CN103353758B - A kind of Indoor Robot navigation method - Google Patents

A kind of Indoor Robot navigation method Download PDF

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Publication number
CN103353758B
CN103353758B CN201310337449.2A CN201310337449A CN103353758B CN 103353758 B CN103353758 B CN 103353758B CN 201310337449 A CN201310337449 A CN 201310337449A CN 103353758 B CN103353758 B CN 103353758B
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Prior art keywords
robot
motion
road sign
region
information
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CN103353758A (en
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孙福斋
孙鲁兵
申作军
位世波
任在旭
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QINGDAO HAITONG ROBOT SYSTEMS Co Ltd
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QINGDAO HAITONG ROBOT SYSTEMS Co Ltd
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Abstract

The present invention discloses a kind of Indoor Robot airmanship, it is characterised in that: step is as follows: a), the planning in map structuring and robot motion path; B), the setting of region refinement and vision road sign; C), the collection of vision road sign, process and motion positions correction; D), the storage of region and mark information and inquiry. The present invention have independent navigation, immunity from interference strong, without advantages such as track move, also calibrated the problem overcoming current most of navigate mode positioning precision difference by vision localization.

Description

A kind of Indoor Robot navigation method
Technical field
The invention belongs to the navigational aid of Indoor Robot and airmanship thereof, specifically, it relates to a kind of based on the Indoor Robot navigation method of region refinement and vision localization.
Background technology
Mobile apparatus people is that one can work under complicated environment, there is the robot from planning, self-organization, adaptive ability, there is the advantages such as action is quick, working efficiency height, structure are simple, controllability is strong, security is good, at home and abroad it is widely used at present.
In mobile apparatus people's relation technological researching, airmanship belongs to its core technology, is also realize gordian technique that is intelligent and autonomous. Navigate mode common at present has electromagnetic navigation, inertial navigation, vision guided navigation, wireless navigation, satellite-navigation, sensing data navigation etc. Traditional navigate mode more or less also exists some drawbacks, electromagnetic navigation very flexible, locates inaccurate, intelligent not high and big area magnetic stripe laying maintenance cost height. Inertial navigation handiness is good, but positional accuracy is poor, easily produces and accumulates deviation, be suitable for short range and move in moving process. Traditional vision guided navigation generally adopts the mode of multi-vision visual, and positioning precision can reach very high, but real-time computing amount in moving process is very big, underaction, and impact by surrounding environment such as illumination is bigger; Other navigate modes more or less also exist stability difference, positioning precision is low or lays the shortcomings such as maintenance cost height.
Summary of the invention
The technical problem to be solved in the present invention overcomes above-mentioned defect, it is provided that a kind of cost is low, adaptation type and good stability, Navigation and localization precision high based on the Indoor Robot Nvgtl aids of region refinement and vision localization.
For solving the problem, the technical solution adopted in the present invention is:
A kind of Indoor Robot Nvgtl aids, it is characterized in that, comprise circuit card, circuit card is provided with motion-control module, navigation and localization module, management map and path planning module, image Acquire and process module, safe module, man-machine interaction management module;
Motion-control module, for the adjustment of machine human body posture and kinestate control;
Navigation and localization module, obtains the accurate position of robot by inertial navigation and vision correction, it is achieved accurately robot navigation location;
Management map and path planning module, for structure and the refinement of map, the planning in robot motion path;
Image Acquire and process module, gathers and processes road sign image, obtains the position of current robot, carries out motion control and pose adjustment in time;
Safe module, the safe state of timing detection device self, and perform corresponding alert process;
Man-machine interaction management module, by multiple man-machine Interface realization man-computer interactive communication, display, configuration and management.
Present invention also offers a kind of Indoor Robot navigation method, it is characterised in that:
Step is as follows:
A), the planning in map structuring and robot motion path;
B), the setting of region refinement and vision road sign;
C), the collection of vision road sign, process and motion positions correction;
D), the storage of region and mark information and inquiry.
As the technical scheme of a kind of improvement, described step a) is specially:
1), to indoor environment layout measure, and build map under equipment off-line state;
2), the moving region of setting robot, and planning robot is at indoor overall movement path;
3), the movement path of robot between setting specific point, and other situations outside setting range, movement path is by robot autonomous calculating.
As the technical scheme of a kind of improvement, described step b) it is specially:
1), the moving region of robot in map is subdivided into according to the form of movement path the region of multiple different size and shape;
2), in each divided area, the specific location in robot motion path sets vision road sign.
As the technical scheme of a kind of improvement, step c) it is specially:
1), time near robot motion to road sign position, instantaneous collection road sign image, extracts the locating point of image.
2) according to rout marking allocation information, obtain the position that robot is current, carry out motion control in time.
As the technical scheme of a kind of improvement, steps d) it is specially:
1) information such as the orientation of corresponding to the path information in the position of each divided area, shape, region, mode of motion and road sign point position and road sign article are stored with YAML form.
2) robot motion's process is inquired about the information of current divided area, carries out motion control and location navigation in time.
As the technical scheme of a kind of improvement, the map near robot motion path is carried out region thinning processing, and the multiple position in refinement region, motion and control information are carried out emphasis storage, to reach the object improving control accuracy and operational efficiency.
As the technical scheme of a kind of improvement, setting vision road sign adopts single visual mode felt that robot is positioned navigation, and in moving process, fixed point gathers vision road sign image on the one hand, obtains current locating information, carries out motion control in time; Robot is made can accurately to move to aiming spot on the other hand, according to the spatial information of target compound, adjustment attitude.
