CN103323002B - Instant location and map constructing method and device - Google Patents
Instant location and map constructing method and device Download PDFInfo
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- CN103323002B CN103323002B CN201210073260.2A CN201210073260A CN103323002B CN 103323002 B CN103323002 B CN 103323002B CN 201210073260 A CN201210073260 A CN 201210073260A CN 103323002 B CN103323002 B CN 103323002B
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Abstract
The invention discloses a kind of instant location based on inertial navigation unit and map constructing method and use this immediately to locate and the instant location of map constructing method and map structuring device.The described instant location based on inertial navigation unit and map constructing method, comprise: the initiation feature dot information of the starting point of characteristic point information acquisition device placed in record, wherein said characteristic point information acquisition device 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 component senses of described mobile electronic equipment is to when colliding, is defined as unique point by the place collided, and records the characteristic point information about described unique point of inertial navigation unit acquisition; According to predetermined collision strategy, continue mobile described mobile electronic equipment to obtain further feature dot information; And construct map based on the characteristic point information of the predetermined number obtained.
Description
Technical field
The present invention relates to instant location and map structuring (SLAM) field, more specifically, the present invention relates to a kind of instant location based on inertial navigation unit and map constructing method and use this immediately to locate and the instant location of map constructing method and map structuring device.
Background technology
The location of mobile device and map structuring are the hot research problems of robot field.Mobile device in known environment is independently located and has had practical solution with the map building of known machine people position.But mobile device can not utilize Global localization system to position in a lot of environment, and the map obtaining mobile device working environment is in advance very difficult, or even impossible.At this moment mobile device needs under the uncertain condition of self-position, builds map, utilize map independently locate and navigate simultaneously in complete location circumstances.Here it is so-called instant location and map structuring (SLAM).In instant location with map structuring (SLAM), mobile device utilizes the characteristic indication in 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 characteristic indication and odometer.Usually following three steps are divided into: (1) extracts based on the environmental characteristic of external sensible based on the instant location of the mobile device of environmental characteristic and map structuring process; (2) prediction of recursive form and update algorithm; (3) corresponding data correlation techniques.
Such as, the Roomba intelligent robot of iRobot company carries out the strategy of right rotation advance after adopting and encountering entity according to right hand principle.In addition, exist and utilize RF radio-frequency (RF) tag form, the mode of carrying out wireless signal identification is navigated; Use the form of laser scanning, carry out structure digital map navigation; Adopt vision to carry out 3D immediately to locate and map structuring modeling; Sonar is adopted to carry out map structuring.But these existing instant location and map structuring (SLAM) method need to rely on the form of the combination of multiple navigator to realize usually, its technical difficulty is large, and equipment manufacturing cost is high, and is easily subject to the interference of external information.Therefore, it is desirable to propose a kind of novelty and cost-saving instant location and map constructing method.
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 use this immediately to locate and the instant location of map constructing method and map structuring device.
According to the embodiment of the present invention, provide a kind of instant location based on inertial navigation unit and map structuring (SLAM) method, comprise: the initiation feature dot information of the starting point of characteristic point information acquisition device placed in record, wherein said characteristic point information acquisition device 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 component senses of described mobile electronic equipment is to when colliding, is defined as unique point by the place collided, and records the characteristic point information about described unique point of inertial navigation unit acquisition; According to predetermined collision strategy, continue mobile described mobile electronic equipment to obtain further feature dot information; And construct map based on the characteristic point information of the predetermined number obtained.
In addition, according to instant location and the map constructing method of the embodiment of the present invention, also comprise: when described mobile electronic equipment cannot continue mobile, described mobile electronic equipment returns starting point.
In addition, according to instant location and the map constructing method of the embodiment of the present invention, wherein, described predetermined collision strategy comprises: when colliding, and described mobile electronic equipment retreats 5 centimetres and moves on after right rotation 1 °.
In addition, according to instant location and the map constructing method of the embodiment of the present invention, wherein, described inertial navigation unit comprises gyroscope and accelerometer.
According to another embodiment of the present invention, provide a kind of instant location and map structuring device, for based on the instant location of inertial navigation and map structuring, 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 component senses is to when colliding, the place collided is defined as unique point, and records the characteristic point information about described unique point of inertial navigation unit acquisition; According to predetermined collision strategy, continue mobile described mobile electronic equipment to obtain further feature dot information; And construct map based on the characteristic point information of the predetermined number obtained.
