CN110340935A - A kind of method and robot of robot fusion positioning - Google Patents
A kind of method and robot of robot fusion positioning Download PDFInfo
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- CN110340935A CN110340935A CN201810287668.7A CN201810287668A CN110340935A CN 110340935 A CN110340935 A CN 110340935A CN 201810287668 A CN201810287668 A CN 201810287668A CN 110340935 A CN110340935 A CN 110340935A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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Abstract
The present invention is suitable for robotic technology field, provides the method and robot of a kind of robot fusion positioning, comprising: by the location data for obtaining robot；The location data includes laser positioning data and ultra wide band location data；Judge whether the laser positioning data are abnormal according to the location data；If the laser positioning data exception, the laser positioning data are reinitialized according to the ultra wide band location data, are relocated.Obtaining location data by two kinds of positioning methods realizes entirely autonomous robot localization using ultra wide band location data as the initial position of robot；It is whether abnormal by determining laser positioning data, and relocated when being abnormal, on the basis of guaranteeing robot localization stability, improve the positioning accuracy of robot.
Description
Technical field
The invention belongs to robotic technology field more particularly to the methods and robot of a kind of fusion positioning of robot.
Background technique
Indoor service robot progresses into some public places, such as airport, bank, law court, hotel etc..Much answering
With in scene, such as in bank, needs robot to be accurately parked in front of sales counter, need robot that can obtain accurately at this time
Otherwise location information just loses the meaning of service.
The range information of object in robot and local environment is obtained by laser range sensor in the prior art, then is led to
The information of filtering algorithm fusion inertial sensor and the information of laser range sensor are crossed, to position to robot.So
And in position fixing process, the range information of object in robot and current environment possibly can not be obtained, therefore cause machine
The lower situation of the accuracy of people's positioning.
Summary of the invention
In view of this, the embodiment of the invention provides the method and robot of a kind of fusion positioning of robot, it is existing to solve
Have robot in technology that can not obtain the range information with object in current environment, and caused by robot localization accuracy
Lower problem.
The first aspect of the embodiment of the present invention provides a kind of method of robot fusion positioning, comprising:
Obtain the location data of robot；The location data includes laser positioning data and ultra wide band location data；
Judge whether the laser positioning data are abnormal according to the location data；
If the laser positioning data exception, the laser positioning is reinitialized according to the ultra wide band location data
Data are relocated.
The second aspect of the embodiment of the present invention provides a kind of robot, comprising:
Data capture unit, for obtaining the location data of robot；The location data include laser positioning data and
Ultra wide band location data；
Abnormality determination unit, for judging whether the laser positioning data are abnormal according to the location data；
Bit location is reset, it is again first according to the ultra wide band location data if being used for the laser positioning data exception
The beginningization laser positioning data, are relocated.
The third aspect of the embodiment of the present invention provides a kind of robot, comprising: processor, input equipment, output equipment
And memory, the processor, input equipment, output equipment and memory are connected with each other, wherein the memory is for storing
Robot is supported to execute the computer program of the above method, the computer program includes program instruction, and the processor is matched
It sets for calling described program to instruct, the method for executing above-mentioned first aspect.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer storage medium
It is stored with computer program, the computer program includes program instruction, and described program instruction makes institute when being executed by a processor
State the method that processor executes above-mentioned first aspect.
