CN110750098A - Robot navigation system - Google Patents
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- CN110750098A CN110750098A CN201911181243.9A CN201911181243A CN110750098A CN 110750098 A CN110750098 A CN 110750098A CN 201911181243 A CN201911181243 A CN 201911181243A CN 110750098 A CN110750098 A CN 110750098A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The embodiment of the invention discloses a robot navigation system. The system comprises: the system comprises a robot body, at least three UWB base stations, an ultra-wide band tag and a laser radar, wherein the ultra-wide band tag is arranged on the robot body; the ultra-wide band tag is matched with the at least three UWB base stations for use, and is used for determining the position and the course of the robot body in an ultra-wide band positioning mode when the robot body is located in a central coverage area of an ultra-wide band signal; the robot body is used for switching the ultra-wideband positioning mode of the robot body into an instant positioning and map building positioning mode to perform operation when the robot body is positioned in an edge coverage area of an ultra-wideband signal; and the laser radar is used for determining the position and the course of the robot body by adopting an instant positioning and map building mode. The robot can perform navigation operation in a large building, and the working efficiency of the robot is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a robot navigation system.
Background
At present, robots are spread in various fields such as military, industry and civil use, and in the process of continuous development, an important mark of the intelligent performance of a robot body is autonomous navigation and positioning.
At present, robots for navigation operation in places such as large buildings, underground buildings, high-rise buildings and the like can utilize Ultra Wide Band (UWB) wireless positioning technology to perform indoor positioning and can achieve relatively high precision, but in the large buildings, UWB signals cannot be completely covered due to blocking of walls in each small room, so that the robots cannot perform navigation operation in each small room of the large buildings, and base stations are required to be installed in each small room, and the cost can be greatly increased.
Disclosure of Invention
The embodiment of the invention provides a robot navigation system, which aims to realize the navigation operation of a robot in a large building and improve the working efficiency of the robot.
The embodiment of the invention provides a robot navigation system, which comprises:
the system comprises a robot body, at least three UWB base stations, an ultra-wide band tag and a laser radar, wherein the ultra-wide band tag is arranged on the robot body;
the ultra-wide band tag is matched with the at least three UWB base stations for use, and is used for determining the position and the course of the robot body in an ultra-wide band positioning mode when the robot body is located in a central coverage area of an ultra-wide band signal;
the robot body is used for switching the ultra-wideband positioning mode of the robot body into an instant positioning and map building positioning mode to perform operation when the robot body is positioned in an edge coverage area of an ultra-wideband signal;
and the laser radar is used for determining the position and the course of the robot body by adopting an instant positioning and map building mode.
According to the technical scheme of the embodiment of the invention, the ultra-wide band tag and the laser radar are arranged on the robot body, the ultra-wide band tag is used in cooperation with at least three UWB base stations, and the position and the course of the robot body in a central coverage area of an ultra-wide band signal are determined in an ultra-wide band positioning mode; determining the position and the course of the robot body in an edge coverage area of the ultra-wideband signal by utilizing a laser radar and adopting an instant positioning and map building mode; the robot body can carry out operation in the large building by adopting a mode of combining the UWB technology with the instant positioning and map building technology, namely, when the robot body is positioned in a central coverage area of an ultra-wideband signal, the robot body is positioned and navigated in the central coverage area of the ultra-wideband signal by adopting the ultra-wideband positioning mode, and when the robot body is positioned in an edge coverage area of the ultra-wideband signal, the robot body is switched from the ultra-wideband positioning mode to the instant positioning and map building positioning mode for operation, so that during operation, the robot body can carry out operation no matter whether the operation area of the robot body is covered by the ultra-wideband signal or not, the robot body can carry out operation in the large building by adopting the ultra-wideband positioning mode and the instant positioning and map building positioning mode to position and navigate, thereby realizing the navigation operation of the robot in the large building, the working efficiency of the robot is improved.
Drawings
Fig. 1 is a schematic structural diagram of a robot navigation system according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot navigation system in the second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of another robot navigation system according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot navigation system in a third embodiment of the present invention;
fig. 5 is a flowchart illustrating a robot navigation method according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a robot navigation system according to an embodiment of the present invention, and as shown in fig. 1, the system includes: the robot comprises a robot body 1, at least three UWB base stations 2, an ultra-wide band tag 3 and a laser radar 4, wherein the ultra-wide band tag is arranged on the robot body 1.
Illustratively, when the robot works in large buildings such as hospitals, construction sites and schools, the robot body is used according to the cooperation of the ultra-wideband tag 3 and the ultra-wideband base station 2, when the robot body 1 is in an ultra-wideband signal center area, the robot body 1 is positioned and navigated by adopting an ultra-wideband positioning mode, according to the laser radar 4, when the robot body 1 is in an ultra-wideband signal edge area, the ultra-wideband positioning mode of the robot body 1 is switched to an instant positioning and map building positioning mode for working, the robot body 1 is positioned and navigated by adopting the instant positioning and map building mode, and the robot body works in the large buildings by adopting a mode of combining an ultra-wideband technology and the instant positioning and map building technology.
Optionally, the ultra-wideband tag 3 is used in cooperation with at least three UWB base stations 2, and is used for determining the position and the heading of the robot body in an ultra-wideband positioning manner when the robot body 1 is located in a central coverage area of an ultra-wideband signal.
