CN105806337B - A kind of localization method and Indoor Robot applied to Indoor Robot - Google Patents
A kind of localization method and Indoor Robot applied to Indoor Robot Download PDFInfo
- Publication number
- CN105806337B CN105806337B CN201410840950.5A CN201410840950A CN105806337B CN 105806337 B CN105806337 B CN 105806337B CN 201410840950 A CN201410840950 A CN 201410840950A CN 105806337 B CN105806337 B CN 105806337B
- Authority
- CN
- China
- Prior art keywords
- indoor robot
- terrestrial reference
- location information
- flooring
- indoor
- 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.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of localization methods and Indoor Robot applied to Indoor Robot, wherein, above-mentioned localization method includes: when Indoor Robot general work indoors, the location information for the Indoor Robot position that the inertial navigation system measurement of acquisition Indoor Robot obtains, wherein, there are more than two terrestrial references on flooring, and above-mentioned two above terrestrial reference is located at the different location on flooring；If Indoor Robot is in the process of moving, recognize the terrestrial reference on flooring, then: according to the location information for the Indoor Robot present position that the location information of each terrestrial reference on the above-mentioned flooring prestored and above-mentioned inertial navigation system measurement obtain, determining the location information of the terrestrial reference recognized；The location information for the Indoor Robot present position that above-mentioned inertial navigation system measurement obtains is revised as to the location information of the terrestrial reference recognized.Technical solution provided by the invention can effectively improve the positioning accuracy of Indoor Robot.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of localization method and interior applied to Indoor Robot
Robot.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Now in the world to the research of robot
Development is very rapid, and wherein robot positioning system is as extremely important key technology in numerous robot technology, its running
Strong influence robot is the service quality of mankind's service by situation.
Traditional robot localization includes global positioning system (GPS, Global Positioning System), inertia
Navigation system etc., GPS is widely used, precision is high, but affected by environment big, and inertial navigation system is entirely autonomous, and frequency is high but makes an uproar
Sound shadow is rung big；And the fusion positioning of GPS/ inertial navigation system is the integrated navigation and location side being commonly used in current robot navigation
One of method can efficiently use respective advantage, learn from other's strong points to offset one's weaknesses.But in practical applications, GPS signal will receive under many occasions
It blocks and is not available, lead to the decline of system entirety positioning accuracy quickly.
Summary of the invention
The present invention provides a kind of localization method and Indoor Robot applied to Indoor Robot, for improving indoor machine
The positioning accuracy of people.
One aspect of the present invention provides a kind of Indoor Robot, comprising:
Inertial navigation system, terrestrial reference identifying system, memory, and respectively with the inertial navigation system, the terrestrial reference
The processor that identifying system is connected with the memory；
The terrestrial reference identifying system is used for the terrestrial reference on indoor machine man-hour identification flooring, wherein
There are more than two terrestrial references on the flooring, and described two above terrestrial references are located at the different positions on the flooring
It sets；
The memory is used to store the location information of each terrestrial reference on the flooring；
The processor is used for:
When the Indoor Robot works on the flooring, obtain what the inertial navigation system measurement obtained
The location information of the Indoor Robot position；
If the Indoor Robot is in the process of moving, the flooring is recognized by the terrestrial reference identifying system
On terrestrial reference, then:
It is led according to the location information of each terrestrial reference on the flooring of memory storage and the inertia
The location information of the Indoor Robot present position that boat systematic survey obtains, determine described in the position of terrestrial reference that recognizes
Confidence breath, wherein the location information of the terrestrial reference of the determination and the location information of the Indoor Robot present position
Position deviation value is minimum；
The location information for the Indoor Robot present position that the inertial navigation system measurement is obtained is modified
For the location information of the terrestrial reference of the determination.
Another aspect of the present invention provides a kind of localization method applied to Indoor Robot, and above-mentioned Indoor Robot includes used
Property navigation system, above-mentioned localization method include:
When the Indoor Robot general work indoors, obtain the inertial navigation system measurement obtain it is described
The location information of Indoor Robot position, wherein there are more than two terrestrial references on the flooring, and it is described two with
Shangdi mark is in the different location on the flooring；
If the Indoor Robot is in the process of moving, recognize the terrestrial reference on the flooring, then:
It is measured according to the location information of each terrestrial reference on the flooring prestored and the inertial navigation system
The location information of the obtained Indoor Robot present position, determine described in the location information of terrestrial reference that recognizes,
In, the position deviation value of the location information of the location information of the terrestrial reference of the determination and the Indoor Robot present position
It is minimum；
The location information for the Indoor Robot present position that the inertial navigation system measurement is obtained is modified
For the location information of the terrestrial reference of the determination.
