (en) | A kind of antitheft location tracking system | |
| JP6026307B2 (en) | System and method for acquiring information indicating direction of moving object | |
| CN206710590U (en) | A kind of indoor service robot positioning system based on iBeacon | |
| KR101294284B1 (en) | Method and apparatus for measuring position using radio communication | |
| US20210349176A1 (en) | Positioning system and method | |
| TWI547707B (en) | Positioning navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190614 |