Illustratively, the central coverage area of an ultra-wideband is an area where the ultra-wideband signal is strong, e.g., may be an area covered by an ultra-wideband signal, when the data rate of a certain area is greater than the preset signal threshold, the area is the central coverage area of the ultra-wideband signal, for example, the method comprises the steps that UWB base stations are arranged near schools, in an area covered by UWB signals near schools, the UWB signal coverage area with the data rate larger than 100Mb/s is the center coverage area of the UWB signals, the UWB tags 3 transmit the UWB signals, at least three UWB base stations 2 receive the UWB signals transmitted by the UWB tags 3, two UWB tags 3 can be installed on a robot body, the UWB tags 3 conduct bilateral ranging with the UWB base stations 2, and the position of the robot body is calculated in real Time in a Time Difference of Arrival (TDOA) mode with good anti-interference performance. The UWB base station 2 emits modulation signals outwards, after the robot body 1 receives signals from different UWB base stations 2, the three-dimensional coordinate of the robot body 1 relative to the large building is calculated by a triangular positioning mode, when the robot body 1 is in the central coverage area of the ultra-wideband signal, the position and the heading of the robot body are determined by adopting an ultra-wideband positioning mode, for example, in the case where UWB base stations are installed in the 50 m range around large buildings such as schools, hospitals, and construction sites, in wide places such as corridors and ceilings in large buildings such as schools, hospitals, and construction sites, because the ultra-wideband signal is stronger without shielding of excessive buildings, when the robot body 1 is in an area where the ultra-wideband signal is stronger, namely, when the robot body is in a wide place such as a corridor, a balcony and the like, the position and the operation course of the robot body in a large building are determined by adopting an ultra-wideband positioning mode.
Optionally, the ultra-wideband tag 3 may be used in cooperation with an Inertial Measurement Unit (IMU), so as to assist the ultra-wideband tag 3 in a short time, so that the system can stably output a reliable position and heading of the robot body, and the stability and robustness of the navigation system are improved.
In the technical scheme of the embodiment, the ultra-wide band tag 3 and the at least three UWB base stations 2 are arranged on the robot body, so that the robot body 1 can determine the three-dimensional coordinate relative to a large building in a triangular positioning mode in a wide place of the large building without shielding of the building through the cooperation of the ultra-wide band tag 3 and the at least three UWB base stations 2, and when the robot body 1 is located in a central coverage area of the ultra-wide band signal through the UWB technology, the robot body 1 can work in the large building by adopting the ultra-wide band positioning mode.
Optionally, the robot body 1 is configured to switch the ultra-wideband positioning mode of the robot body 1 to an instant positioning and map building positioning mode for performing an operation when the robot body 1 is located in an edge coverage area of the ultra-wideband signal.
Illustratively, the ultra-wideband edge coverage area is an area where the ultra-wideband signal is weak, for example, an area covered by the ultra-wideband signal, where a data rate of a certain area is less than a preset signal threshold, the area is an edge coverage area of the ultra-wideband signal, for example, an ultra-wideband signal coverage area where a data rate is less than 100Mb/s is provided near a school, and an ultra-wideband signal coverage area near the school is an edge coverage area of the ultra-wideband signal, where when the robot body 1 is located in a large building, for example, a 50-meter area around the large building such as a school, a hospital, and a construction site, the ultra-wideband is weak due to the shielding of too many buildings, that is, when the robot body 1 is located in the edge coverage area of the ultra-wideband signal, because the laser radar can carry out good positioning and navigation indoors, the position and the course of the robot body 1 in a large building can be determined by adopting an instant positioning and map building positioning mode, and the ultra-wideband positioning mode of the robot body 1 is switched to the instant positioning and map building positioning mode to continue the operation.
Optionally, the robot body 1 is configured to switch the robot body 1 to an instant positioning and map building positioning mode for performing operation when the robot body 1 is located in an operation overlapping area of the ultra-wideband signal and the laser radar signal.
For example, when the robot body 1 is located at a certain position in a large building, the position is located in an operation overlapping area of the ultra-wideband signal and the laser radar signal, for example, in a hall in a corridor of a school, where there is no shielding of the building, the robot body 1 is located in a central coverage area of the ultra-wideband signal, and may also receive the laser radar signal, the robot body 1 may be switched to an instant positioning and map building positioning mode by default, may also be switched to the ultra-wideband positioning mode by default to perform operation, and may also perform operation according to a positioning mode corresponding to a signal with a stronger signal in the ultra-wideband signal and the laser radar signal, and a specific operation mode is not limited here.
In the technical scheme of the embodiment, the advantage of setting the robot body 1 is that when the robot body 1 is in an operation area with a weak ultra-wideband signal, the ultra-wideband positioning mode of the robot body 1 can be switched to an instant positioning and map building positioning mode to continue operation, so that the indoor robot body 1 in a large building can still continue operation by adopting the switched positioning mode, and the problem that the robot body cannot continue to perform positioning and navigation due to indoor shielding of the building and the weak ultra-wideband signal, and an operation task cannot be completed is avoided. When the robot body 1 is located in an operation overlapping area of the ultra-wideband signal and the laser radar signal, the robot body 1 can be switched to an instant positioning and map building positioning mode for operation in a default mode, also can be switched to an ultra-wideband positioning mode for operation in a default mode, and can also be operated according to a positioning mode corresponding to a signal with a stronger signal in the ultra-wideband signal and the laser radar signal, so that when the operation overlapping area of the ultra-wideband signal and the laser radar signal is ensured, the robot body 1 can still select one of the positioning modes for operation continuously, and the positioning mode is determined on the spot for the robot body by a worker, so that the cost is saved, and the working efficiency is improved.
Optionally, the laser radar 4 is configured to determine the position and the heading of the robot body 1 by using an instant positioning and map building method.
For example, a laser radar is arranged on the robot body 1, and the laser radar can obtain the distance from the laser radar to the large building by emitting a detection signal (laser beam) and then calculating the received signal reflected from the large building and the emitted signal according to a laser ranging principle, so that the position and the heading of the robot body 1 in the large building are determined in this way.