Therefore the location information of each terrestrial reference on flooring is stored in advance in the present invention, when Indoor Robot exists
When working on above-mentioned flooring, the location information of Indoor Robot position is measured using inertial navigation system, and knowing
When the terrestrial reference being clipped on flooring, according to the location information of each terrestrial reference on the flooring prestored and inertial navigation system
The location information for the Indoor Robot present position that unified test measures determines the location information of the terrestrial reference recognized, utilizes
The location information that the location information of determining terrestrial reference measures Indoor Robot position to inertial navigation system is corrected, from
And the location information of the practical position of Indoor Robot is obtained, improve the positioning accuracy of Indoor Robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is a kind of Indoor Robot one embodiment structural schematic diagram provided by the invention；
Fig. 2-a and Fig. 2-b is the local structure top view of the Indoor Robot under a kind of application scenarios provided by the invention；
Fig. 3 is a kind of localization method one embodiment flow diagram applied to Indoor Robot provided by the invention；
Fig. 4 is the terrestrial reference display diagram under a kind of application scenarios provided by the invention.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
Applying example is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
One of embodiment of the present invention Indoor Robot is described below, referring to Fig. 1, in the embodiment of the present invention
Indoor Robot 100 include:
Inertial navigation system 101, terrestrial reference identifying system 102, memory 103, and respectively with inertial navigation system 101,
The processor 104 that terrestrial reference identifying system 102 and memory 103 connect.
When terrestrial reference identifying system 102 works for robot 100 indoors, the terrestrial reference on flooring is identified, wherein on
It states on flooring and there are more than two terrestrial references, and above-mentioned two above terrestrial reference is located at the different location on above-mentioned flooring.
Memory 103 is used to store the location information of each terrestrial reference on flooring.
Processor 104 is used for:
When Indoor Robot 100 works on above-mentioned flooring, obtains inertial navigation system 101 and measure obtained room
The location information of 100 position of inner machine people；If Indoor Robot 100 is in the process of moving, pass through terrestrial reference identifying system
102 recognize the terrestrial reference on above-mentioned flooring, then:
The location information and inertial navigation system of each terrestrial reference on above-mentioned flooring stored according to memory 103
The location information for 100 present position of Indoor Robot that 101 measurements obtain definitely marks what identifying system 102 recognized
The location information of terrestrial reference, wherein the position of the location information of the terrestrial reference of above-mentioned determination and the Indoor Robot present position
The position deviation value of confidence breath is minimum；
The location information that inertial navigation system 101 measures obtained 100 present position of Indoor Robot is revised as
The location information of the terrestrial reference of above-mentioned determination.
Optionally, processor 104 is also used to: during robot 100 is mobile indoors, counting Indoor Robot 100
Add up mobile distance；It is unidentified to above-mentioned by terrestrial reference identifying system 102 if Indoor Robot 100 is in the process of moving
Terrestrial reference on flooring, and Indoor Robot 100 adds up mobile distance and reaches preset threshold, then: being deposited according to memory 103
The location information and inertial navigation system 101 of each terrestrial reference on the above-mentioned flooring of storage measure obtained Indoor Robot
The location information of 100 present positions, control Indoor Robot 100 are moved to Indoor Robot 100 apart from nearest terrestrial reference
It is dynamic.Processor is also used to: being believed in the position that inertial navigation system 10 is measured to obtained 100 present position of Indoor Robot
After the location information for ceasing the terrestrial reference for being revised as above-mentioned reading, the Indoor Robot 100 of statistics is added up into mobile distance and is reset.
Optionally, processor 104 is also used to: when control Indoor Robot 100 to Indoor Robot 100 apart from nearest
After terrestrial reference is mobile, when failing to recognize terrestrial reference within the scope of predetermined position by terrestrial reference identifying system 102, indoor machine is controlled
People 100 is mobile with S-shaped track (or other tracks such as zigzag trajectory), until recognizing above-mentioned interior by terrestrial reference identifying system 102
Terrestrial reference on ground.
Optionally, on the basis of embodiment shown in Fig. 1, terrestrial reference identifying system 102 is specifically included: reflective photoelectric switch
Module, rotating disk and stepper motor；Above-mentioned reflective photoelectric switch module includes: N number of reflective photoelectric switch sensor, above-mentioned
N number of reflective photoelectric switch sensor is arranged in a shape, and above-mentioned N is greater than 2.Each terrestrial reference of above-mentioned flooring is big by M
Small different and reflexible oval marks composition, above-mentioned M oval marks respectively correspond different location informations, and above-mentioned M
The transverse of each oval marks in oval marks is not more than the length of above-mentioned N number of reflective photoelectric switch sensor, on
M is stated greater than 2.
