CN103323002A - Simultaneous localization and mapping method and device - Google Patents

Simultaneous localization and mapping method and device Download PDF

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Publication number
CN103323002A
CN103323002A CN2012100732602A CN201210073260A CN103323002A CN 103323002 A CN103323002 A CN 103323002A CN 2012100732602 A CN2012100732602 A CN 2012100732602A CN 201210073260 A CN201210073260 A CN 201210073260A CN 103323002 A CN103323002 A CN 103323002A
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China
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described
electronic equipment
mobile electronic
map
instant location
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CN2012100732602A
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Chinese (zh)
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CN103323002B (en
Inventor
刘云浩
李南君
张德魁
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联想(北京)有限公司
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Abstract

The invention discloses a simultaneous localization and mapping method based on an inertial navigation device, and a simultaneous localization and mapping device using the simultaneous localization and mapping method. The simultaneous localization and mapping method based on the inertial navigation device comprises: recording initial characteristic point information of an initial point for placing a characteristic point information obtaining device, wherein the characteristic point information obtaining device is a moveable electronic device, and the movable electronic device comprises the inertial navigation device and a crash sensor component; moving the moveable electronic device, when the crash sensor component of the movable electronic device senses crash, determining the place generating crash to be the characteristic point, and recording the characteristic point information about the characteristic point, obtained by the inertial navigation device; based on a predetermined crash strategy, continuously moving the movable electronic device in order to obtain other characteristic point information; and mapping based on the obtained predetermined information of numbers of characteristic points.

Description

Instant location and map constructing method and device

Technical field

The present invention relates to instant location and map structuring (SLAM) field, more specifically, the present invention relates to instant location and the map structuring device of this instant location of a kind of instant location based on inertial navigation unit and map constructing method and use and map constructing method.

Background technology

The location of mobile device and map structuring are robot field's hot research problems.Map building for the autonomous location of the mobile device in the known environment and known machine people position has had practical solution.Yet mobile device can not utilize overall positioning system to position in a lot of environment, and it is very difficult to obtain in advance the map of mobile device working environment, or even impossible.At this moment mobile device need to be under the uncertain condition of self-position, make up map in the location circumstances fully, utilizes simultaneously map independently to locate and navigate.Here it is so-called instant location and map structuring (SLAM).In instant location and map structuring (SLAM), mobile device utilizes the characteristic indication in the self-contained sensor identification circumstances not known, then estimates the world coordinates of mobile device and characteristic indication according to the reading of the relative position between mobile device and the characteristic indication and odometer.Instant location and map structuring process based on the mobile device of environmental characteristic are divided into following three steps usually: extract based on the environmental characteristic of outside perception (1); (2) prediction of recursive form and update algorithm; (3) corresponding data correlation techniques.

For example, the Roomba intelligent robot of iRobot company adopts to be run into after the entity, carries out the strategy that right rotation is advanced according to right hand principle.In addition, exist and utilize RF radio-frequency (RF) tag form, carry out the mode of wireless signal identification and navigate; Use the form of laser scanning, make up digital map navigation; Adopt vision to carry out the instant location of 3D and map structuring modeling; Adopt sonar to carry out map structuring.Yet these existing instant location and map structuring (SLAM) method need to rely on the form of the combination of multiple navigator to realize usually, and its technical difficulty is large, and equipment manufacturing cost is high, and easily is subject to the interference of external information.Instant location and the map constructing method of therefore, wishing to propose a kind of novelty and saving cost.

Summary of the invention

Because above-mentioned situation the invention provides a kind of instant location based on inertial navigation unit and map constructing method and the instant location and the map structuring device that use this instant location with map constructing method.

According to the embodiment of the invention, a kind of instant location based on inertial navigation unit and map structuring (SLAM) method are provided, comprise: the initiation feature dot information of the starting point of characteristic point information deriving means placed in record, wherein said characteristic point information deriving means is mobile electronic equipment, and described mobile electronic equipment comprises inertial navigation unit and crash sensor parts; Mobile described mobile electronic equipment when the crash sensor parts of described mobile electronic equipment sense when bumping, is defined as unique point with the place that bumps, and the characteristic point information about described unique point that obtains of record inertial navigation unit; According to predetermined collision strategy, continue mobile described mobile electronic equipment to obtain the further feature dot information; And based on the characteristic point information of the predetermined number that obtains structure map.