In the technical scheme of the embodiment, the laser radar 4 is arranged, so that the navigation is performed in each room of the large building by using the laser radar, the problems that UWB signals cannot reach each room and base stations are arranged in each room, the cost is high, the cost is saved, meanwhile, the quality and the quantity can be guaranteed, and the operation task is finished, and the operation efficiency is improved.
Optionally, on the basis of the technical solution of the above embodiment, the system further includes a map service engine in communication connection with the robot body; the robot body 1 is used for requesting operation information of an instant positioning and map building positioning mode to a map service engine when the robot body 1 is in an edge coverage area of an ultra-wideband signal, wherein the operation information comprises an operation map, an operation path and a conversion relation between a map coordinate system of the ultra-wideband positioning and a map coordinate system of the instant positioning and map building positioning; the map service engine is used for receiving the request of the robot body 1 and sending the operation information of the instant positioning and map building positioning mode to the robot body 1; the robot body 1 is further configured to set an initial pose in an edge coverage area of the ultra-wideband signal as an initial pose for the immediate positioning and the mapping based on the operation information of the immediate positioning and the mapping based positioning mode, and switch the ultra-wideband positioning mode of the robot body 1 to the immediate positioning and the mapping based positioning mode for operation.
Illustratively, the work map is a map of a large building to be worked by the robot main body 1, the work path is a walking path of the robot main body 1 in a current work area of the large building to be worked, when the robot body 1 is ready to enter a room of a large building, in which the ultra-wideband signal is weak, namely, the robot body 1 is in the edge coverage area of the ultra-wideband signal, the robot body 1 can not use the ultra-wideband positioning mode to continue the operation task, at this time, the robot body 1 requests the map service engine for the conversion relationship between the map coordinate system of the operation map, the operation path and the ultra-wideband positioning and the map coordinate system of the real-time positioning and the map building positioning, when the map service engine receives the request of the robot body 1, issuing the operation information of the instant positioning and map building positioning mode to the robot body 1; the robot body 1 sets the initial pose of the robot body 1 in the edge coverage area of the ultra wide band signal as the initial pose of the instant positioning and map building positioning according to the operation information of the instant positioning and map building positioning mode, wherein the initial pose of the edge coverage area of the ultra wide band signal is the current position of the robot body in the edge coverage area of the ultra wide band signal and the pose of the robot body at the current position before the robot body 1 enters the working room, and the initial pose of the instant positioning and map building positioning is the current position and the pose of the robot body at the current position when the robot body 1 enters the edge coverage area of the ultra wide band signal, namely, the current position of the robot body in the edge coverage area of the ultra wide band signal and the pose of the robot body at the current position before the robot body 1 enters the working room are set as the current position of the instant positioning and map building positioning mode and the pose of the robot body at the current position, and switching the ultra-wideband positioning mode of the robot body into an instant positioning and map building positioning mode to continue working.
For example, in a school, the robot body 1 initially performs cleaning operation in a corridor of a certain floor by using an ultra-wideband positioning method, after the robot body 1 finishes cleaning the corridor, a classroom of the certain floor is prepared for cleaning, the robot body 1 requests a map of the classroom, a path for cleaning in the classroom, and a conversion relationship between a map coordinate system of ultra-wideband positioning and a map coordinate system of real-time positioning and map building positioning to a map service engine, when the map service engine receives the request of the robot body 1, the map of the classroom, the path for cleaning in the classroom, and the conversion relationship between the map coordinate system of ultra-wideband positioning and the map coordinate system of real-time positioning and map building positioning are sent to the robot body 1, the robot body 1 transmits the conversion relationship between the map of the classroom, the path for cleaning in the classroom, and the map coordinate system of ultra-wideband positioning and the map coordinate system of real-time positioning and map building positioning to the robot body 1 according to the conversion relationship between, the position and the posture of the robot body 1 before entering the room are set to be the position and the posture of the instant positioning and the map building positioning, so that the initial posture of the robot body 1 before entering the room for cleaning is consistent with the initial posture before entering the room, and then the robot body 1 is switched from the ultra-wideband positioning mode to the instant positioning and map building positioning mode for cleaning in the room.
Optionally, when the initial pose of the robot body 1 in the edge coverage area of the ultra-wideband signal is determined, the initial pose of the robot body 1 in the edge coverage area of the ultra-wideband signal can be determined by using the IMU by means of the IMU, so that the stability and robustness of the navigation system are increased.
In the technical scheme of the embodiment, the map service engine is arranged, so that the map service engine issues the operation information of the instant positioning and map building positioning mode according to the request of the operation information of the robot body 1 for the instant positioning and map building positioning mode in the edge coverage area of the ultra-wideband signal, the robot body can set the initial pose in the edge coverage area of the ultra-wideband signal as the initial pose of the instant positioning and map building positioning mode according to the operation information of the instant positioning and map building positioning mode, the ultra-wideband positioning mode of the robot body is switched to the instant positioning and map building positioning mode for operation, the completion of an operation task is ensured, and the operation efficiency is improved.
The embodiment of the invention determines the position and the course of the robot body in the central coverage area of the ultra-wideband signal by arranging the ultra-wideband tape tag and the laser radar on the robot body, utilizing the ultra-wideband tape tag to be matched with at least three UWB base stations for use and adopting an ultra-wideband positioning mode; determining the position and the course of the robot body in an edge coverage area of the ultra-wideband signal by utilizing a laser radar and adopting an instant positioning and map building mode; the robot body can carry out operation in the large building by adopting a mode of combining the UWB technology with the instant positioning and map building technology, namely, when the robot body is positioned in a central coverage area of an ultra-wideband signal, the ultra-wideband positioning mode is adopted to position and navigate the robot body in the central coverage area of the ultra-wideband signal, when the robot body is positioned in an edge coverage area of the ultra-wideband signal, the robot body is switched from the ultra-wideband positioning mode to the instant positioning and map building positioning mode to carry out operation, so that during the operation, the robot body can carry out operation no matter whether the operation area of the robot body is covered by the ultra-wideband signal or not, the robot body can carry out operation in the large building by the ultra-wideband positioning mode and the instant positioning and map building positioning mode to carry out positioning and navigation, thereby realizing the navigation operation of the robot in the large building, the working efficiency of the robot is improved.