Processor 104 is specifically used for: if the reflecting light being located among above-mentioned N number of reflective photoelectric switch sensor is established by cable
Sensor sensing is closed to oval marks, it is determined that recognize the terrestrial reference on above-mentioned flooring.Processor 104 is specifically used for passing through
As under type determines the location information of the above-mentioned terrestrial reference recognized:
It records in current above-mentioned N number of reflective photoelectric switch sensor, senses the reflection photoelectric switch of the oval marks
Number；
Above-mentioned rotating disk is driven by above-mentioned stepper motor, it is each in present position to control Indoor Robot 100
With default rotation direction and predetermined angle rotation, until Indoor Robot 100 moves 180 degree in present position corotation, wherein
Above-mentioned predetermined angle is greater than 0 and less than 20；
After robot 100 rotates every time indoors, records in above-mentioned N number of reflective photoelectric switch sensor, sense this
The number of the reflection photoelectric switch of oval marks；
When Indoor Robot 100 is after present position corotation moves 180 degree, according to the reflection for sensing the oval marks
The variation of the number of optoelectronic switch determines the feature of the oval marks；
The location information of each terrestrial reference on above-mentioned flooring stored according to memory 103, inertial navigation system 101
The location information of obtained above-mentioned Indoor Robot present position and the feature of the oval marks are measured, determines that the ellipse is marked
Remember corresponding location information.
Optionally, Indoor Robot 100 further include: be set on Indoor Robot, for covering above-mentioned N number of reflecting light
The hood of electric switch sensor.
Optionally, inertial navigation system 101 includes: 3-axis acceleration sensor and angular-rate sensor；
The Z axis of above-mentioned 3-axis acceleration sensor is set on straight line perpendicular to the ground；
Above-mentioned angular-rate sensor is set to the center of above-mentioned Indoor Robot.
It should be noted that the inertial navigation system referred in the embodiment of the present invention is a kind of independent of outside letter
It ceases, also not to the autonomic navigation system of external radiation energy, specifically, the structure of inertial navigation system is referred to existing skill
Art realizes that details are not described herein again.
Preset threshold as mentioned in the embodiments of the present invention refers to the fiducial range of inertial navigation system, i.e., in the accumulation of permission
In error, the moveable distance range of inertial navigation system.It should be understood that fiducial range and the inertial navigation system of inertial navigation system
The precision of system is related, and the precision of inertial navigation system is related to using algorithm, the sensor mass used, therefore the embodiment of the present invention
In the specific value of the fiducial range of inertial navigation system is not defined.
Reflective photoelectric switch sensor, that is, infrared tube as mentioned in the embodiments of the present invention, function are to emit and receive
Reflected infrared light, therefore, Indoor Robot can be examined according to reflective photoelectric switch sensor in the embodiment of the present invention
It surveys ground surface reflectance and determines whether the reflective photoelectric switch sensor senses terrestrial reference.
Based on Indoor Robot shown in FIG. 1, under a kind of application scenarios, Indoor Robot in the embodiment of the present invention
Entity structure is referred to shown in the top view of Indoor Robot shown in Fig. 2-a and Fig. 2-b, by Fig. 2-a and Fig. 2-b as it can be seen that
Indoor Robot includes: the inertial navigation system being made of 3-axis acceleration sensor 11 and angular-rate sensor 12, indoor unit
Wheel 13 required for device people is mobile, the reflective photoelectric switch module being made of one group of reflective photoelectric switch sensor 21,
For controlling rotating disk 22 that the Indoor Robot rotates in situ, the stepper motor 23 for driving rotating disk 22, being used for
Visible light is blocked, visible light is avoided to generate the hood 24 of interference to reflective photoelectric switch sensor 21.It should be noted that
Fig. 2-a and Fig. 2-b only illustrates the part of devices of Indoor Robot, and practically, Indoor Robot should also contain other built-in
In the device of Indoor Robot, such as: above-mentioned memory, respectively with inertial navigation system, the other system of land marking and memory
The processor of connection and other connection circuits etc..It should be understood that for ease of description, Fig. 2-a and Fig. 2-b points are opened and illustrate indoor machine
The part of devices of people, practically, Indoor Robot should be comprising all devices shown in Fig. 2-a and Fig. 2-b, also, Fig. 2-a and figure
The device that 2-b is shown not all is set to the viewing position of Indoor Robot, such as 3-axis acceleration sensor 11, angular speed pass
Sensor 12 and reflective photoelectric switch sensor 21 may be disposed at non-viewing position (such as the Indoor Robot of Indoor Robot
It is internal).
Therefore the location information of each terrestrial reference on flooring is stored in advance in the present invention, when Indoor Robot exists
When working on above-mentioned flooring, the location information of Indoor Robot position is measured using inertial navigation system, and knowing
When the terrestrial reference being clipped on flooring, according to the location information of each terrestrial reference on the flooring prestored and inertial navigation system
The location information for the Indoor Robot present position that unified test measures determines the location information of the terrestrial reference recognized, utilizes
The location information that the location information of determining terrestrial reference measures Indoor Robot position to inertial navigation system is corrected, from
And the location information of the practical position of Indoor Robot is obtained, improve the positioning accuracy of Indoor Robot.