In addition, instant location and map constructing method according to the embodiment of the invention also comprise: when described mobile electronic equipment can't continue to move, described mobile electronic equipment returned starting point.

In addition, according to instant location and the map constructing method of the embodiment of the invention, wherein, described predetermined collision strategy comprises: when bumping, described mobile electronic equipment retreats 5 centimetres and move on after 1 ° of right rotation.

In addition, according to instant location and the map constructing method of the embodiment of the invention, wherein, described inertial navigation unit comprises gyroscope and accelerometer.

According to another embodiment of the present invention, a kind of instant location and map structuring device are provided, be used for instant location and map structuring based on inertial navigation, described instant location and map structuring are mobile electronic equipment, and described mobile electronic equipment comprises: inertial navigation unit; And crash sensor parts, wherein, the initiation feature dot information of the starting point of described mobile electronic equipment placed in record, mobile described mobile electronic equipment, when described crash sensor parts sense when bumping, the place that bumps is defined as unique point, and records the characteristic point information about described unique point that inertial navigation unit obtains; According to predetermined collision strategy, continue mobile described mobile electronic equipment to obtain the further feature dot information; And based on the characteristic point information of the predetermined number that obtains structure map.

In addition, instant according to another embodiment of the present invention location and map structuring device, wherein, when described mobile electronic equipment can't continue to move, described mobile electronic equipment returned starting point.

In addition, instant according to another embodiment of the present invention location and map structuring device, wherein, described predetermined collision strategy comprises: when bumping, described mobile electronic equipment retreats 5 centimetres and move on after 1 ° of right rotation.

In addition, instant according to another embodiment of the present invention location and map structuring device, wherein, described inertial navigation unit comprises gyroscope and accelerometer.

According to the embodiment of the invention based on the instant location of inertial navigation unit and map constructing method and use instant location and the map structuring device of this instant location and map constructing method, realized instant location and map structuring novel and the saving cost.

The general description and the following detailed description that it being understood that the front are both exemplary, and the further specifying of the intention technology that is to provide claimed.

Description of drawings

Fig. 1 is the schematic block diagram that illustrates according to the main configuration of the instant location of the embodiment of the invention and map structuring device; And

Fig. 2 illustrates according to the instant location of the embodiment of the invention and the process flow diagram of map constructing method.

Embodiment

Below, describe the preferred embodiments of the present invention in detail with reference to accompanying drawing.

At first, with reference to instant location and the map structuring device of Fig. 1 description according to the embodiment of the invention.Described instant location and map structuring device preferably for example are the mobile electronic equipments such as robot.

As shown in Figure 1, instant location and the map structuring device 10 according to the embodiment of the invention comprises inertial navigation unit 20 and crash sensor parts 30.

Particularly, described inertial navigation unit 20 comprises gyroscope and accelerometer etc., and it is used for obtaining the information such as movement position, attitude and speed of described instant location and map structuring device 10.Inertial navigation unit 20 uses a kind of reckoning navigate mode, and namely the position from a known point goes out its down position of any according to the device movement angle that records continuously and speed calculation.For example, gyroscope is used for forming measurement stabilizer shaft that a navigation coordinate system makes accelerometer in this coordinate system and provides course and attitude angle.The acceleration that accelerometer is used for measuring movable body obtains speed through an integration to the time, and speed can obtain distance through an integration to the time again.Wherein, described gyroscope include but not limited to wind the line gyro, electrostatic gyroscope, laser gyro, optical fibre gyro, micromechanical gyro etc.The described inertial navigation unit 20 that uses in embodiments of the present invention has the following advantages with respect to instant location and middle other guiders that use of map structuring (SLAM) of prior art: (1) is because it is not rely on any external information, also not to the autonomous type system of outside emittance, therefore good concealment is not subjected to the impact of outside electromagnetic interference yet; (2) can provide position, speed, course and attitude angle data, the navigation information continuity that produces is good and noise is low; (3) high, the short-term accuracy of data updating rate and good stability; (4) low cost of manufacture, the data acquisition and control method is simple.

Described crash sensor parts 30 are used for the collision accident of the described instant location of sensing and map structuring device 10 and external environment condition.Described crash sensor parts 30 include but not limited to eccentric hammer sensor, bobbin type crash sensor, roller type expansion sensor, mercury cut-off formula crash sensor, piezoresistive effect formula crash sensor and piezoelectric effect formula crash sensor etc. are arranged.