Example two
Fig. 2 is a schematic structural diagram of a robot navigation system provided in the second embodiment of the present invention, and the second embodiment of the present invention further refines the above embodiment on the basis of the above embodiment, and as shown in fig. 2, the system includes: the robot comprises a robot body 1, at least three UWB base stations 2, an ultra-wide band tag 3, a laser radar 4, a map service engine 5 and a scheduling control engine 6, wherein the ultra-wide band tag is arranged on the robot body 1.
Optionally, the scheduling control engine 6 is in communication connection with the robot body 1, and the robot body 1 is configured to send an end signal that the current job task is completed to the scheduling control engine when it is detected that the current job task is completed; the scheduling control engine is used for sending a job instruction of a next job task to the robot body 1 if the next job task is detected to exist, planning a current motion path according to the current position of the robot body 1 and sending the current motion path to the robot body 1; and the robot body 1 is used for driving according to the current motion path and performing operation according to the operation instruction sent by the scheduling control engine.
Illustratively, after the current job task of the robot body 1 is completed, an end signal that the current job task is completed is sent to the scheduling control engine 6, when the scheduling control engine 6 receives the end signal that the current job task sent by the robot body 1 is completed, the scheduling control engine 6 detects whether there is a next job task, if there is a next job task, the scheduling control engine 6 sends a job instruction of the next job task to the robot body 1, plans the current movement path according to the current position of the robot body 1 and sends the current movement path to the robot body 1, and after receiving the current movement path, the robot body 1 runs according to the current movement path and performs jobs according to the job instruction sent by the scheduling control engine 6. If no next job task exists, the robot body 1 finishes the job, or the scheduling control engine 6 plans the current motion path according to the current position of the robot body 1 and sends the current motion path to the robot body 1, and the robot body 1 runs according to the current motion path and returns to the position before the job starts.
Wherein the robot may be a cleaning robot and the task may be a cleaning task. For example, at a certain floor of a school, for example, the 3 rd floor, when the robot body 1 performs cleaning, the cleaning task of the 3 rd floor class a room is already completed, at this time, the robot body 1 transmits an end signal that the cleaning task of the 3 rd floor class a room is completed to the schedule control engine 6, when the schedule control engine 6 receives the end signal that the cleaning of the 3 rd floor class a room is completed transmitted from the robot body 1, the schedule control engine 6 detects whether there is a next job task, and if there is a next job task, for example, the next job task is cleaning of the 3 rd floor class B room, the schedule control engine 6 transmits a job command to the robot body 1 to clean the 3 rd floor class B room, plans a path to move from a room to B room based on the current position of the robot body 1, and transmits the path to the robot body 1, the robot body 1 travels along the route from the class a to the class B upon receiving the route from the class a to the class B, and cleans the class 3 according to the work instruction for cleaning the class 3 in the class B sent from the scheduling control engine 6. For example, when the next task is to clean the C classroom on the 4 th floor, the scheduling control engine 6 transmits a work command to the robot main body 1 to clean the C classroom on the 4 th floor, plans a route of the C classroom moving from the 3 rd floor to the 4 th floor based on the current position of the robot main body 1, transmits the route to the robot main body 1, and after receiving the route of the C classroom moving from the 3 rd floor to the 4 th floor, the robot main body 1 travels along the route of the C classroom moving from the 3 rd floor to the 4 th floor, and cleans the C classroom on the 4 th floor based on the work command to clean the C classroom on the 4 th floor transmitted by the scheduling control engine 6. Referring to fig. 3, fig. 3 is a schematic structural view of another robot navigation system according to an embodiment of the present invention, in which if the robot body 1 moves from the 3 rd floor to the 4 th floor and needs to take an elevator, the dispatch control engine 6 is further configured to control the elevator, so that the robot body 1 can move from the 3 rd floor to the 4 th floor and then move to the class C room on the 4 th floor for cleaning. For example, the UWB communication gateway may transmit data output from the serial port of the dispatch service engine 6 to a remote server, and the server remotely manages and monitors UWB positioning data using ethernet, controls the elevator system using ethernet, and dispatches the robot body 1 to enter the 4 th floor for work using the dispatch service engine 6 by taking an elevator. If there is no next job task, the robot body 1 finishes the job and waits for the worker to withdraw in situ, or the scheduling control engine 6 sends a route from the class a on the 3 rd floor to the position of the robot body 1 before the job is performed to the robot body 1 according to the class a plan on the 3 rd floor of the current position of the robot body 1, and the robot body 1 travels according to the route from the class a on the 3 rd floor to the position of the robot body 1 before the job is performed and returns to the position before the job is started.
It should be noted that, when there is no next task, the robot body 1 waits for the worker to retract in place, or returns to the position before the task from the current task position, and this is not limited herein.