Owing to have employed technique scheme, compared with prior art, the present invention have independent navigation, immunity from interference strong, without advantages such as track move, also calibrated the problem overcoming current most of navigate mode positioning precision difference by vision localization. In addition, vision system adopts single visual feel, and fixed point triggering collection process, the mode computing amount of location navigation real-time relative to binocular vision is much smaller, and cost is low, good stability.
The present invention have employed the mode of region refinement when map structuring, simultaneously store a large amount of positions and control information for refinement region, it is to increase the motion control accuracy of robot and efficiency.
The present invention has fully taken into account the image road sign being laid on ground and has been subject to dust, the interference such as dirty unavoidably, have employed the picture coding structure of real circle, and its advantage is: the detection of circle adopts the mode of statistics ballot on the one hand, has good immunity from interference; On the other hand for single line circle, the robustness of solid circle is better. In addition, location circle is fixing relative to the size of image and position, and therefore positioned centrally speed quickly, can guarantee to carry out in time motion correction.
Below in conjunction with the drawings and specific embodiments, the invention will be further described simultaneously.
Accompanying drawing explanation
Fig. 1 is the structure block diagram of an embodiment of the present invention;
Fig. 2 is the workflow diagram of an embodiment of the present invention.
Embodiment
Embodiment:
As shown in Figure 1, a kind of based on the Indoor Robot Nvgtl aids of region refinement and vision localization, comprise circuit card, circuit card is provided with motion-control module, navigation and localization module, management map and path planning module, image Acquire and process module, safe module, man-machine interaction management module.
Motion-control module, for the adjustment of machine human body posture and kinestate control.
Navigation and localization module, obtains the accurate position of robot by inertial navigation and vision correction, it is achieved accurately robot navigation location.
Management map and path planning module, for structure and the refinement of map, the planning in robot motion path.
Image Acquire and process module, gathers and processes road sign image, obtains the position of current robot, carries out motion control and pose adjustment in time.
Safe module, the safe state of timing detection device self, and perform corresponding alert process.
Man-machine interaction management module, by multiple man-machine Interface realization man-computer interactive communication, display, configuration and management.
Present invention also offers a kind of based on the Indoor Robot navigation method of region refinement and vision localization, as shown in Figure 2, step is as follows:
A), the planning in map structuring and robot motion path;
B), the setting of region refinement and vision road sign;
C), the collection of vision road sign, process and motion positions correction;
D), the storage of region and mark information and inquiry.
In above-mentioned steps, described step a) is specially:
1), to indoor environment layout measure, and build map under equipment off-line state;
2), the moving region of setting robot, and planning robot is at indoor overall movement path;
3), the movement path of robot between setting specific point, and other situations outside setting range, movement path is by robot autonomous calculating.
Described step b) it is specially:
1), the moving region of robot in map is subdivided into according to the form of movement path the region of multiple different size and shape;
2), in each divided area, the specific location in robot motion path sets vision road sign.
Step c) it is specially:
1), time near robot motion to road sign position, instantaneous collection road sign image, extracts the locating point of image.
2) according to rout marking allocation information, obtain the position that robot is current, carry out motion control in time.
Steps d) it is specially:
1) information such as the orientation of corresponding to the path information in the position of each divided area, shape, region, mode of motion and road sign point position and road sign article are stored with YAML form.
2) robot motion's process is inquired about the information of current divided area, carries out motion control and location navigation in time.
In the present embodiment, the map near robot motion path is carried out region thinning processing, and the multiple position in refinement region, motion and control information are carried out emphasis storage, to reach the object improving control accuracy and operational efficiency.
In the present embodiment, setting vision road sign adopts single visual mode felt that robot is positioned navigation, and in moving process, fixed point gathers vision road sign image on the one hand, obtains current locating information, carries out motion control in time; Robot is made can accurately to move to aiming spot on the other hand, according to the spatial information of target compound, adjustment attitude.
The present invention have independent navigation, immunity from interference strong, without advantages such as track move, also calibrated the problem overcoming current most of navigate mode positioning precision difference by vision localization. In addition, vision system adopts single visual feel, and fixed point triggering collection process, the mode computing amount of location navigation real-time relative to binocular vision is much smaller, and cost is low, good stability.
The present invention have employed the mode of region refinement when map structuring, simultaneously store a large amount of positions and control information for refinement region, it is to increase the motion control accuracy of robot and efficiency.
The present invention has fully taken into account the image road sign being laid on ground and has been subject to dust, the interference such as dirty unavoidably, have employed the picture coding structure of real circle, and its advantage is: the detection of circle adopts the mode of statistics ballot on the one hand, has good immunity from interference; On the other hand for single line circle, the robustness of solid circle is better. In addition, location circle is fixing relative to the size of image and position, and therefore positioned centrally speed quickly, can guarantee to carry out in time motion correction.
The present invention is not limited to above-mentioned preferred implementation, and anyone should learn the structure change made under the enlightenment of the present invention, and every have identical or close technical scheme with the present invention, all belongs to protection scope of the present invention.