Below with another embodiment, the localization method applied to Indoor Robot in the embodiment of the present invention is retouched
It states, specifically, the structure of the Indoor Robot is referred to shown in Fig. 1, as shown in figure 3, the positioning side in the embodiment of the present invention
Method, comprising:
301, when above-mentioned Indoor Robot general work indoors, obtain what above-mentioned inertial navigation system measurement obtained
The location information of above-mentioned Indoor Robot position；
There are more than two terrestrial references in the embodiment of the present invention, on above-mentioned flooring, and above-mentioned two above terrestrial reference is located at
Different location on above-mentioned flooring.Specifically, the quantity of terrestrial reference is with the area of above-mentioned flooring and to Indoor Robot
Positioning accuracy request it is related, the area of above-mentioned flooring is bigger, higher to the positioning accuracy request of Indoor Robot, then on
The terrestrial reference for stating flooring placement is more.Also, there are certain interval between any two terrestrial reference on above-mentioned flooring,
The size at the interval can be set according to the inertial navigation system precision of above-mentioned Indoor Robot, for example, if above-mentioned interior
The inertial navigation system precision of robot is higher, then the interval between any two terrestrial reference on above-mentioned flooring can be larger,
If the inertial navigation system precision of above-mentioned Indoor Robot is lower, between any two terrestrial reference on above-mentioned flooring between
Every the appropriate reduction of needs.Wherein, the precision of above-mentioned inertial navigation system is related to using algorithm, the sensor mass used, therefore
The specific value of the fiducial range of inertial navigation system is not defined in the embodiment of the present invention.
If 302, Indoor Robot is in the process of moving, the terrestrial reference on above-mentioned flooring is recognized, then basis prestores
Above-mentioned flooring on each terrestrial reference location information and the obtained above-mentioned indoor unit of above-mentioned inertial navigation system measurement
The location information of device people's present position determines the location information of the above-mentioned terrestrial reference recognized, wherein the terrestrial reference of above-mentioned determination
Location information and above-mentioned Indoor Robot present position location information position deviation value it is minimum.
In the embodiment of the present invention, the location information of each terrestrial reference on above-mentioned flooring is stored in the indoor unit in advance
The memory (such as read-only memory (ROM, Read-Only Memory)) of device people can be communicated with the Indoor Robot
Other equipment (such as server etc.) in.
303, the location information for the above-mentioned Indoor Robot present position for obtaining above-mentioned inertial navigation system measurement
It is revised as the location information of the terrestrial reference of above-mentioned determination；
That is the Indoor Robot above-mentioned Indoor Robot present position that obtains above-mentioned inertial navigation system measurement
Location information is revised as the location information for the terrestrial reference that step 302 determines.
Optionally, it during above-mentioned Indoor Robot is mobile, counts above-mentioned Indoor Robot and adds up mobile distance；
If the above-mentioned Indoor Robot unidentified terrestrial reference on above-mentioned flooring in the process of moving, and above-mentioned Indoor Robot is tired
The mobile distance of meter reaches preset threshold, then: according to the location information of each terrestrial reference on above-mentioned flooring and above-mentioned used
The location information for the above-mentioned Indoor Robot present position that property navigation system measurement obtains, control above-mentioned Indoor Robot to
It is mobile apart from nearest terrestrial reference with above-mentioned Indoor Robot.The above-mentioned above-mentioned indoor unit for obtaining above-mentioned inertial navigation system measurement
The location information that the location information of device people's present position is revised as the terrestrial reference of above-mentioned determination (includes: after step 303)
The above-mentioned Indoor Robot of statistics is added up mobile distance to reset.For example, above-mentioned preset threshold is set as 10 meters, if
The above-mentioned Indoor Robot unidentified terrestrial reference on above-mentioned flooring, and the accumulative shifting of the Indoor Robot in the process of moving
When dynamic distance reaches 10 meters, Indoor Robot is current according to the above-mentioned Indoor Robot that above-mentioned inertial navigation system measurement obtains
The location information of position, if the location information of above-mentioned Indoor Robot present position is coordinate points (x1, y1), and
The ground subject distance coordinate points placed at coordinate points (x2, y2) are determined according to the location information of each terrestrial reference on above-mentioned flooring
(x1, y1) recently, then above-mentioned Indoor Robot is mobile to the coordinate points direction (x2, y2).Further, if above-mentioned Indoor Robot not
Terrestrial reference can be recognized within the scope of predetermined position, then controls above-mentioned Indoor Robot with S-shaped track (or other rails such as zigzag trajectory
Mark) it is mobile, until recognizing the terrestrial reference on above-mentioned flooring.