In the technical solution of the above embodiment, the advantage of setting the scheduling control engine 6 is that, when the current task is completed, the scheduling control engine 6 can issue the operation instruction of the next operation task for the robot body 1 according to whether there is a next operation task, the robot body 1 performs the operation according to the operation instruction of the next task sent by the scheduling control engine, so that one robot can complete a plurality of operation tasks, the number of the robot bodies 1 is reduced, and the cost is saved, and the scheduling control engine 6 can also plan the current movement path according to the current position of the robot body and send the current movement path to the robot body 1, the robot body 1 travels to the operation area of the next operation task according to the current movement path, so that the robot body 1 can travel according to the path planned by the scheduling control engine 6 without the need of manually moving the robot body 1 from the operation area of the current task to the operation area of the next operation task by the worker, the labor, material and financial resources are saved, the quick completion of the operation task is ensured, and the working efficiency is improved.
Optionally, the map service engine 5 is further configured to edit an electronic fence area in the operation map of the robot body; and the scheduling control engine 6 is also used for controlling the robot body to avoid the electric fence area.
For example, in a large building, there is an area where entry of the robot body is prohibited, the map service engine 5 may edit an electronic fence area in the job map of the robot body 1, where entry of the robot body 1 is prohibited, and the schedule control engine 6 controls the robot body 1 to avoid the electronic fence area according to the electronic fence area edited in the job map of the robot body 1 by the map service engine 5. For example, in a school, when the platform position in the D classroom on the 3 rd floor is under construction and maintenance, the map service engine 5 edits the electronic fence area at the platform position in the map of the D classroom on the 3 rd floor, and the dispatch control engine 6 controls the robot main body 1 to avoid the electronic fence area based on the edited electronic fence area of the platform position in the map of the D classroom on the 3 rd floor of the robot main body 1 by the map service engine 5.
In the technical solution of the above embodiment, if there is an area such as a construction maintenance area where the robot body 1 is prohibited from entering, the map service engine 5 edits the electronic fence area in the operation map of the robot body 1 in advance, and the scheduling control engine 6 controls the robot body 1 to avoid the electronic fence area according to the electronic fence area edited in the operation map of the robot body 1 by the map service engine 5, so that it is ensured that the robot body 1 avoids the electronic fence area, and damage to the robot body 1 caused by the robot body 1 mistakenly entering the construction maintenance area is avoided, thereby saving cost.
Optionally, the scheduling control engine 6 is further configured to obtain an operation state of the robot body, and if it is detected that the robot body is in a fault operation state, the robot body is scheduled to operate to a preset maintenance area.
For example, during the operation of the robot body 1, if a fault occurs, the scheduling control engine 6 may acquire that the robot body 1 is in a fault operation state, record the current position of the robot body 1, plan a shortest path to the preset maintenance area for the robot body 1, schedule the robot body 1 to operate to the preset maintenance area according to the planned shortest path to the preset maintenance area, and after the fault maintenance is completed, schedule the robot body 1 to return to the position of the robot body 1 where the fault occurs, and continue to operate. The robot body 1 can be controlled to continue to stay in place without the scheduling control engine 6 running to a preset maintenance area, the scheduling control engine 6 sends alarm information of the fault of the robot body 1 to the preset maintenance area, when the maintenance personnel receive the alarm information, the maintenance personnel reach the position where the fault of the robot body 1 occurs to maintain the robot body 1, and after the fault is maintained, the robot body 1 continues to operate. The method can also be characterized in that when the dispatching control engine 6 detects that the robot body 1 is in a fault operation state, the robot body 1 is judged to be operated to a preset maintenance area, and the time required for maintaining the fault is saved, or the robot body 1 is not dispatched to the preset maintenance area, a maintainer arrives at the position where the robot body 1 fails to maintain the robot body 1, if the required time is too long, another robot body 1 is dispatched again to continue to operate from the operation position where the robot body fails, the dispatching control engine 6 operates the robot body with the fault to the preset maintenance area, or the robot body 1 is not dispatched to the preset maintenance area, the robot body 1 is controlled to continue to stay still, and the staff is waited to transport the robot body with the fault back. The preset maintenance area may be an area specially set in the working area, and is used for maintaining the robot body 1 when the robot body 1 fails, or may be an area in a UWB base station near the working area, where a maintenance person may maintain the robot body 1 when the robot body 1 fails. When the robot body 1 fails, the above-mentioned modes are specifically adopted, and selection is performed according to an actual scene, which is not limited herein.
In the technical scheme of the embodiment, when the robot body 1 fails, the scheduling control engine 6 can acquire the fault operation state of the robot body, plan a shortest path to the preset maintenance area for the robot body 1, and schedule the robot body 1 to operate to the preset maintenance area according to the planned shortest path to the preset maintenance area, so that when the robot body 1 fails, the robot body 1 can be maintained timely.
In the technical solution of the above embodiment, when the scheduling control engine 6 detects that the robot body 1 is in a fault operation state, it determines the time required for operating the robot body 1 to the preset maintenance area and maintaining the fault, or does not schedule the robot body 1 to the preset maintenance area, the maintenance person reaches the position where the robot body 1 has the fault and maintains the robot body 1, if the required time is too long, another robot body 1 is reassigned to continue to operate from the operation position where the fault occurs, the scheduling control engine 6 operates the fault robot body to the preset maintenance area, or does not schedule the robot body 1 to the preset maintenance area, the robot body 1 is controlled to continue to stay in place and not move, and waits for the worker to transport the fault robot body back, therefore, when one robot body 1 breaks down, other robot bodies can be assigned to continue to operate, the on-time completion of operation tasks is guaranteed, and the working efficiency is improved.
Optionally, the scheduling control engine 6 is further configured to obtain an electric quantity state of the robot body, and if the robot body is detected to be in an electric quantity shortage state, the robot body is scheduled to run to a preset charging area.