Existing beneficial effect is the embodiment of the present invention compared with prior art: the location data by obtaining robot；
The location data includes laser positioning data and ultra wide band location data；The laser positioning is judged according to the location data
Whether data are abnormal；If the laser positioning data exception, reinitialized according to the ultra wide band location data described sharp
Light-seeking data, are relocated.Location data is obtained by two kinds of positioning methods, using ultra wide band location data as robot
Initial position, realize entirely autonomous robot localization；By determining whether laser positioning data are abnormal, and it is different in generation
It is relocated when often, on the basis of guaranteeing robot localization stability, improves the positioning accuracy of robot.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow chart of the method for the robot fusion positioning that one embodiment of the invention provides；
Fig. 2 be another embodiment of the present invention provides robot fusion positioning method flow chart；
Fig. 3 is the schematic diagram for the robot that one embodiment of the invention provides；
Fig. 4 be another embodiment of the present invention provides robot schematic diagram；
Fig. 5 is the schematic diagram for the robot that yet another embodiment of the invention provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
It is a kind of flow chart of the method for robot fusion positioning that one embodiment of the invention provides referring to Fig. 1, Fig. 1.This
The executing subject of the method for robot fusion positioning is robot in embodiment.The side of robot fusion positioning as shown in Figure 1
Method may comprise steps of:
S101: the location data of robot is obtained；The location data includes laser positioning data and ultra wide band positioning number
According to.
Ultra wide band positioning is a kind of very advanced and accurately ultra wide band (Ultra Wide-Band, UWB) technology, is met
The demand of present various distance wireless communications.By arranging the base station of respective numbers in the environment locating for robot, and in machine
The reception device that ultra wide band is installed on device people can obtain robot in ring in any place at any time by reception device
Global position in border.
UWB is a kind of novel wireless communication technique, according to the specification of Federal Communications Commission, the work frequency of UWB
Band is 3.1~10.6GHz.The generation of UWB signal can be extremely short by launch time burst pulse, pass through that differential or mixing etc. are upper to be become
Frequency mode is modulated to the realization of UWB working frequency range.UWB has low-power consumption, strong antijamming capability and the high advantage of stability, and
Will not be stronger to the generation of the other equipment under same environment interference, penetrability, there is very high positional accuracy and positioning accuracy.
During robot carries out laser positioning, in order to avoid robot cannot be obtained current by laser positioning
Initial position in environment needs the trouble artificially initialized to robot location, improves the efficiency of robot localization.?
In the present embodiment, the current position of robot is obtained by ultra wide band, and using the position as the initial position of laser positioning.
After the initial position of robot has been determined, robot obtains laser by being set in the laser sensor of itself
Location data, meanwhile, the ultra wide band location data of ultra wide band positioning is obtained with the receiver of itself by setting.Wherein, laser
Location data includes distance and angle of the robot in current location distance objective object, and ultra wide band location data includes machine
Coordinate of the people based on current environment coordinate system.By obtaining the current laser positioning data of robot and ultra wide band positioning in real time
Data so that robot can be handled both location datas, and then determine final exact position.
S102: judge whether the laser positioning data are abnormal according to the location data.
After getting laser positioning data and ultra wide band location data, by judging whether laser positioning data are different
Often, it determines the need for initializing laser positioning data.
When relatively large deviation occurs in the robot location determined by laser positioning data, i.e., laser positioning data occur different
Chang Shi is generally divided into two kinds of situations, first is that the alternate position spike of two positions of the robot that two adjacent time points get is super
Preset position threshold is crossed, which is used to determine whether robot exceeds normal range (NR) in the position of adjacent moment, when
When alternate position spike between two positions is more than or equal to the position threshold, then illustrate that robot location is jumped, wherein
The alternate position spike of two positions is used to indicate the gap size between two positions, can be corresponding abscissa between two positions
Difference and the distance between ordinate difference or two positions, herein without limitation；Second is that laser positioning can have accumulative miss
, there is the case where gradual drift so as to cause laser positioning output position in the problem of difference.Pass through the laser for exporting laser positioning
Location data is compared with certain reference data, to determine whether the laser positioning data are abnormal.
S103: it if the laser positioning data exception, is reinitialized according to the ultra wide band location data described sharp
Light-seeking data, are relocated.
When determining laser positioning data exception according to location data, illustrate what robot was currently obtained by laser positioning
Location information may the barrier obstruction robot around inaccuracy or robot carry out laser positioning.At this point, according to super
Global position in the location data of broadband reinitializes laser positioning data, to realize resetting for robot current position
Position, guarantees the accuracy of robot localization.
