CN105759815A - Intelligent outdoor robot and robot system and control method thereof - Google Patents
Intelligent outdoor robot and robot system and control method thereof Download PDFInfo
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- 238000013439 planning Methods 0.000 abstract description 7
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- YGANSGVIUGARFR-UHFFFAOYSA-N dipotassium dioxosilane oxo(oxoalumanyloxy)alumane oxygen(2-) Chemical compound [O--].[K+].[K+].O=[Si]=O.O=[Al]O[Al]=O YGANSGVIUGARFR-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent outdoor robot, which comprises a movement mechanism, a sensing mechanism, a control mechanism and a power management module, wherein the movement mechanism is used for enabling the robot to perform physical movement; the sensing mechanism is used for sensing the current position of the robot and comprises a GNSS receiver, an inertial sensor, a wireless transmitting and receiving module and an odometer, the current position is measured through the GNSS receiver, the inertial sensor and/or the odometer, and current position data based on the current position are transmitted via the wireless transmitting and receiving module and/or a control command is received; the control mechanism controls the movement mechanism to move to further enable the robot to move to a target position according to the control command; and the power management module provides power for each mechanism of the robot. According to the intelligent outdoor robot and the robot system and the control method thereof provided by the embodiment of the invention, requirements on the positioning precision by the robot control system can be effectively solved through data integration on the positioning system, and an intelligent part is enhanced at the same for effective obstacle avoiding and planning. The making cost is relatively low, and the use value and the economic benefits are extremely high.
Description
Technical field
The present invention relates to a kind of outdoor robot and robot system thereof and control method, particularly relate to the real-time positioning of outdoor robot, relate to and process path and obstacle in real time.
Background technology
Robot is fairly common in outdoor utilization, but main utilization then still compares low side, it is impossible to Based Intelligent Control and navigation.Along with the birth of extensive Intelligent hardware, artificial intelligence has been increasingly becoming trend.Thus robot also begins to enter family life.But the robot being accurately positioned control on the market is fewer, main cause is that high-precision instrument cost is higher, such as laser locator.The equipment precision that cost is low is relatively low, such as gps receiver.Usual civilian rank all adopts gps receiver, it may be said that effectiveness comparison is poor in the utilization of robot, general precision is at about 1 meter, it is impossible to effective operation robot control system and planning system.
Such as, GPS geo-location system (GlobalPositioningSystem) is the round orbiter navigation system of middle distance that U.S. Department of Defense develops and safeguards.It can be that earth surface overwhelming majority area (98%) offer positions accurately, tests the speed and high-precision time standard.Global positioning system can meet and is positioned at the whole world Anywhere or the accurate continuously determination three-dimensional position of the military user of terrestrial space, three-dimensional motion and the needs of time.This system includes 24 gps satellites in space；1 master station, 3 data injection stations and 5 monitoring stations and the GPS as user side on ground.Minimum need wherein 4 satellite, just can determine rapidly user side location on earth and height above sea level；Receiving the satellite number being connected to more many, decoding position out is more accurate.Based on this GPS technology, robot real-time can be poor, and positioning precision is not high yet, and has environment scene to limit, and now robot to reach intelligent also a lot of gaps.
Additionally, along with the fast development of satellite positioning tech, people are also day by day strong to the demand of the quick high accuracy position data of robot.And currently used most commonly used high-precision location technique is exactly RTK (real-time dynamic positioning: Real-TimeKinematic), RTK technology it is critical only that the carrier phase observed quantity employing location technology, and make use of the spatial coherence of observation error between reference station and movement station, the most of error in movement station observation data is removed, thus realizing the location of high accuracy (decimetre is Centimeter Level even) by the mode of difference.
The alignment system of industry has had significant progress, GNSS (GLONASS: GlobalNavigationSatelliteSystem), refer to all of satellite navigation system, including the whole world, region and strengthen, GPS such as the U.S., Muscovite Glonass, the Galileo in Europe, the Beidou satellite navigation system of China, and relevant enhancing system, WAAS (WAAS) such as the U.S., the EGNOS (Europe is Navigation Overlay System geostationary) in Europe and the MSAS (Multi-functional transporting Satellite Augmentation System) etc. of Japan, it is also contemplated by other satellite navigation systems built and to build later.