In addition, instant according to another embodiment of the present invention location and map structuring device, wherein, when described mobile electronic equipment cannot continue mobile, described mobile electronic equipment returns 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 colliding, and described mobile electronic equipment retreats 5 centimetres and moves on after right rotation 1 °.
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 instant location based on inertial navigation unit of the embodiment of the present invention and map constructing method with uses this immediately locate and the instant location of map constructing method and map structuring device, achieve novelty and cost-saving instant location and map structuring.
It being understood that general description above and detailed description below both exemplary, and intention is to provide further illustrating of claimed technology.
Accompanying drawing explanation
Fig. 1 is the schematic block diagram illustrated according to the instant location of the embodiment of the present invention and the main configuration of map structuring device; And
Fig. 2 is the process flow diagram that instant location according to the embodiment of the present invention and map constructing method are shown.
Embodiment
Below, the preferred embodiments of the present invention are described in detail with reference to accompanying drawing.
First, describe according to the instant location of the embodiment of the present invention and map structuring device with reference to Fig. 1.Described instant location and map structuring device are such as preferably the mobile electronic equipments of such as robot.
As shown in Figure 1, inertial navigation unit 20 and crash sensor parts 30 are comprised according to the instant location of the embodiment of the present invention and map structuring device 10.
Particularly, described inertial navigation unit 20 comprises gyroscope and accelerometer etc., and it is for obtaining movement position, the information such as attitude and speed of described instant location and map structuring device 10.Inertial navigation unit 20 uses and a kind of calculates navigate mode, namely to go out it position of any according to the device movement angle recorded continuously and speed calculation from the position of a known point.Such as, gyroscope is used for formation navigational coordinate system and makes the measurement axle of accelerometer stable in the coordinate system and provide course and attitude angle.The acceleration process that accelerometer is used for measuring movable body obtains speed to an integration of time, and speed is again through obtaining distance to an integration of time.Wherein, described gyroscope includes but not limited to coiling gyro, electrostatic gyroscope, laser gyro, optical fibre gyro, micromechanical gyro etc.The described inertial navigation unit 20 used in embodiments of the present invention has the following advantages relative to other guiders used in the instant location of prior art and map structuring (SLAM): (1) due to it be do not rely on any external information, also the self-contained system of not externally emittance, therefore good concealment, also not by the impact of outside electromagnetic interference; (2) can provide position, speed, course and attitude angle data, the navigation information continuity produced is good and noise is low; (3) high, the short-term accuracy of data updating rate and good stability; (4) low cost of manufacture, data acquisition and control method is simple.
Described crash sensor parts 30 are for sensing the collision accident of described instant location 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, have piezoresistive effect formula crash sensor and piezoelectric effect formula crash sensor etc.
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 collides with external environment condition, be defined as the map feature point for map structuring by this place where the collision occurred point, and the navigation information now gathered by described inertial navigation unit 20 is the characteristic point information of this map feature point.By building a large amount of unique points, and gathering corresponding characteristic point information, a 2D map can be formed, thus described instant location and map structuring device 10 (such as, robot) can according to the digital map navigations formed.
Instant location according to the embodiment of the present invention and map structuring device 10 is described above with reference to Fig. 1.Below, will specifically describe further by the instant location performed according to instant location and the map structuring device 10 of the embodiment of the present invention and map constructing method.
Fig. 2 is the process flow diagram that instant location according to the embodiment of the present invention and map constructing method are shown.
As shown in Figure 2, comprise according to the instant location of the embodiment of the present invention and map constructing method:
In step s 201, 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 collide time, the place collided is defined as unique point.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, the mobile described instant location of continuation and map structuring device 10 are to obtain 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 collide time, described instant location and map structuring device 10 will carry out intellectual analysis to determine further move mode.Such as, described instant location and map structuring device 10 can be selected according to residing specific environment general layout retrogressing to be greater than 0 and be less than 20 centimetres and or anticlockwise 1-10 ° to the right.When described instant location and map structuring device 10 are in small space, described instant location and map structuring device 10 can be selected retrogressing to be greater than 0 and be less than 2 centimetres.Further, when the point of impingement again after rotating 1 ° at continuous 3 times is all on a plane, described instant location and 10, map structuring device are selected to rotate larger angle, such as the anglec of rotation 2 ° even 10 °.In addition, if described instant location and map structuring device 10 cannot strategically advance or in certain time (such as, 20 seconds and more than) always when 3 face reciprocating collisions of a narrow space, then perform the strategy described instant location and map structuring device 10 being returned nearest available point (as arrived a nearest unique point in these 3 faces).That is, 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, when described predetermined collision strategy is included in and collides, described instant location and map structuring device 10 retreat 5 centimetres and move on after right rotation 1 °.In another preferred embodiment of the invention, described predetermined collision strategy also comprises when described instant location and map structuring device 10 cannot continue 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 obtained.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 thereto certainly.