Optionally, above-mentioned positioning robot includes: N number of reflective photoelectric switch sensor, and above-mentioned N number of reflecting light is established by cable
It closes sensor to arrange in a shape, above-mentioned N is greater than 2.The terrestrial reference that above-mentioned flooring is then placed in the embodiment of the present invention can be with
For the transparent pad pasting of smooth material or frosted material, change ground surface reflectance in the case where not affecting the appearance to reach, in confession
State reflective photoelectric switch sensor sensing.Specifically, in order to enable Indoor Robot can more effectively find terrestrial reference, above-mentioned room
Each terrestrial reference on interior ground is made of M of different sizes and reflexible oval marks, and above-mentioned M oval marks respectively correspond not
Same location information, and the transverse of each oval marks in above-mentioned M oval marks is not more than above-mentioned N number of reflecting light
The length of electric switch sensor, above-mentioned M are greater than 2.Terrestrial reference 40 to be made of 6 oval marks as shown in Figure 4.
Optionally, if above-mentioned Indoor Robot in the process of moving, is located at above-mentioned N number of reflective photoelectric switch sensor
Intermediate reflective photoelectric switch sensor sensing is to oval marks, it is determined that recognizes the terrestrial reference on the flooring.Step
Rapid 302 specifically include:
It records in current above-mentioned N number of reflective photoelectric switch sensor, senses the reflection photoelectric switch of the oval marks
Number；
Above-mentioned Indoor Robot is controlled in present position every time with default rotation direction and predetermined angle rotation, until
Above-mentioned Indoor Robot moves 180 degree in present position corotation, wherein above-mentioned predetermined angle is greater than 0 and less than 20；
After above-mentioned Indoor Robot rotates every time, records in above-mentioned N number of reflective photoelectric switch sensor, sense this
The number of the reflection photoelectric switch of oval marks；
When above-mentioned Indoor Robot is after present position corotation moves 180 degree, according to sensing the anti-of the oval marks
The variation for penetrating the number of optoelectronic switch determines the feature of the oval marks；
According to the location information of each terrestrial reference on the flooring of above-mentioned memory storage, above-mentioned inertial navigation system
The location information for the above-mentioned Indoor Robot present position that unified test measures and the feature of the oval marks, determine the ellipse
Mark corresponding location information.
It should be understood that the embodiment of the present invention in Indoor Robot can such as the Indoor Robot in above-mentioned Installation practice,
Its specific implementation process can refer to the associated description in above-mentioned apparatus embodiment, and details are not described herein again.
Therefore the location information of each terrestrial reference on flooring is stored in advance in the present invention, when Indoor Robot exists
When working on above-mentioned flooring, the location information of Indoor Robot position is measured using inertial navigation system, and knowing
When the terrestrial reference being clipped on flooring, according to the location information of each terrestrial reference on the flooring prestored and inertial navigation system
The location information for the Indoor Robot present position that unified test measures determines the location information of the terrestrial reference recognized, utilizes
The location information that the location information of determining terrestrial reference measures Indoor Robot position to inertial navigation system is corrected, from
And the location information of the practical position of Indoor Robot is obtained, improve the positioning accuracy of Indoor Robot.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of said units, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
It should be noted that for the various method embodiments described above, describing for simplicity, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described because
According to the present invention, certain steps can use other sequences or carry out simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, and related actions and modules might not all be this hair
Necessary to bright.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
The above are to provided by the present invention a kind of applied to the localization method of Indoor Robot and retouching for Indoor Robot
It states, for those of ordinary skill in the art, thought according to an embodiment of the present invention, in specific embodiments and applications
There will be changes, and to sum up, the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of Indoor Robot characterized by comprising
Inertial navigation system, terrestrial reference identifying system, memory, and identified respectively with the inertial navigation system, the terrestrial reference
The processor that system is connected with the memory；
The terrestrial reference identifying system is used for the terrestrial reference on indoor machine man-hour identification flooring, wherein described
There are more than two terrestrial references on flooring, and described two above terrestrial references are located at the different location on the flooring；
The memory is used to store the location information of each terrestrial reference on the flooring；
The processor is used for:
When the Indoor Robot works on the flooring, obtain the inertial navigation system measurement obtain it is described
The location information of Indoor Robot position；
If the Indoor Robot is in the process of moving, recognized on the flooring by the terrestrial reference identifying system
Terrestrial reference, then:
According to the location information of each terrestrial reference on the flooring of memory storage and the inertial navigation system
The location information for the Indoor Robot present position that unified test measures, determine described in recognize terrestrial reference position letter
Breath, wherein the location information of the terrestrial reference recognized and the position of the Indoor Robot present position determined is believed
The position deviation value of breath is minimum；
The location information for the Indoor Robot present position that the inertial navigation system measurement obtains is revised as really
The location information of the fixed terrestrial reference recognized.