Regrettably, for outdoor robot, location technology is not extended to full GNSS by industry, and precision is poor, it is impossible to meet actual user demand.
Summary of the invention
It is contemplated that overcome the precision of existing low cost location technology to limit, apply to the GNSS system such as GLONASS, GALILEO and BEIDO with the extension of existing GPS-RTK technology, it is provided that the positioning actions such as high-precision path planning and intelligence obstacle.
In order to reach above-mentioned purpose, it is provided that the outdoor robot of a kind of intelligence, including: motion, it is used for so that described robot carries out physical motion；Sensing mechanism, for sensing the current location of described robot, including GNSS receiver, inertial sensor, radio receiving transmitting module, and speedometer, it is by described GNSS receiver, inertial sensor, and/or speedometer records described current location, and send the current location data based on described current location by described radio receiving transmitting module and/or receive control command；Controlling organization, it controls described motion according to described control command and moves so that described robot moves to target location；And power management module, it is that each mechanism of described robot powers.
Another aspect of the invention is the outdoor robot system of a kind of intelligence, including: the outdoor robot of intelligence；And reference base station, described reference base station obtains the current location data of described robot from described robot, and the reference location data according to described reference base station sends control command, so that described robot positions according to described reference location data.
In some embodiments, described reference base station includes: GNSS receiver, and it obtains reference base station GNSS data according to GNSS satellite data sampling；Radio receiving transmitting module, described reference base station GNSS data is sent to described robot by it, and receives described current location data from described intelligent robot；Processing unit, it controls data receiver and described current location data and described GNSS data is calculated, to plan the location of described robot.
Another aspect of the invention is the control method of the outdoor robot system of a kind of intelligence, comprises the steps: that (1) described robot sends current location data to described reference base station, and described reference base station is received by described radio receiving transmitting module；(2) current location data of robot described in described processing unit processes, provides positioning command；And (3) described reference base station sends next step running status described and order extremely described robot by described radio receiving transmitting module.
In some embodiments, step (1), described in controlling organization first use inertial sensor and motor speedometer to be inserted in Kalman filter to calculate and estimate that described current location is to obtain initial present position data.
In some embodiments, the robot GNSS data that the GNSS receiver of described reference base station GNSS data Yu described robot obtains also is performed twice at difference by the controlling organization of described robot, and differentiated GNSS data is estimated in advance as measuring input quantity to obtain optimum state.
In some embodiments, estimate in advance and described target location according to described optimum state, calculate and obtain the margin of error, and generate described positioning command according to the described margin of error.
In some embodiments, also include judging whether described robot has arrived at destination, if arriving, the order waiting next stage out of service, described current location data information is reached described reference base station simultaneously, calculated and selected optimal path by described reference base station and generate described positioning command.
In some embodiments, also include existing landform is analyzed, and provide optimal path with neural algorithm.
Outdoor robot according to embodiments of the present invention and robot system thereof and control method, by the data fusion of alignment system effectively solves the robot control system requirement to positioning precision, strengthening intelligent parts can effectively keep in obscurity and planning simultaneously.Manufacturing cost is relatively low, has very high use value and economic interests.
Accompanying drawing explanation
In conjunction with accompanying drawing, by detailed description below, the above-mentioned and other feature and advantage of the present invention can be more clearly understood that, wherein:
Fig. 1 is the module map of the reference base station in the outdoor robot system of intelligence according to embodiments of the present invention；
Fig. 2 is the module map of the robot in the outdoor robot system of intelligence according to embodiments of the present invention；
Fig. 3 is the frame diagram of the control method of the outdoor robot system of intelligence according to embodiments of the present invention；
Fig. 4 illustrates the ultimate principle of the outdoor robot system of intelligence according to embodiments of the present invention；
The frame diagram of the control method of the outdoor robot system of Fig. 5 intelligence according to embodiments of the present invention；
Fig. 6 is the flow chart of the control method of the outdoor robot system of intelligence according to embodiments of the present invention；
Fig. 7 illustrates the alignment system sequential of the control method of the outdoor robot system of intelligence according to embodiments of the present invention；
Fig. 8 illustrates inertia system positioning principle.