Further, it the case where laser positioning data exception, is recorded in some region if repeatedly there is robot
Robot location when being abnormal, and a region is limited near this position, when robot is again introduced into this region, write from memory
Recognize position of the current ultra wide band location data as robot, and use this position initialization laser orientation system, is increased with this
Adding system operational efficiency.
Further, when determining that laser positioning data are normal according to location data, according to laser positioning data and ultra-wide
The location information of robot is determined with location data, and the location information of robot can also be determined according to laser positioning data.
Specifically, when determining the location information of robot by laser positioning data, by laser positioning data
Robot determines coordinate of the robot in current environment coordinate system at a distance from target object and angle, and then determines machine
The current location information of people.
Specifically, since laser positioning data are highly susceptible to external influence and interference, and ultra wide band location data has
There are higher stability, but its limited accuracy.Therefore, after determining that laser positioning data are normal, the two is merged,
With the accuracy that on the basis of guaranteeing robot localization data stability, hoisting machine people is positioned.
Above scheme, by the location data for obtaining robot；The location data includes laser positioning data and ultra-wide
Band location data；Judge whether the laser positioning data are abnormal according to the location data；If the laser positioning data are different
Often, then the laser positioning data are reinitialized according to the ultra wide band location data, is relocated.It is positioned by two kinds
Mode obtains location data, using ultra wide band location data as the initial position of robot, realizes entirely autonomous robot
Positioning；It is whether abnormal by determining laser positioning data, and relocated when being abnormal, guaranteeing that robot localization is steady
On the basis of qualitatively, the positioning accuracy of robot is improved.
Referring to fig. 2, Fig. 2 be another embodiment of the present invention provides a kind of robot fusion positioning method flow chart.
The executing subject of the method for robot fusion positioning is robot in the present embodiment.Robot fusion positioning as shown in Figure 2
Method may comprise steps of:
S201: the location data of robot is obtained；The location data includes laser positioning data and ultra wide band positioning number
According to.
Laser sensor and ultra-wideband data receiver are installed in robot, robot is obtained by laser sensor
Laser positioning data, the ultra-wide for being set to ultra wide band base station around robot and sending is obtained by ultra-wideband data receiver
Band location data.By receiving both data simultaneously, it is ensured that robot obtains the stability of its current location data
And accuracy.
Further, after step S201, further includes:
According to the laser positioning data, judge that whether there are obstacles around the robot；
If there are the barriers around the robot, the location information of each barrier is detected；
According to the location information of each barrier, preset voice prompting is broadcasted；The voice prompting is for prompting
People around the robot leaves the robot.
Specifically, judging that whether there are obstacles around current robot by accessed laser positioning data.Its
In, barrier, which can be wall, desk in room etc., to cause the object hindered to robot traveling.Due to close in crowd
It spends in biggish situation, pedestrian may also impact the action of robot, and therefore, the barrier of the present embodiment further includes
People.
Since the range that the laser sensor in robot can be detected is larger, can cover with the artificial center of circle of machine
3/4ths regional scope by laser sensor to emitting laser around robot, and obtains the data of laser return,
It include distance and angle of the target object pointed by laser to robot in the data.Robot is acquired by laser sensor
Around one week data, the position of the barrier around robot can be got and the distance between with robot.Together
When set a distance threshold, for by the distance between the distance threshold disturbance in judgement object and robot whether in robot
Sphere of action within, to filter out with robot apart from farther away barrier.If between current goal object and robot
Distance is less than the distance threshold, then illustrates that the presence of the target object may affect the work or action of robot, determines
The target object is barrier；If the distance between current goal object and robot are more than or equal to the distance threshold,
Illustrate that the target object and robot are apart from each other, influences caused by the action of robot smaller or do not influence, therefore
The data of the target object are deleted, not using the target object as barrier.