For example, during the operation of the robot body 1, if the electric quantity is insufficient, the electric quantity in the insufficient state may be that the electric quantity of the robot body 1 is smaller than a safety threshold, and the safety threshold may be set by itself, the scheduling control engine 6 may acquire that the robot body 1 is in the insufficient state, record the current position of the robot body 1, plan a shortest path to the preset charging area for the robot body 1, schedule the robot body 1 to run to the preset charging area according to the planned shortest path to the preset charging area, and after the robot body 1 is fully charged, return the robot body 1 to the position where the robot body 1 fails, and continue the operation. The robot body 1 can be controlled to continue to stay in place without the scheduling control engine 6 running to a preset charging area, the scheduling control engine 6 sends alarm information that the electric quantity of the robot body 1 is insufficient to the preset charging area, when maintenance personnel receive the alarm information, the maintenance personnel arrive at the position where the electric quantity of the robot body 1 is insufficient to charge the robot body 1, and after the robot body 1 is fully charged, the robot body 1 continues to operate. Or the time required for operating the robot body 1 to a preset charging area and fully charging the robot body 1 can be judged when the scheduling control engine 6 detects that the robot body 1 is in an insufficient electric quantity state, or the robot body 1 is not scheduled to run to a preset charging area, the maintenance personnel arrives at the position where the electric quantity of the robot body 1 is insufficient to charge the robot body 1 for the required time, if the required time is too long, then another robot body 1 is dispatched again to continue to start the operation from the operation position where the electric quantity is insufficient in the robot body with insufficient electric quantity, the dispatching control engine 6 operates the robot body with insufficient electric quantity to the preset charging area, or the robot body 1 is not scheduled to run to a preset charging area, the robot body 1 is controlled to continue to stay in place and be stopped, and a worker is waited to transport the robot body with insufficient electric quantity back. The preset charging area can be an area specially set in the operation area and used for charging the robot body 1 when the electric quantity of the robot body 1 is insufficient, and the preset charging area can also be an UWB base station near the operation area and used for charging the robot body 1 when the electric quantity of the robot body 1 is insufficient, and a maintenance person can charge the robot body 1 at the position. When the robot body 1 is insufficient in electric quantity, the selection is carried out according to the actual scene by specifically adopting the above modes, and the selection is not limited here.
In the technical scheme of the embodiment, when the robot body 1 has insufficient electric quantity, the scheduling control engine 6 can acquire the electric quantity state of the robot body, plan a shortest path to the preset charging area for the robot body 1, and schedule the robot body 1 to run to the preset charging area according to the planned shortest path to the preset charging area, so that when the robot body 1 has insufficient electric quantity, the robot body 1 can be charged timely.
In the technical solution of the above embodiment, when the scheduling control engine 6 detects that the robot body 1 is in an insufficient electric quantity state, it determines the time required for operating the robot body 1 to the preset charging area and fully charging the robot body 1, or does not schedule the robot body 1 to the preset charging area, the maintenance personnel arrives at the position where the electric quantity of the robot body 1 is insufficient to charge the robot body 1, if the required time is too long, another robot body 1 is reassigned to continue to operate from the operation position where the electric quantity of the robot body is insufficient, the scheduling control engine 6 operates the robot body with insufficient electric quantity to the preset charging area, or does not schedule the robot body 1 to the preset charging area, controls the robot body 1 to continue to stay in place, waits for the worker to transport the robot body with insufficient electric quantity back, therefore, when the electric quantity of one robot body 1 is insufficient, other robot bodies can be assigned to continue to operate, the on-time completion of operation tasks is guaranteed, and the working efficiency is improved.
In the embodiment of the invention, after the current task is finished, the dispatching control engine 6 sends the operation instruction of the next operation task to the robot body 1, the robot body 1 operates according to the operation instruction of the next task sent by the dispatching control engine, so that one robot can finish a plurality of operation tasks, the number of the robot bodies 1 is reduced, the cost is saved, the dispatching control engine 6 plans the current motion path according to the current position of the robot body and sends the current motion path to the robot body 1, the robot body 1 runs to the operation area of the next operation task according to the current motion path, and the robot body 1 can run according to the path planned by the dispatching control engine 6 without manually moving the robot body 1 from the operation area of the current task to the operation area of the next operation task by a worker, so that the manpower is saved, And the material resources and the financial resources ensure the quick completion of the operation task and improve the working efficiency. When there is an area where the robot body 1 is prohibited from entering, the map service engine 5 edits an electronic fence area in the operation map of the robot body 1 in advance, and the scheduling control engine 6 controls the robot body 1 to avoid the electronic fence area according to the electronic fence area edited by the map service engine 5 in the operation map of the robot body 1, so that the robot body 1 can be ensured to avoid the electronic fence area, the damage to the robot body 1 caused by the fact that the robot body 1 enters the construction and maintenance area by mistake is avoided, and the cost is saved. When the robot body 1 breaks down, the dispatching control engine 6 acquires the fault running state of the robot body, a path which reaches a preset maintenance area in the shortest way is planned for the robot body 1, the dispatching robot body 1 runs to the preset maintenance area according to the planned path which reaches the preset maintenance area in the shortest way, and therefore when the robot body 1 breaks down, the robot body 1 can be maintained timely, or other robot bodies are assigned to continue to operate by judging the time required by maintenance, on-time completion of operation tasks is guaranteed, and working efficiency is improved. When the electric quantity is insufficient at the robot body 1, the dispatching control engine 6 acquires the electric quantity state of the robot body, a path which reaches a preset charging area in the shortest way is planned for the robot body 1, the dispatching robot body 1 runs to the preset charging area according to the planned path which reaches the preset charging area in the shortest way, so that when the electric quantity is insufficient at the robot body 1, the robot body 1 is guaranteed to be charged in time, or the time required for charging is judged, other robot bodies are assigned to continue to operate, the on-time completion of an operation task is guaranteed, and the working efficiency is improved.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a robot navigation system according to a third embodiment of the present invention, where the third embodiment of the present invention is further detailed on the basis of the above-mentioned embodiment, and as shown in fig. 4, the system includes: the robot comprises a robot body 1, at least three UWB base stations 2, an ultra-wide band tag 3, a laser radar 4, a map service engine 5, a scheduling control engine 6, an ultra-wide band communication gateway 7 and a positioning service engine 8, wherein the ultra-wide band tag is arranged on the robot body 1.
Optionally, the ultra-wideband communication gateway 7 is in communication connection with the scheduling control engine 6, wherein the robot body 1 is further configured to request the scheduling service engine 6 for an operation path in an ultra-wideband positioning manner through the ultra-wideband communication gateway 7 when the robot body is located in a central coverage area of an ultra-wideband signal, so as to perform operation according to the operation path in the ultra-wideband positioning manner.
Illustratively, when the robot body 1 is in a central coverage area of the ultra-wideband signal, the ultra-wideband communication gateway 7 requests the scheduling service engine 6 for a work path of the ultra-wideband positioning mode, and the robot body 1 performs work according to the work path of the ultra-wideband positioning mode. For example, when the robot body 1 is in a 3 rd floor corridor of a school and performs cleaning, the ultra-wideband communication gateway 7 requests the dispatch service engine 6 to clean a 3 rd floor corridor of the ultra-wideband positioning system, and when the robot body 1 receives the cleaning path of the 3 rd floor corridor of the ultra-wideband positioning system transmitted from the ultra-wideband communication gateway 7, the robot body cleans the 3 rd floor corridor according to the cleaning path of the 3 rd floor corridor of the ultra-wideband positioning system.
In the technical scheme of the embodiment, the ultra-wideband communication gateway 7 is arranged, so that when the robot body is located in the central coverage area of an ultra-wideband signal, the ultra-wideband communication gateway 7 can request the scheduling service engine 6 for the operation path of the ultra-wideband positioning mode, and the robot body can operate according to the operation path of the ultra-wideband positioning mode, thereby ensuring that the operation path of the ultra-wideband positioning mode can be transmitted to the robot body in real time through the ultra-wideband communication gateway, avoiding the situation that the operation path of the ultra-wideband positioning mode is not transmitted in place, and improving the working efficiency.
Optionally, the positioning service engine 8 is in communication connection with the robot body 1, and the positioning service engine 8 is configured to determine an initial position of the robot body 1 in the work area of the ultra-wideband signal, schedule the control engine 6, and further control the robot body 1 to travel to the initial position.
Illustratively, the positioning service engine 8 determines the initial position of the robot body 1 in the work area of the ultra-wideband signal according to the ultra-wideband tag 3 and at least three ultra-wideband base stations 2, and the scheduling control engine 6 schedules the robot body 1 to enter the initial position of the work area of the ultra-wideband signal according to the initial position of the robot body 1 in the work area of the ultra-wideband signal. For example, the positioning service engine 8 determines that the initial position of the robot body 1 in the work area of the ultra-wideband signal is at the 3 rd floor of the school according to the ultra-wideband tag 3 and the at least three UWB base stations 2, and the dispatch control engine 6 dispatches the robot body 1 to enter the 3 rd floor of the school to start work.
In the technical scheme of the embodiment, the positioning service engine 8 is arranged, and the positioning service engine 8 can determine the initial position of the robot body 1 in the operation area of the ultra-wideband signal according to the ultra-wideband tag 3 and at least three ultra-wideband base stations 2, so that the specific position where the robot body 1 starts to perform operation can be known, and according to the position, the scheduling control engine 6 schedules the robot body 1 to enter the position for operation without manually placing the robot body 1 at the operation starting position by a worker, so that the manpower and financial resources are saved, and the working efficiency is improved.
Optionally, at least one of the map service engine 5, the positioning service engine 8, and the schedule control engine 6 is configured in a server.
For example, at least one of the map service engine 5, the positioning service engine 8 and the scheduling control engine 6 may be configured in one server, so that the number of devices may be reduced, and the cost may be saved, and the map service engine 5, the positioning service engine 8 and the scheduling control engine 6 may also be separately configured as a device, so as to avoid reducing the operation speed of the server when at least one of the map service engine 5, the positioning service engine 8 and the scheduling control engine 6 is integrated in the same server, and the specific configuration mode of the map service engine 5, the positioning service engine 8 and the scheduling control engine 6 is selected by itself according to a specific scenario, which is not limited herein.
In the technical solution of the above embodiment, at least one of the map service engine 5, the positioning service engine 8 and the scheduling control engine 6 may be configured in a server, so that the number of devices may be reduced, and the cost may be saved.
On the basis of the technical scheme of the embodiment, the system may further include a Web front end and a back-end management, referring to fig. 3, where the Web front end may be configured to receive at least one job task input from outside, the scheduling service engine 6 may be in communication connection with the Web front end to issue the job task for the robot body 1, the back-end management may be configured to manage the map service engine 5, the positioning service engine 8, and the scheduling control engine 6, and the back-end manages and maintains the map service engine 5, the positioning service engine 8, and the scheduling control engine 6.
Exemplarily, referring to fig. 5, fig. 5 is a flowchart of a robot navigation method according to an embodiment of the present invention, a positioning service engine 8 determines an initial position of a robot body 1 in a work area with an ultra-wideband signal, a scheduling control engine 6 is used to control the robot body 1 to travel to the initial position, the robot body 1 requests a work instruction of a work task from a map service engine 5, according to the operation instruction sent by the map service engine 5, the robot body 1 is positioned in the central coverage area of the ultra-wideband signal to operate, when the robot body 1 is in the edge coverage area of the ultra wideband signal or when the robot body 1 is in the operation overlap area of the ultra wideband signal and the laser radar signal, the map service engine 5 issues operation information of an instant positioning and map building positioning mode, and the robot body 1 is switched from the ultra-wideband positioning mode to the instant positioning and map building positioning mode to perform operation.