Detailed description of the invention
Referring to the accompanying drawing of the specific embodiment of the invention, the present invention is described in more detail.But, the present invention can realize in many different forms, and should not be construed as by restriction of the embodiment of proposition at this.On the contrary, it is proposed to these embodiments are to reach fully and complete disclosure, and make those skilled in the art understand the scope of the present invention completely.
Now describe the outdoor robot of a kind of intelligence according to embodiments of the present invention in detail, including motion, be used for so that described robot carries out physical motion；Sensing mechanism, for sensing the current location of described robot, including GNSS receiver, inertial sensor, radio receiving transmitting module, and speedometer, it is by described GNSS receiver, inertial sensor, and/or speedometer records described current location, and send the current location data based on described current location by described radio receiving transmitting module and/or receive control command；Controlling organization, it controls described motion according to described control command and moves so that described robot moves to target location；And power management module, it is that each mechanism of described robot powers.
Now describe the outdoor robot system of intelligence according to embodiments of the present invention in detail, including the outdoor robot of intelligence；And reference base station, described reference base station obtains the current location data of described robot from described robot, and the reference location data according to described reference base station sends control command, so that described robot positions according to described reference location data.
Described reference base station includes: GNSS receiver, and it obtains reference base station GNSS data according to GNSS satellite data sampling；Radio receiving transmitting module, described reference base station GNSS data is sent to described robot by it, and receives described current location data from described intelligent robot；Processing unit, it controls data receiver and described current location data and described GNSS data is calculated, to plan the location of described robot.
Now describing the control method of the outdoor robot system of intelligence according to embodiments of the present invention in detail, comprise the steps: that (1) described robot sends current location data to described reference base station, described reference base station is received by described radio receiving transmitting module；(2) current location data of robot described in described processing unit processes, provides positioning command；And (3) described reference base station sends next step running status described and order extremely described robot by described radio receiving transmitting module.
Step (1), described in controlling organization first use inertial sensor and motor speedometer to be inserted in Kalman filter to calculate and estimate that described current location is to obtain initial present position data.
The robot GNSS data that the GNSS receiver of described reference base station GNSS data Yu described robot obtains also is performed twice at difference by the controlling organization of described robot, and differentiated GNSS data is estimated in advance as measuring input quantity to obtain optimum state.
Estimate in advance and described target location according to described optimum state, calculate and obtain the margin of error, and generate described positioning command according to the described margin of error.
Also include judging whether described robot has arrived at destination, if arriving, the order waiting next stage out of service, described current location data information is reached described reference base station simultaneously, calculated and selected optimal path by described reference base station and generate described positioning command.
Also include existing landform is analyzed, and provide optimal path with neural algorithm.
Description 1-8, describes the example of the outdoor robot according to the present invention of the existing detailed description according to the present invention and robot system and control method in detail.
The present invention has two module compositions, and one is reference base station, and two is robot.Whole robot system is as shown in Figure 4.
The electronic hardware structure of base station is as it is shown in figure 1, be made up of GNSS receiver, radio receiving transmitting module and microprocessor.And have unified power management module to power.
The electronic hardware structure of robot is as in figure 2 it is shown, be made up of GNSS receiver, radio receiving transmitting module, inertial sensor and microprocessor.And have unified power management module to power.
Reference base station is once start shooting, just from being initialised to duty.In work, the data that continual transmission is received by reference base station from GNSS receiver.
The transmission frequency of reference base station can regulate and control, can by wheeled robot or outside artificial adjustment.
Reference base station has the function of path planning, and concrete principle is:
A) wheeled robot sends current location to reference base station, and reference base station is accepted by radio receiving transmitting module and processes
B) reference base station control chip is by the position coordinates of existing for software processes robot, inner track algorithm provide next step running status optimum and order.
C) reference base station sends next step state and order to wheeled robot by wireless transport module
Wheeled robot can be inserted in Kalman filter first by inertial sensor and motor speedometer and calculates and estimate existing position, and specific algorithm uses kinematics model, such as Fig. 8:
Vk+1=Vk
Wherein E represents coordinate (rice) eastwards, and N represents coordinate (rice) northwards, and T represents the sampling interval (second), and V is robot speed's (meter per second),For azimuth (degree),For azimuth angular velocity (degrees second), wherein, azimuth, speed and angular velocity can be calculated by inertial sensor.