In instant location of the present invention and map structuring device 10, each described crash sensor parts 30 sense described instant location and map structuring device 10 bumps with external environment condition, soon this place where the collision occurred point is defined as the map feature point for map structuring, and the navigation information that gathered by described inertial navigation unit 20 this moment is the characteristic point information of this map feature point.By making up a large amount of unique points, and gather corresponding characteristic point information, can form a 2D map, thereby described instant location and map structuring device 10 (for example, robot) can be according to the digital map navigations that forms.

Abovely with reference to Fig. 1 instant location and map structuring device 10 according to the embodiment of the invention have been described.Below, will further specifically describe instant location and the map constructing method of carrying out by according to instant location and the map structuring device 10 of the embodiment of the invention.

Fig. 2 illustrates according to the instant location of the embodiment of the invention and the process flow diagram of map constructing method.

As shown in Figure 2, instant location and the map constructing method according to the embodiment of the invention comprises:

In step S201, the initiation feature dot information of the starting point of described instant location and map structuring device 10 placed in record.After this, instant location enters step S202 with map constructing method.

In step S202, mobile described instant location and map structuring device 10 when the crash sensor parts 30 of described instant location and map structuring device 10 sense when bumping, are defined as unique point with the place that bumps.After this, instant location enters step S203 with map constructing method.

In step S203, record the characteristic point information about described unique point that described inertial navigation unit 20 obtains.After this, instant location enters step S204 with map constructing method.

In step S204, according to predetermined collision strategy, continue mobile described instant location and map structuring device 10 to obtain the further feature dot information.In a preferred embodiment of the invention, described predetermined collision strategy comprises: when the crash sensor parts 30 of described instant location and map structuring device 10 sense when bumping, described instant location and map structuring device 10 will carry out intellectual analysis to determine further move mode.For example, described instant location and map structuring device 10 can be selected to retreat greater than 0 and less than 20 centimetres and or anticlockwise 1-10 ° to the right according to residing specific environment general layout.When described instant location and map structuring device 10 were in the small space, described instant location and map structuring device 10 can be selected to retreat greater than 0 and less than 2 centimetres.Further, during all on a plane, 10 in described instant location and map structuring device are selected to rotate larger angles at the again point of impingement of continuous 3 rotations after 1 °, and for example the anglec of rotation is 2 ° even 10 °.In addition, if described instant location and map structuring device 10 can't advance or in certain time (for example according to strategy, 20 seconds and more than) always when 3 face reciprocating collisions of a narrow space, then carry out the nearest available point strategy of (as arriving a nearest unique point of these 3 faces) returned in described instant location and map structuring device 10.That is to say, described instant location and map structuring device 10 will move on according to reverse strategy (that is, taking with front first power to mutually despun strategy at this validity feature point).Particularly, in a preferred embodiment of the invention, described predetermined collision strategy is included in when bumping, and described instant location and map structuring device 10 retreat 5 centimetres and move on after 1 ° of right rotation.In another preferred embodiment of the present invention, described predetermined collision strategy also comprises when described instant location and map structuring device 10 and can't continue when mobile, and described instant location and map structuring device 10 return starting point.After this, instant location enters step S205 with map constructing method.

In step S205, based on the characteristic point information structure map of the predetermined number that obtains.In a preferred embodiment of the invention, the unique point of predetermined number can be 1000 unique points, but the present invention is not limited to this certainly.

More than see figures.1.and.2 described according to the embodiment of the invention based on the instant location of inertial navigation unit and map constructing method and use instant location and the map structuring device of this instant location and map constructing method, it has realized instant location and map structuring novel and the saving cost.

Need to prove, in this manual, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby not only comprise those key elements so that comprise process, method, article or the equipment of a series of key elements, but also comprise other key elements of clearly not listing, or also be included as the intrinsic key element of this process, method, article or equipment.In the situation that not more restrictions, the key element that is limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.

At last, also need to prove, above-mentioned a series of processing not only comprise the processing of carrying out by the time sequence with order described here, and comprise parallel or respectively rather than the processing of carrying out in chronological order.

Through the above description of the embodiments, those skilled in the art can be well understood to the present invention and can realize by the mode that software adds essential hardware platform, can certainly all implement by hardware.Based on such understanding, technical scheme of the present invention is to can embodying with the form of software product in whole or in part that background technology contributes, this computer software product can be stored in the storage medium, such as ROM/RAM, magnetic disc, CD etc., comprise that some instructions are with so that a computer equipment (can be personal computer, server, the perhaps network equipment etc.) carry out the described method of some part of each embodiment of the present invention or embodiment.

Above the present invention is described in detail, has used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.

Claims (8)

1. instant location and map structuring (SLAM) method based on an inertial navigation unit comprise:
The initiation feature dot information of the starting point of characteristic point information deriving means placed in record, and wherein said characteristic point information deriving means is mobile electronic equipment, and described mobile electronic equipment comprises inertial navigation unit and crash sensor parts;
Mobile described mobile electronic equipment when the crash sensor parts of described mobile electronic equipment sense when bumping, is defined as unique point with the place that bumps, and the characteristic point information about described unique point that obtains of record inertial navigation unit;
According to predetermined collision strategy, continue mobile described mobile electronic equipment to obtain the further feature dot information; And
Characteristic point information structure map based on the predetermined number that obtains.
2. instant location as claimed in claim 1 and map constructing method also comprise: when described mobile electronic equipment can't continue when mobile, described mobile electronic equipment returns starting point.
3. instant location as claimed in claim 1 and map constructing method, wherein, described predetermined collision strategy comprises: when bumping, described mobile electronic equipment retreats 5 centimetres and move on after 1 ° of right rotation.
4. such as arbitrary described instant location and the map constructing method of claim 1 to 3, wherein, described inertial navigation unit comprises gyroscope and accelerometer.
5. instant a location and the map structuring device is used for instant location and map structuring based on inertial navigation, and described instant location and map structuring are mobile electronic equipment, and described mobile electronic equipment comprises:
Inertial navigation unit; And
The crash sensor parts,
Wherein, the initiation feature dot information of the starting point of described mobile electronic equipment placed in record, mobile described mobile electronic equipment, when described crash sensor parts sense when bumping, the place that bumps is defined as unique point, and records the characteristic point information about described unique point that inertial navigation unit obtains; According to predetermined collision strategy, continue mobile described mobile electronic equipment to obtain the further feature dot information; And based on the characteristic point information of the predetermined number that obtains structure map.
6. instant location as claimed in claim 5 and map structuring device, wherein, when described mobile electronic equipment can't continue when mobile, described mobile electronic equipment returns starting point.
7. instant location as claimed in claim 5 and map structuring device, wherein, described predetermined collision strategy comprises: when bumping, described mobile electronic equipment retreats 5 centimetres and move on after 1 ° of right rotation.
8. such as arbitrary described instant location and the map structuring device of claim 1 to 3, wherein, described inertial navigation unit comprises gyroscope and accelerometer.
CN201210073260.2A 2012-03-19 2012-03-19 Instant location and map constructing method and device CN103323002B (en)

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CN105806331A (en) * 2014-12-30 2016-07-27 Tcl集团股份有限公司 Positioning method for indoor robot and indoor robot
CN106780699A (en) * 2017-01-09 2017-05-31 东南大学 A kind of vision SLAM methods aided in based on SINS/GPS and odometer
CN107346133A (en) * 2017-07-04 2017-11-14 武汉视览科技有限公司 A kind of the autonomous of indoor mobile robot builds drawing method and device
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US10240930B2 (en) 2013-12-10 2019-03-26 SZ DJI Technology Co., Ltd. Sensor fusion
CN105492985A (en) * 2014-09-05 2016-04-13 深圳市大疆创新科技有限公司 Multi-sensor environment map building
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CN105806331A (en) * 2014-12-30 2016-07-27 Tcl集团股份有限公司 Positioning method for indoor robot and indoor robot
CN105806337A (en) * 2014-12-30 2016-07-27 Tcl集团股份有限公司 Positioning method applied to indoor robot, and indoor robot
CN105783913A (en) * 2016-03-08 2016-07-20 中山大学 SLAM device integrating multiple vehicle-mounted sensors and control method of device
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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
CN106780699A (en) * 2017-01-09 2017-05-31 东南大学 A kind of vision SLAM methods aided in based on SINS/GPS and odometer
CN107346133A (en) * 2017-07-04 2017-11-14 武汉视览科技有限公司 A kind of the autonomous of indoor mobile robot builds drawing method and device

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