Furthermore, when the current job task is completed, the robot body 1 may request the job instruction of the next job task to the scheduling control engine 6, if there is no next job task, the job is completed, if there is a next job task, the scheduling control engine 6 issues the job instruction of the next job task to the robot body 1, the robot body 1 performs the job of the next job task according to the job instruction of the next job task, when the robot body 1 performs the next job task, if an elevator needs to be taken, the scheduling control engine 6 controls the elevator system to make the robot body 1 enter the next job task place by taking the elevator, after the next job task is completed, the robot body 1 requests the job instruction of the next job task to the scheduling control engine 6 again, and this step is repeatedly executed until all job tasks are completed.
According to the embodiment of the invention, the initial position of the robot body 1 in the operation area with the ultra-wideband signal is determined by the positioning service engine 8, so that the specific position of the robot body 1 starting to operate can be known, and according to the position, the scheduling control engine 6 schedules the robot body 1 to enter the position to operate without manually placing the robot body 1 at the operation starting position by a worker, so that the manpower and financial resources are saved, and the working efficiency is improved. When the robot body 1 enters a working area to work, when the robot body 1 is located in a central coverage area of an ultra-wideband signal, the ultra-wideband communication gateway 7 can request the scheduling service engine 6 for an operation path of an ultra-wideband positioning mode, the robot body works according to the operation path of the ultra-wideband positioning mode, and therefore the fact that the operation path of the ultra-wideband positioning mode is transmitted to the robot body in real time through the ultra-wideband communication gateway is guaranteed, the situation that the operation path of the ultra-wideband positioning mode is not transmitted in place is avoided, and working efficiency is improved. At least one of the map service engine 5, the positioning service engine 8, and the schedule control engine 6 may be configured in a server, which may reduce the number of devices and save costs.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A robotic navigation system, comprising: the system comprises a robot body, at least three UWB base stations, an ultra-wide band tag and a laser radar, wherein the ultra-wide band tag is arranged on the robot body; wherein,
the ultra-wideband tag is used in cooperation with the at least three UWB base stations and is used for determining the position and the course of the robot body in an ultra-wideband positioning mode when the robot body is located in a central coverage area of an ultra-wideband signal;
the robot body is used for switching the ultra-wideband positioning mode of the robot body into an instant positioning and map building positioning mode to perform operation when the robot body is positioned in an edge coverage area of an ultra-wideband signal;
and the laser radar is used for determining the position and the course of the robot body by adopting an instant positioning and map building mode.
2. The system of claim 1, further comprising: the map service engine is in communication connection with the robot body;
the robot body is used for requesting operation information of an instant positioning and map building positioning mode to the map service engine when the robot body is in an edge coverage area of an ultra-wideband signal, wherein the operation information comprises an operation map, an operation path and a conversion relation between a map coordinate system of ultra-wideband positioning and a map coordinate system of instant positioning and map building positioning;
the map service engine is used for receiving a request of the robot body and sending the operation information of the instant positioning and map building positioning mode to the robot body;
the robot body is further used for setting the initial pose of the edge coverage area of the ultra-wideband signal as the initial pose of the instant positioning and map building positioning according to the operation information of the instant positioning and map building positioning mode, and switching the ultra-wideband positioning mode of the robot body into the instant positioning and map building positioning mode to operate.
3. The system of claim 2, further comprising: the scheduling control engine is in communication connection with the robot body; wherein,
the robot body is used for sending an end signal that the current job task is completed to the scheduling control engine when the completion of the current job task is detected;
the scheduling control engine is used for sending a job instruction of a next job task to the robot body if the next job task is detected to exist, planning a current motion path according to the current position of the robot body and sending the current motion path to the robot body;
and the robot body is used for driving according to the current motion path and performing operation according to the operation instruction sent by the scheduling control engine.
4. The system of claim 3, wherein:
the map service engine is also used for editing an electronic fence area in a work map of the robot body;
the scheduling control engine is further used for controlling the robot body to avoid an electronic fence area.
5. The system of claim 3, wherein the scheduling control engine is further configured to obtain an operation status of the robot body, and schedule the robot body to operate to a preset maintenance area if the robot body is detected to be in a fault operation status.
6. The system of claim 3, wherein the scheduling control engine is further configured to obtain a power state of the robot body, and schedule the robot body to operate to a preset charging area if the robot body is detected to be in a power shortage state.
7. The system of claim 3, further comprising: an ultra-wideband communication gateway in communication connection with the dispatch control engine; the robot body is further used for requesting the operation path of the ultra-wideband positioning mode to the scheduling control engine through the ultra-wideband communication gateway when the robot body is located in a central coverage area of an ultra-wideband signal, so as to operate according to the operation path of the ultra-wideband positioning mode.
8. The system of claim 3, further comprising: a positioning service engine in communication connection with the robot body;
the positioning service engine is used for determining the initial position of the robot body in the work area of the ultra-wideband signal;
the dispatching control engine is also used for controlling the robot body to drive to the initial position.
9. The system of claim 1, wherein the robot body is configured to switch the robot body to an instantaneous positioning and mapping positioning mode for operation when the robot body is in an operation overlapping area of the ultra-wideband signal and the lidar signal.
10. The system of claim 1, wherein at least one of the map service engine, the location service engine, and the dispatch control engine are configured in a server.
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| CN114424908A (en) * | 2020-10-29 | 2022-05-03 | Oppo广东移动通信有限公司 | Moving method, device, equipment, system and storage medium of sweeping robot |
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