The GNSS signal data that reference base station of wheeled robot taking in real time transmits, trigger software process and process.In processing procedure, own GNSS receiver signal sample data can be performed twice at it difference.The purpose differential process of difference and principle be:
The data of Satellite observation are mainly the receptor distance to satellite, mainly can be represented by pseudo-code and carrier wave:
Pi=ρ+c (dtgnss-dTgnss)+Ii+T+mp+ε
Pi,Respectively the pseudo-code of i-th satellite is measured, and carrier wave is measured.
ρ is the receptor actual geometric distance to satellite.
C is the light velocity.
(dtgnssAnd dTgnss) respectively receptor and satellite be relative to the clock skew of GPS reference clock.
IiFor ionosphere delay
T is that stratosphere postpones
N is carrier number
λiFor carrier wavelength
M is signal Multipath Errors
E is not modeled error
This formula is the modular form of standard GNSS.In most cases, being mainly of positioning precision is affected
Now the data of two GNSS measuring devices are received and comparison, it is possible to eliminate a lot of error term.
Δu,rPi=ρu-ρr+c(dtu-dtr)+mΔu,rP+εΔu,rP
Subscript u and r correspondence respectively is receptor u and receptor r
Δu,rFor differential code
εΔu,rPWithContain difference pseudo-code and carrier wave multipath effect error and air is not modeled error.
If signal sampling is carried out difference again, namely many satellites are carried out difference, Wo Menyou:
Accord with for multiple difference
It it is the distance difference of receiving terminal u and r and satellite k and l
It it is the difference of the uncertain integer number of receiving terminal u and r and satellite k and l
Difference complete after data will directly input Kalman filter (Fig. 5), wave filter will complete following several work:
A. by inertial sensor and speedometer prediction robot system states；
B. using GNSS data good for difference as measuring input quantity；
C. update and obtain the state estimations amount of optimum；
D. the corresponding margin of error is provided.
When not having differential signal, then system all uses inertial sensor and speedometer, as shown in Figure 7.
After completing location, robot system, by incoming for positional information Control System Software part, being used for determining whether existing system has deviated from predefined paths, if there being error, then being provided the motor rotations of left and right two-wheeled by control algolithm.It is used for controlling position and the attitude of robot.
After completing location, robot also will determine that whether have arrived at destination, if arriving, the order waiting next stage out of service, positional information also will reach reference base station by wireless transport module simultaneously, reference base station calculate and select optimal path and assign instruction.
Existing landform then can be analyzed by reference base station path planning function, and provides optimal path with neural algorithm.Path is mainly arc type mode.
Outdoor robot according to embodiments of the present invention and robot system thereof and control method, by the data fusion of alignment system effectively solves the robot control system requirement to positioning precision, strengthening intelligent parts can effectively keep in obscurity and planning simultaneously.Manufacturing cost is relatively low, has very high use value and economic interests.
The preferred embodiment of the present invention described in detail above.Should be appreciated that those of ordinary skill in the art just can make many modifications and variations according to the design of the present invention without creative work.All technical staff in the art, all should in the protection domain being defined in the patent claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (10)
1. the outdoor robot of intelligence, it is characterised in that including:
Motion, is used for so that described robot carries out physical motion；
Sensing mechanism, for sensing the current location of described robot, including GNSS receiver, inertial sensor, radio receiving transmitting module, and speedometer, it is by described GNSS receiver, inertial sensor, and/or speedometer records described current location, and send the current location data based on described current location by described radio receiving transmitting module and/or receive control command；
Controlling organization, it controls described motion according to described control command and moves so that described robot moves to target location；And
Power management module, it is that each mechanism of described robot powers.
2. the outdoor robot system of intelligence, it is characterised in that including:
The outdoor robot of intelligence；And
Reference base station, described reference base station obtains the current location data of described robot from described robot, and the reference location data according to described reference base station sends control command, so that described robot positions according to described reference location data.