2. Indoor Robot according to claim 1, which is characterized in that the processor is also used to:
During the Indoor Robot is mobile, counts the Indoor Robot and add up mobile distance；
It is unidentified on the flooring by the terrestrial reference identifying system if the Indoor Robot is in the process of moving
Terrestrial reference, and the Indoor Robot adds up mobile distance and reaches preset threshold, then:
According to the location information of each terrestrial reference on the flooring of memory storage and the inertial navigation system
The location information for the Indoor Robot present position that unified test measures, control the Indoor Robot to the room
Inner machine people is mobile apart from nearest terrestrial reference；
The processor is also used to: in the Indoor Robot present position for obtaining the inertial navigation system measurement
Location information be revised as after the location information of the determining terrestrial reference recognized, the Indoor Robot of statistics is tired out
The mobile distance of meter is reset.
3. Indoor Robot according to claim 2, which is characterized in that the processor is also used to:
After controlling the Indoor Robot to the Indoor Robot apart from nearest terrestrial reference movement, pass through the terrestrial reference
When identifying system fails to recognize terrestrial reference within the scope of predetermined position, the Indoor Robot is controlled with the movement of S-shaped track, until
The terrestrial reference on the flooring is recognized by the terrestrial reference identifying system.
4. Indoor Robot according to any one of claims 1 to 3, which is characterized in that
The terrestrial reference identifying system specifically includes: reflective photoelectric switch module, rotating disk and stepper motor；
The reflective photoelectric switch module includes: N number of reflective photoelectric switch sensor, N number of reflective photoelectric switch
Sensor is arranged in a shape, and the N is greater than 2；
Each terrestrial reference of the flooring is made of M of different sizes and reflexible oval marks, the M oval marks
Different location informations is respectively corresponded, and the transverse of each oval marks in the M oval marks is not more than the N
The length of a reflective photoelectric switch sensor, the M are greater than 2；
The processor is specifically used for: if being located at the reflective photoelectric switch among N number of reflective photoelectric switch sensor
Sensor sensing is to oval marks, it is determined that recognizes the terrestrial reference on the flooring；
The processor is specifically used for being determined as follows the location information of the terrestrial reference recognized:
It records in presently described N number of reflective photoelectric switch sensor, senses of the reflection photoelectric switch of the oval marks
Number；
The rotating disk is driven by the stepper motor, to control the Indoor Robot in present position every time with pre-
If rotation direction and predetermined angle rotation, until the Indoor Robot moves 180 degree in present position corotation, wherein institute
Predetermined angle is stated greater than 0 and less than 20；
After the Indoor Robot rotates every time, records in N number of reflective photoelectric switch sensor, sense the ellipse
The number of the reflection photoelectric switch of label；
When the Indoor Robot is after present position corotation moves 180 degree, according to the reflected light for sensing the oval marks
The variation of the number of electric switch determines the feature of the oval marks；
It is surveyed according to the location information of each terrestrial reference on the flooring of memory storage, the inertial navigation system
The location information of the Indoor Robot present position measured and the feature of the oval marks, determine the oval marks
Corresponding location information.
5. Indoor Robot according to claim 4, which is characterized in that the Indoor Robot further include: be set to room
On inner machine people, for covering the hood of N number of reflective photoelectric switch sensor.
6. Indoor Robot according to any one of claims 1 to 3, which is characterized in that the inertial navigation system includes:
3-axis acceleration sensor and angular-rate sensor；
The Z axis of the 3-axis acceleration sensor is set on straight line perpendicular to the ground；
The angular-rate sensor is set to the center of the Indoor Robot.
7. a kind of localization method applied to Indoor Robot, which is characterized in that the Indoor Robot includes inertial navigation system
System, the localization method include:
When the Indoor Robot general work indoors, the interior that the inertial navigation system measurement obtains is obtained
The location information of robot position, wherein there are more than two terrestrial references on the flooring, and described two with Shangdi
Mark is in the different location on the flooring；
If the Indoor Robot is in the process of moving, recognize the terrestrial reference on the flooring, then:
It is obtained according to the location information of each terrestrial reference on the flooring prestored and the inertial navigation system measurement
The Indoor Robot present position location information, determine described in the location information of terrestrial reference that recognizes, wherein really
The position of the location information and the location information of the Indoor Robot present position of the fixed terrestrial reference recognized is inclined
Difference is minimum；
The location information for the Indoor Robot present position that the inertial navigation system measurement obtains is revised as really
The location information of the fixed terrestrial reference recognized.
8. localization method according to claim 7, which is characterized in that the method also includes:
During the Indoor Robot is mobile, counts the Indoor Robot and add up mobile distance；
If the Indoor Robot unidentified terrestrial reference on the flooring, and the indoor machine in the process of moving
People adds up mobile distance and reaches preset threshold, then:
Described in being obtained according to the location information of each terrestrial reference on the flooring and the inertial navigation system measurement
The location information of Indoor Robot present position, control the Indoor Robot to Indoor Robot distance recently
Terrestrial reference it is mobile；
The location information of the Indoor Robot present position that the inertial navigation system measurement is obtained is modified
Location information for the terrestrial reference recognized described in determining includes: later
The Indoor Robot of statistics is added up mobile distance to reset.