After the location information that each barrier around robot has been determined, with the artificial center of circle of machine, with preset
Angle is regional perspective, determines the fanned partition domain of robot peripheral region, and judges whether exist in each subregion
There are barrier in the quantity of barrier and barrier, subregion if not all, handle according to normal avoidance, if
There is barrier in all subregions, then can determine that robot has been surrounded.
Need to judge whether robot is surrounded by people in next step, because people has the characteristic of autonomous, therefore, especially
In the biggish situation of crowd density, whether cognitive disorders object is people and is dispersed accordingly, work to robot or
Traveling is very helpful.The in situ rotary setting of robot is obtained in the camera in robot in conjunction with the direction of robot
And face is detected, judge in each subregion with the presence or absence of people.Robot is surrounded possibility, and there are two types of situations, first is that completely by people
It surrounds, second is that part is surrounded by people.When confirming that robot is surrounded by people completely, scheduled voice prompting is broadcasted, stops swashing
Light guide process saves current location information, and the robot orientation information that ultra wide band provides only is used only and does position judgement, works as people
After group leaves, continue avoidance process of navigating, and restores to obtain the process of laser positioning data simultaneously.
It, can by by laser detection range partition and cooperating the directional information of robot in Face datection and ultra-wideband data
With the barrier situation on accurate detection robot periphery, with solve the problems, such as robot cannot in the ring of encirclement suitable exercise.
Allow robot timely avoiding obstacles in work or traveling process, improves work and traveling efficiency.
S202: judge whether the laser positioning data are abnormal according to the location data.
After the laser positioning data for getting robot and the ultra wide band location data positioned by ultra wide band, according to
Location data judges whether the laser positioning data are abnormal.
Further, step S202 may include:
S2021: if the absolute value of the laser positioning data and the difference of the ultra wide band location data is greater than or waits
In preset difference value threshold value, then the laser positioning data exception is determined.
Specifically, the difference threshold is for measuring laser positioning data and ultra-wide by presetting a difference threshold
With the discrepancy size between location data.Absolute value by comparing laser positioning data and the difference of ultra wide band location data is
It is no to be more than or equal to the difference threshold, if it is greater than or equal to the difference threshold, then determine laser positioning data exception, it should
Difference threshold is determined according to the maximum variance of laser positioning.
Further, step S202 can also include:
S2022: according to the laser positioning data, posterior probability is calculated by Bayesian filter method；
S2023: if the posterior probability is less than predetermined probabilities threshold value, it is determined that the laser positioning data exception.
Specifically, Bayesian filter method calculates the distribution bel () of execution degree, Bayes's filter by prediction and renewal process
Wave is recursive, that is to say, that the confidence level bel (x of moment tt) by the confidence level bel (x of moment t-1t-1) calculate.It is inputted
Be moment t-1 confidence level and nearest control amount utAnd recent measured value zt, output is exactly the confidence level of moment t
bel(xt).Program 1 gives an iteration of Bayesian filter algorithm, that is, updates the recurrence process of rule.Update rule
Confidence level bel (the x that recurrence process is calculated by frontt-1) calculate subsequent time confidence level bel (xt).Specific Bayesian filter
Shown in process following procedure 1:
Algorithm Bayes_filter(bel(xt-1),ut,zt)
for all xt do
End for
Return bel(xt)
During the prediction of Bayesian filter, i.e., the third line of above-mentioned code.By being based on xt-1Confidence level bel
(xt-1) and control utTo calculate state xtConfidence level bel (xt).Specifically, robot distributes to state xtConfidence levelThe integral being distributed by two obtains, and two here distribute to xt-1Confidence level and have control ut
Caused xt-1To xtTransition probability.
The second step of Bayesian filter is called update, and in the 4th line code of above procedure 1, Bayesian filter is calculated
Method is with obtained measured value ztProbability multiplied by confidence levelFor recursive calculating posteriority confidence level, algorithm is needed
Want the initial confidence level bel (x of a moment t=00) it is used as boundary condition.If it is determined that x0Determine value, bel (x0) should use
One point mass distribution is initialized, and all probability are concentrated on x by point mass distribution0Correction value around, and
The probability of other points is 0.If by initial value x0Ignore completely, bel (x0) it may be used at x0Being uniformly distributed to carry out on neighborhood
Initialization.
According to Bayes' theorem, calculating posterior probability is P (A | B)=P (B | A) * P (A)/P (B), is pushed away in conjunction with above-mentioned
Reason, finally obtains the calculation formula of the posterior probability of Bayesian filter are as follows:
After calculating posterior probability, by presetting probability threshold value, for detecting the size of posterior probability.After if
Probability is tested less than the probability threshold value, it is determined that laser positioning data exception；If posterior probability is more than or equal to the probability threshold value,
Then determine that laser positioning data are normal.
It should be noted that it is abnormal to determine that abnormal mode and step S2022 and step S2023 determine in step S2021
Mode, both determination methods can be the execution logic of alternative, only carry out one of those.
Preferably, laser positioning data are judged whether in Yi Chang method for two kinds, after calculating by Bayesian filter method
The method tested probability and be compared it with preset probability threshold value, i.e. step S2021, compared to by laser positioning data with
The absolute difference of ultra wide band location data, the method being compared with preset difference value threshold value, i.e. step S2022 and step
The accuracy of S2023 judging result is lower.Therefore, first carrying out step S2022 and step S2023 to determine laser positioning data is
No exception, it is final to determine laser positioning data exception if abnormal；If thening follow the steps S2021 there is no exception, with into
One step determines whether to be abnormal.If final to determine that laser positioning data are normal there is no exception；If being abnormal,
It is final to determine laser positioning data exception.By this judgment mode, it can accurately judge that out whether laser positioning data are sent out
It is raw abnormal, to guarantee the accuracy of location data.
S203: if the laser positioning data are normal, number is positioned according to the laser positioning data and the ultra wide band
According to the location information for determining robot.
Laser positioning data are being judged whether after exception, if laser positioning data are normal, according to laser positioning data
The location information of robot is determined with ultra wide band location data.
Further, step S203 is specifically included:
If the laser positioning data are normal, laser positioning data and ultra wide band are positioned by Bayesian filter method
Data fusion obtains the location information.
If laser positioning is normal, Bayesian filter method is used, using laser positioning output information as control amount ut,
The location information of ultra-wide is as observed quantity zt, input in the algorithm in above procedure 1, obtain fused positioning result, with drop
Low ultra wide band positions generated error.
Above scheme, by the location data for obtaining robot；The location data includes laser positioning data and ultra-wide
Band location data；Judge whether the laser positioning data are abnormal according to the location data；If the laser positioning data are just
Often, then the location information of robot is determined according to the laser positioning data and the ultra wide band location data.In laser positioning
In the normal situation of data, laser positioning data and the ultra wide band location data are melted by the method for Bayesian filter
It closes, is stablized, accurate robot localization information, while improving the execution efficiency of robot localization.
It is a kind of schematic diagram of robot provided in an embodiment of the present invention referring to Fig. 3, Fig. 3.The robot 300 of the present embodiment
Including each unit be used to execute each step in the corresponding embodiment of Fig. 1, referring specifically to the corresponding embodiment of Fig. 1 and Fig. 1
In associated description, do not repeat herein.The robot 300 of the present embodiment includes data capture unit 301, abnormality determination unit
302 and reset bit location 303.
Data capture unit 301, for obtaining the location data of robot；The location data includes laser positioning data
With ultra wide band location data；
Abnormality determination unit 302, for judging whether the laser positioning data are abnormal according to the location data；
Bit location 303 is reset, if being used for the laser positioning data exception, again according to the ultra wide band location data
The laser positioning data are initialized, are relocated.
Above scheme, by the location data for obtaining robot；The location data includes laser positioning data and ultra-wide
Band location data；Judge whether the laser positioning data are abnormal according to the location data；If the laser positioning data are different
Often, then the laser positioning data are reinitialized according to the ultra wide band location data, is relocated.It is positioned by two kinds
Mode obtains location data, using ultra wide band location data as the initial position of robot, realizes entirely autonomous robot
Positioning；It is whether abnormal by determining laser positioning data, and relocated when being abnormal, guaranteeing that robot localization is steady
On the basis of qualitatively, the positioning accuracy of robot is improved.
Referring to fig. 4, Fig. 4 is a kind of schematic diagram of robot provided in an embodiment of the present invention.The robot 400 of the present embodiment
Including each unit be used to execute each step in the corresponding embodiment of Fig. 2, referring specifically to the corresponding embodiment of Fig. 2 and Fig. 2
In associated description, do not repeat herein.The robot 400 of the present embodiment includes data capture unit 401, abnormality determination unit
402 and data fusion unit 403.
Data capture unit 401, for obtaining the location data of robot；The location data includes laser positioning data
With ultra wide band location data；
Abnormality determination unit 402, for judging whether the laser positioning data are abnormal according to the location data；
Data fusion unit 403, if normal for the laser positioning data, according to the laser positioning data and institute
State the location information that ultra wide band location data determines robot.
Further, if data fusion unit 403 is normal specifically for the laser positioning data, pass through Bayes and filter
Laser positioning data and ultra wide band location data are merged to obtain the location information by wave method.
Further, abnormality determination unit 402 specifically includes:
Difference judging unit, if the absolute value for the laser positioning data and the difference of the ultra wide band location data
More than or equal to preset difference value threshold value, then the laser positioning data exception is determined.
Further, abnormality determination unit 402 further include:
Probability calculation unit, for calculating posterior probability by Bayesian filter method according to the laser positioning data；
Probability judging unit, if being less than predetermined probabilities threshold value for the posterior probability, it is determined that the laser positioning number
According to exception.
Further, after the location data for obtaining robot, the robot further include:
Barrier judgment unit, for according to the laser positioning data, judging around the robot with the presence or absence of barrier
Hinder object；
Obstacle Position unit, if detecting each obstacle for there are the barriers around the robot
The location information of object；
Voice alerting unit broadcasts preset voice prompting for the location information according to each barrier；It is described
Voice prompting is for prompting the people around the robot to leave the robot.
Above scheme, by the location data for obtaining robot；The location data includes laser positioning data and ultra-wide
Band location data；Judge whether the laser positioning data are abnormal according to the location data；If the laser positioning data are just
Often, then the location information of robot is determined according to the laser positioning data and the ultra wide band location data.In laser positioning
In the normal situation of data, laser positioning data and the ultra wide band location data are melted by the method for Bayesian filter
It closes, is stablized, accurate robot localization information, while improving the execution efficiency of robot localization.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
It is a kind of schematic diagram for robot that yet another embodiment of the invention provides referring to Fig. 5, Fig. 5.This reality as shown in Figure 5
Applying the robot 500 in example may include: processor 501, memory 502 and is stored in memory 502 and can handle
The computer program 503 run on device 501.Processor 501 is realized above-mentioned each for robot when executing computer program 503
Merge the step in the embodiment of the method for positioning.For memory 502 for storing computer program, the computer program includes journey
Sequence instruction.Processor 501 is used to execute the program instruction of the storage of memory 502.Wherein, processor 501 is configured for calling
It is operated below described program instruction execution:
Processor 501 is used to obtain the location data of robot；The location data includes laser positioning data and ultra-wide
Band location data；
Judge whether the laser positioning data are abnormal according to the location data；
If the laser positioning data exception, the laser positioning is reinitialized according to the ultra wide band location data
Data are relocated.
If to be specifically used for the laser positioning data normal for processor 501, according to laser positioning data and described
Ultra wide band location data determines the location information of robot.
If it is normal that processor 501 is specifically used for the laser positioning data, laser is determined by Bayesian filter method
Position data and ultra wide band location data merge to obtain the location information.
If processor 501 is specifically used for the absolute value of the difference of the laser positioning data and the ultra wide band location data
More than or equal to preset difference value threshold value, then the laser positioning data exception is determined.
Processor 501 is specifically used for according to the laser positioning data, calculates posterior probability by Bayesian filter method；
If the posterior probability is less than predetermined probabilities threshold value, it is determined that the laser positioning data exception.
Processor 501 is specifically used for being judged around the robot according to the laser positioning data with the presence or absence of obstacle
Object；
If there are the barriers around the robot, the location information of each barrier is detected；
According to the location information of each barrier, preset voice prompting is broadcasted；The voice prompting is for prompting
People around the robot leaves the robot.
Above scheme, by the location data for obtaining robot；The location data includes laser positioning data and ultra-wide
Band location data；Judge whether the laser positioning data are abnormal according to the location data；If the laser positioning data are just
Often, then the location information of robot is determined according to the laser positioning data and the ultra wide band location data.In laser positioning
In the normal situation of data, laser positioning data and the ultra wide band location data are melted by the method for Bayesian filter
It closes, is stablized, accurate robot localization information, while improving the execution efficiency of robot localization.
It should be appreciated that in embodiments of the present invention, alleged processor 501 can be central processing unit (Central
Processing Unit, CPU), which can also be other general processors, digital signal processor (Digital
Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
Reason device is also possible to any conventional processor etc..
The memory 502 may include read-only memory and random access memory, and to processor 501 provide instruction and
Data.The a part of of memory 502 can also include nonvolatile RAM.For example, memory 502 can also be deposited
Store up the information of device type.
In the specific implementation, processor 501 described in the embodiment of the present invention, memory 502, computer program 503 can
Described in the first embodiment and second embodiment for executing the method for robot fusion positioning provided in an embodiment of the present invention
The implementation of terminal described in the embodiment of the present invention also can be performed in implementation, and details are not described herein.
A kind of computer readable storage medium, the computer-readable storage medium are provided in another embodiment of the invention
Matter is stored with computer program, and the computer program includes program instruction, and described program instructs realization when being executed by processor:
Obtain the location data of robot；The location data includes laser positioning data and ultra wide band location data；
Judge whether the laser positioning data are abnormal according to the location data；
If the laser positioning data exception, the laser positioning is reinitialized according to the ultra wide band location data
Data are relocated.
Further, it is also realized when the computer program is executed by processor:
If the laser positioning data are normal, determined according to the laser positioning data and the ultra wide band location data
The location information of robot.
Further, it is also realized when the computer program is executed by processor:
If the laser positioning data are normal, laser positioning data and ultra wide band are positioned by Bayesian filter method
Data fusion obtains the location information.
Further, it is also realized when the computer program is executed by processor:
If the absolute value of the difference of the laser positioning data and the ultra wide band location data is more than or equal to default
Difference threshold then determines the laser positioning data exception.
Further, it is also realized when the computer program is executed by processor:
According to the laser positioning data, posterior probability is calculated by Bayesian filter method；
If the posterior probability is less than predetermined probabilities threshold value, it is determined that the laser positioning data exception.
Further, it is also realized when the computer program is executed by processor:
According to the laser positioning data, judge that whether there are obstacles around the robot；
If there are the barriers around the robot, the location information of each barrier is detected；
According to the location information of each barrier, preset voice prompting is broadcasted；The voice prompting is for prompting
People around the robot leaves the robot.
Above scheme, by the location data for obtaining robot；The location data includes laser positioning data and ultra-wide
Band location data；Judge whether the laser positioning data are abnormal according to the location data；If the laser positioning data are just
Often, then the location information of robot is determined according to the laser positioning data and the ultra wide band location data.In laser positioning
In the normal situation of data, laser positioning data and the ultra wide band location data are melted by the method for Bayesian filter
It closes, is stablized, accurate robot localization information, while improving the execution efficiency of robot localization.
The computer readable storage medium can be the internal storage unit of robot described in aforementioned any embodiment,
Such as the hard disk or memory of robot.The external storage that the computer readable storage medium is also possible to the robot is set
Plug-in type hard disk that is standby, such as being equipped in the robot, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) card, flash card (Flash Card) etc..Further, the computer readable storage medium is also
Can both including the robot internal storage unit and also including External memory equipment.The computer readable storage medium is used
Other programs and data needed for storing the computer program and the robot.The computer readable storage medium is also
It can be used for temporarily storing the data that has exported or will export.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
It is apparent to those skilled in the art that for convenience of description and succinctly, the machine of foregoing description
The specific work process of device people and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed robot and method can pass through
Other modes are realized.For example, robotic embodiment described above is only schematical, for example, the unit is drawn
Point, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection is also possible to electricity, mechanical or other form connections.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize the embodiment of the present invention according to the actual needs
Purpose.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, is also possible to two or more units and is integrated in one unit.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory,
ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. are various can store program
The medium of code.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (10)
1. a kind of method of robot fusion positioning characterized by comprising
Obtain the location data of robot；The location data includes laser positioning data and ultra wide band location data；
Judge whether the laser positioning data are abnormal according to the location data；
If the laser positioning data exception, the laser positioning number is reinitialized according to the ultra wide band location data
According to being relocated.
2. the method for robot fusion positioning as described in claim 1, which is characterized in that described to be sentenced according to the location data
Whether the laser positioning data of breaking are after exception, further includes:
If the laser positioning data are normal, machine is determined according to the laser positioning data and the ultra wide band location data
The location information of people.
3. the method for robot fusion positioning as claimed in claim 2, which is characterized in that if the laser positioning data
Normally, then the location information of robot is determined according to the laser positioning data and the ultra wide band location data, comprising:
If the laser positioning data are normal, pass through Bayesian filter method for laser positioning data and ultra wide band location data
Fusion obtains the location information.
4. the method for robot fusion positioning as described in any one of claims 1 to 3, which is characterized in that described according to
Location data judges whether the laser positioning data are abnormal, comprising:
If the absolute value of the difference of the laser positioning data and the ultra wide band location data is more than or equal to preset difference value
Threshold value then determines the laser positioning data exception.
5. the method for robot fusion positioning as described in any one of claims 1 to 3, which is characterized in that described according to
Location data judges whether the laser positioning data are abnormal, comprising:
According to the laser positioning data, posterior probability is calculated by Bayesian filter method；
If the posterior probability is less than predetermined probabilities threshold value, it is determined that the laser positioning data exception.
6. the method for robot fusion positioning as described in claim 1, which is characterized in that the positioning number for obtaining robot
According to later, further includes:
According to the laser positioning data, judge that whether there are obstacles around the robot；
If there are the barriers around the robot, the location information of each barrier is detected；
According to the location information of each barrier, preset voice prompting is broadcasted；The voice prompting is described for prompting
People around robot leaves the robot.
7. a kind of robot characterized by comprising
Data capture unit, for obtaining the location data of robot；The location data includes laser positioning data and ultra-wide
Band location data；
Abnormality determination unit, for judging whether the laser positioning data are abnormal according to the location data；
Bit location is reset, if being used for the laser positioning data exception, is reinitialized according to the ultra wide band location data
The laser positioning data, are relocated.
8. robot as claimed in claim 7, which is characterized in that the robot further include:
Data fusion unit, if normal for the laser positioning data, according to the laser positioning data and the ultra-wide
The location information of robot is determined with location data.
9. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 6 times when executing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 6 of realization the method.
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| CN201810287668.7A CN110340935B (en) | 2018-04-03 | 2018-04-03 | Robot fusion positioning method and robot |
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