3. the outdoor robot system of intelligence as claimed in claim 2, it is characterised in that described robot includes:
Motion, is used for so that described robot carries out physical motion；
Sensing mechanism, for sensing the current location of described robot, including GNSS receiver, inertial sensor, radio receiving transmitting module, and speedometer, it is by described GNSS receiver, inertial sensor, and/or speedometer records described current location, and send the current location data based on described current location by described radio receiving transmitting module and/or receive control command；
Controlling organization, it controls described motion according to described control command and moves so that described robot moves to target location；And
Power management module, it is that each mechanism of described robot powers.
4. the outdoor robot system of intelligence as claimed in claim 2, it is characterised in that described reference base station includes:
GNSS receiver, it obtains reference base station GNSS data according to GNSS satellite data sampling；
Radio receiving transmitting module, described reference base station GNSS data is sent to described robot by it, and receives described current location data from described intelligent robot；
Processing unit, it controls data receiver and described current location data and described GNSS data is calculated, to plan the location of described robot.
5. the control method of the outdoor robot system of intelligence, it is characterised in that robot system as claimed in claim 2 is controlled, comprises the steps:
(1) described robot sends current location data to described reference base station, and described reference base station is received by described radio receiving transmitting module；
(2) current location data of robot described in described processing unit processes, provides positioning command；And
(3) described reference base station sends next step running status described and order extremely described robot by described radio receiving transmitting module.
6. control method as claimed in claim 5, it is characterised in that step (1), described in controlling organization first use inertial sensor and motor speedometer to be inserted in Kalman filter to calculate and estimate that described current location is to obtain initial present position data.
7. control method as claimed in claim 6, it is characterized in that, in step (2), the robot GNSS data that the GNSS receiver of described reference base station GNSS data Yu described robot obtains also is performed twice at difference by the controlling organization of described robot, and differentiated GNSS data is estimated in advance as measuring input quantity to obtain optimum state.
8. control method as claimed in claim 7, it is characterised in that in step (2), estimate in advance and described target location according to described optimum state, calculate and obtain the margin of error, and generate described positioning command according to the described margin of error.
9. control method as claimed in claim 8, it is characterized in that, also include judging whether described robot has arrived at destination, if arriving, the order waiting next stage out of service, described current location data information is reached described reference base station simultaneously, calculated and selected optimal path by described reference base station and generate described positioning command.
10. control method as claimed in claim 9, it is characterised in that also include existing landform is analyzed, and provide optimal path with neural algorithm.
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| CN106291647A (en) * | 2016-07-27 | 2017-01-04 | 宁波芯路通讯科技有限公司 | navigation locating method and device |
| CN106926254A (en) * | 2017-04-25 | 2017-07-07 | 孙迪 | High accuracy positioning self-navigation agricultural robot based on RTK technologies |
| CN112533737A (en) * | 2018-06-04 | 2021-03-19 | 瑞典爱立信有限公司 | Techniques for wireless control of robotic devices |
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| CN205983226U (en) * | 2016-01-27 | 2017-02-22 | 邦鼓思电子科技（上海）有限公司 | Outdoor machine people of intelligence and robot system thereof |
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| CN103235595A (en) * | 2013-04-27 | 2013-08-07 | 湖南科技大学 | Control system and control method of outdoor micro ground swarm robot |
| CN205983226U (en) * | 2016-01-27 | 2017-02-22 | 邦鼓思电子科技（上海）有限公司 | Outdoor machine people of intelligence and robot system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106291647A (en) * | 2016-07-27 | 2017-01-04 | 宁波芯路通讯科技有限公司 | navigation locating method and device |
| CN106291647B (en) * | 2016-07-27 | 2019-11-12 | 宁波芯路通讯科技有限公司 | Navigation locating method and device |
| CN106926254A (en) * | 2017-04-25 | 2017-07-07 | 孙迪 | High accuracy positioning self-navigation agricultural robot based on RTK technologies |
| CN112533737A (en) * | 2018-06-04 | 2021-03-19 | 瑞典爱立信有限公司 | Techniques for wireless control of robotic devices |
| CN112533737B (en) * | 2018-06-04 | 2024-03-29 | 瑞典爱立信有限公司 | Techniques for wirelessly controlling robotic devices |
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