9. localization method according to claim 8, which is characterized in that the control Indoor Robot to the room
Inner machine people is mobile apart from nearest terrestrial reference, includes: later
If failing to recognize terrestrial reference within the scope of predetermined position, it is mobile with S-shaped track to control the Indoor Robot, until knowing
The terrestrial reference being clipped on the flooring.
10. localization method according to any one of claims 7 to 9, which is characterized in that the positioning robot includes: N number of
Reflective photoelectric switch sensor, N number of reflective photoelectric switch sensor are arranged in a shape, and the N is greater than 2；
Each terrestrial reference of the flooring is made of M of different sizes and reflexible oval marks, the M oval marks
Different location informations is respectively corresponded, and the transverse of each oval marks in the M oval marks is not more than the N
The length of a reflective photoelectric switch sensor, the M are greater than 2；
The described method includes:
The reflection if Indoor Robot is in the process of moving, among N number of reflective photoelectric switch sensor
Formula optoelectronic switch sensor sensing is to oval marks, it is determined that recognizes the terrestrial reference on the flooring；
The location information for each terrestrial reference on the flooring that the basis prestores and inertial navigation system measurement
The location information of the obtained Indoor Robot present position, determine described in the location information of terrestrial reference that recognizes, tool
Body are as follows:
It records in presently described N number of reflective photoelectric switch sensor, senses of the reflection photoelectric switch of the oval marks
Number；
The Indoor Robot is controlled in present position every time with default rotation direction and predetermined angle rotation, until described
Indoor Robot moves 180 degree in present position corotation, wherein the predetermined angle is greater than 0 and less than 20；
After the Indoor Robot rotates every time, records in N number of reflective photoelectric switch sensor, sense the ellipse
The number of the reflection photoelectric switch of label；
When the Indoor Robot is after present position corotation moves 180 degree, according to the reflected light for sensing the oval marks
The variation of the number of electric switch determines the feature of the oval marks；
It is measured according to the location information of each terrestrial reference on the flooring of memory storage, the inertial navigation system
The location information of the Indoor Robot present position arrived and the feature of the oval marks determine that the oval marks are corresponding
Location information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410840950.5A CN105806337B (en) | 2014-12-30 | 2014-12-30 | A kind of localization method and Indoor Robot applied to Indoor Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410840950.5A CN105806337B (en) | 2014-12-30 | 2014-12-30 | A kind of localization method and Indoor Robot applied to Indoor Robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105806337A CN105806337A (en) | 2016-07-27 |
| CN105806337B true CN105806337B (en) | 2019-07-19 |
Family
ID=56981074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410840950.5A Active CN105806337B (en) | 2014-12-30 | 2014-12-30 | A kind of localization method and Indoor Robot applied to Indoor Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105806337B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018032488A1 (en) * | 2016-08-19 | 2018-02-22 | 广州艾若博机器人科技有限公司 | Map building method and apparatus based on light emitting device, and correction method and apparatus |
| CN106598054B (en) * | 2017-01-16 | 2019-10-11 | 深圳优地科技有限公司 | Robot path method of adjustment and device |
| CN106842270B (en) * | 2017-02-07 | 2021-08-10 | 惠州Tcl移动通信有限公司 | Method and system for improving indoor positioning accuracy |
| CN107680135B (en) * | 2017-11-16 | 2019-07-23 | 珊口（上海）智能科技有限公司 | Localization method, system and the robot being applicable in |
| WO2019136613A1 (en) * | 2018-01-09 | 2019-07-18 | 深圳市沃特沃德股份有限公司 | Indoor locating method and device for robot |
| CN109159117A (en) * | 2018-08-22 | 2019-01-08 | 北京云迹科技有限公司 | A kind of position calibration method and distributed robot |
| CN110472451B (en) * | 2019-07-05 | 2021-03-30 | 南京航空航天大学 | Monocular camera-based artificial landmark oriented to AGV positioning and calculating method |
| CN111591343A (en) * | 2020-04-10 | 2020-08-28 | 广州创显科教股份有限公司 | Based on quick blending device of goods for management of intelligence commodity circulation garden |
| CN113805594B (en) * | 2020-05-21 | 2023-09-05 | 深圳市海柔创新科技有限公司 | Navigation method and navigation device |
| CN115951662A (en) * | 2020-05-21 | 2023-04-11 | 深圳市海柔创新科技有限公司 | Navigation method, navigation device and mobile carrier |