More than see figures.1.and.2 and describe according to the instant location based on inertial navigation unit of the embodiment of the present invention and map constructing method and use this immediately locate and the instant location of map constructing method and map structuring device, it achieves novelty and cost-saving instant location and map structuring.
It should be noted that, in this manual, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
Finally, also it should be noted that, above-mentioned a series of process not only comprises with the order described here temporally process that performs of sequence, and comprises process that is parallel or that perform respectively instead of in chronological order.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add required hardware platform by software and realize, and can certainly all be implemented by hardware.Based on such understanding, what technical scheme of the present invention contributed to background technology can embody with the form of software product in whole or in part, this computer software product can be stored in storage medium, as ROM/RAM, magnetic disc, CD etc., comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform the method described in some part of each embodiment of the present invention or embodiment.
Above to invention has been detailed introduction, applying specific case herein and setting forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, 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., based on instant location and map structuring (SLAM) method of inertial navigation unit, comprising:
The initiation feature dot information of the starting point of characteristic point information acquisition device placed in record, and wherein said characteristic point information acquisition device 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 component senses of described mobile electronic equipment is to when colliding, is defined as unique point by the place collided, and records the characteristic point information about described unique point of inertial navigation unit acquisition;
According to predetermined collision strategy, continue mobile described mobile electronic equipment to obtain further feature dot information; And
Based on the characteristic point information structure map of the predetermined number obtained.
2. instant location as claimed in claim 1 and map constructing method, also comprises: when described mobile electronic equipment cannot continue 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 colliding, and described mobile electronic equipment retreats 5 centimetres and moves on after right rotation 1 °.
4. as Claim 1-3 arbitrary as described in instant location and map constructing method, wherein, described inertial navigation unit comprises gyroscope and accelerometer.
5. instant location and a map structuring device, for based on the instant location of inertial navigation and map structuring, described instant location and map structuring device 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 component senses is to when colliding, the place collided is defined as unique point, and records the characteristic point information about described unique point of inertial navigation unit acquisition; According to predetermined collision strategy, continue mobile described mobile electronic equipment to obtain further feature dot information; And construct map based on the characteristic point information of the predetermined number obtained.
6. instant location as claimed in claim 5 and map structuring device, wherein, when described mobile electronic equipment cannot continue 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 colliding, and described mobile electronic equipment retreats 5 centimetres and moves on after right rotation 1 °.
8. as claim 5 to 7 arbitrary as described in instant location and map structuring device, wherein, described inertial navigation unit comprises gyroscope and accelerometer.
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| CN105517666B (en) | 2014-09-05 | 2019-08-27 | 深圳市大疆创新科技有限公司 | Offline mode selection based on scene |
| CN105980950B (en) | 2014-09-05 | 2019-05-28 | 深圳市大疆创新科技有限公司 | The speed control of unmanned vehicle |
| CN105806337B (en) * | 2014-12-30 | 2019-07-19 | Tcl集团股份有限公司 | A kind of localization method and Indoor Robot applied to Indoor Robot |
| 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 |
| CN105783913A (en) * | 2016-03-08 | 2016-07-20 | 中山大学 | SLAM device integrating multiple vehicle-mounted sensors and control method of device |
| 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 |
| CN106780699B (en) * | 2017-01-09 | 2020-10-16 | 东南大学 | Visual SLAM method based on SINS/GPS and odometer assistance |
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| CN109976325A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | Method, device and equipment for managing articles by robot |
| CN110316106B (en) * | 2018-03-30 | 2021-09-03 | 比亚迪股份有限公司 | Vehicle, display terminal system thereof and method for establishing three-dimensional terrain database through display terminal system |
| CN111982115B (en) * | 2020-08-12 | 2024-07-05 | 北京汽车研究总院有限公司 | Feature point map construction method, device and medium based on inertial navigation system |
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