Claims (1)

1. an Indoor Robot navigation method, it is characterised in that: step is as follows:
A), the planning in map structuring and robot motion path, comprising:
1), to indoor environment layout measure, and build map under equipment off-line state;
2), the moving region of setting robot, and planning robot is at indoor overall movement path;
3), the movement path of robot between setting specific point, the movement path outside setting range is by robot autonomous calculating;
B), the setting of region refinement and vision road sign, comprising:
1), the moving region of robot in map is subdivided into according to the form of movement path the region of multiple different size and shape, map near robot motion path is carried out region thinning processing, and the multiple position in refinement region, motion and control information are carried out emphasis storage, to reach the object improving control accuracy and operational efficiency;
2), in each divided area, the specific location in robot motion path sets vision road sign, adopt single visual mode felt that robot is positioned navigation, in moving process, fixed point gathers vision road sign image on the one hand, obtains current locating information, carries out motion control in time; Robot is made can accurately to move to aiming spot on the other hand, according to the spatial information of target compound, adjustment attitude;
C), the collection of vision road sign, process and motion positions correction, comprising:
1), time near robot motion to road sign position, instantaneous collection road sign image, extracts the locating point of image;
2) according to rout marking allocation information, obtain the position that robot is current, carry out motion control in time;
D), the storage of region and mark information and inquiry, comprising:
1) azimuth information of the path information in the position of each divided area, shape, region, mode of motion and road sign point position and road sign correspondence article is stored with YAML form;
2) robot motion's process is inquired about the information of current divided area, carries out motion control and location navigation in time.
CN201310337449.2A 2013-08-05 2013-08-05 A kind of Indoor Robot navigation method Active CN103353758B (en)

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