| CN111766872B (en) * | 2020-06-05 | 2023-11-24 | 北京汽车研究总院有限公司 | Vehicle line inspection method and device, vehicle and electronic equipment |
| CN111999721B (en) * | 2020-08-21 | 2024-01-30 | 深圳优地科技有限公司 | Floor recognition method, device and system and computer readable storage medium |
| CN112581535B (en) * | 2020-12-25 | 2023-03-24 | 达闼机器人股份有限公司 | Robot positioning method, device, storage medium and electronic equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721425A (en) * | 2012-05-23 | 2012-10-10 | 北京红旗胜利科技发展有限责任公司 | Method and apparatus for correcting course in navigation system |
| CN102768042A (en) * | 2012-07-11 | 2012-11-07 | 清华大学 | Visual-inertial combined navigation method |
| CN102927980A (en) * | 2012-10-12 | 2013-02-13 | 深圳市宇恒互动科技开发有限公司 | Indoor positioning system and indoor positioning method based on three-dimensional multipoint wireless and micro-inertia navigation |
| CN102963698A (en) * | 2012-11-14 | 2013-03-13 | 湖北华昌达智能装备股份有限公司 | Method and system for control of operation of transitional machine |
| CN103323002A (en) * | 2012-03-19 | 2013-09-25 | 联想(北京)有限公司 | Simultaneous localization and mapping method and device |
| CN103591955A (en) * | 2013-11-21 | 2014-02-19 | 西安中科光电精密工程有限公司 | Combined navigation system |
| CN103776443A (en) * | 2014-01-28 | 2014-05-07 | 北京融智利达科技有限公司 | Autonomous navigation system for producing correction information by using image information code |
-
2014
- 2014-12-30 CN CN201410840950.5A patent/CN105806337B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323002A (en) * | 2012-03-19 | 2013-09-25 | 联想(北京)有限公司 | Simultaneous localization and mapping method and device |
| CN102721425A (en) * | 2012-05-23 | 2012-10-10 | 北京红旗胜利科技发展有限责任公司 | Method and apparatus for correcting course in navigation system |
| CN102768042A (en) * | 2012-07-11 | 2012-11-07 | 清华大学 | Visual-inertial combined navigation method |
| CN102927980A (en) * | 2012-10-12 | 2013-02-13 | 深圳市宇恒互动科技开发有限公司 | Indoor positioning system and indoor positioning method based on three-dimensional multipoint wireless and micro-inertia navigation |
| CN102963698A (en) * | 2012-11-14 | 2013-03-13 | 湖北华昌达智能装备股份有限公司 | Method and system for control of operation of transitional machine |
| CN103591955A (en) * | 2013-11-21 | 2014-02-19 | 西安中科光电精密工程有限公司 | Combined navigation system |
| CN103776443A (en) * | 2014-01-28 | 2014-05-07 | 北京融智利达科技有限公司 | Autonomous navigation system for producing correction information by using image information code |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105806337A (en) | 2016-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105806337B (en) | A kind of localization method and Indoor Robot applied to Indoor Robot | |
| CN104697517B (en) | A kind of parking garage Multi-Targets Tracking and Positioning System | |
| CN104217439B (en) | Indoor visual positioning system and method | |
| CN105865451B (en) | Method and apparatus for mobile robot indoor positioning | |
| CN105547305B (en) | A kind of pose calculation method based on wireless location and laser map match | |
| CN104102222B (en) | A kind of pinpoint method of AGV | |
| CN102419178B (en) | Mobile robot positioning system and method based on infrared road sign | |
| CN106643801B (en) | A kind of detection method and electronic equipment of positional accuracy | |
| CN109643127A (en) | Construct map, positioning, navigation, control method and system, mobile robot | |
| CN102057248B (en) | Positioning device and method for detecting a laser beam | |
| CN106308685A (en) | Cleaning robot and control method thereof | |
| CN108919825A (en) | The unmanned plane indoor locating system and method for having barrier avoiding function | |
| US20120123720A1 (en) | Robotic heliostat calibration system and method | |
| CN107490375B (en) | Spot hover accuracy measuring device, method and unmanned vehicle | |
| CN105486311A (en) | Indoor robot positioning navigation method and device | |
| CN109079774B (en) | A kind of isotropism visual sensing three-dimensional spherical target and scaling method | |
| CN107976195A (en) | Position Fixing Navigation System and method, storage medium, the robot of robot | |
| CN108919811A (en) | A kind of indoor mobile robot SLAM method based on tag label | |
| CN106646513A (en) | Map construction system based on intelligent robot and map navigation method based on intelligent robot | |
| CN105467992B (en) | The determination method and apparatus in mobile electronic device path | |
| CN106197427A (en) | Method, device and the robot of a kind of indoor positioning navigation | |
| CN106153043B (en) | A kind of robot indoor positioning method and system based on infrared distance sensor | |
| CN106662440A (en) | Tracking method and tracking system | |
| CN110262667A (en) | A kind of virtual reality device and localization method | |
| CN115200572A (en) | Three-dimensional point cloud map construction method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |