CN105806337A - Positioning method applied to indoor robot, and indoor robot - Google Patents
Positioning method applied to indoor robot, and indoor robot Download PDFInfo
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- CN105806337A CN105806337A CN201410840950.5A CN201410840950A CN105806337A CN 105806337 A CN105806337 A CN 105806337A CN 201410840950 A CN201410840950 A CN 201410840950A CN 105806337 A CN105806337 A CN 105806337A
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Abstract
The invention discloses a positioning method applied to an indoor robot and the indoor robot. The positioning method comprises the following steps: when the indoor robot works on indoor ground, acquiring positional information of the location of the indoor robot obtained after measurement by an inertial navigation system of the indoor robot, wherein the indoor ground has two or more than two landmarks which are located at different positions on the indoor ground; if the indoor robot recognizes the landmarks on the indoor ground during moving, determining positional information of the recognized landmarks according to prestored positional information of each landmark on the indoor ground and the positional information of the current location of the indoor robot measured by the inertial navigation system; and revising the positional information of the current location of the indoor robot measured by the inertial navigation system with the positional information of the recognized landmarks. The technical scheme provided by the invention can effectively improve positioning precision of the indoor robot.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of localization method being applied to Indoor Robot and Indoor Robot.
Background technology
Robot is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Now in the world that the research and development of robot is very rapid, wherein robot positioning system is as key technology extremely important in numerous roboticses, and its function situation is by service quality that strong influence robot is that the mankind service.
Traditional robot localization includes global positioning system (GPS, GlobalPositioningSystem), inertial navigation system etc., GPS is of many uses, precision is high, but affected by environment greatly, inertial navigation system is entirely autonomous, and frequency is high but influence of noise is big；And GPS/ inertial navigation system to merge location be one of combined navigation locating method of being most frequently with in current robot navigation, it is possible to effectively utilize respective advantage, learn from other's strong points to offset one's weaknesses.But in actual applications, gps signal can be blocked and cannot use under a lot of occasions, cause that system entirety positioning precision declines quickly.
Summary of the invention
The present invention provides a kind of localization method being applied to Indoor Robot and Indoor Robot, for improving the positioning precision of Indoor Robot.
One aspect of the present invention provides a kind of Indoor Robot, including:
Inertial navigation system, terrestrial reference identification system, memorizer, and the processor being connected with described inertial navigation system, described terrestrial reference identification system and described memorizer respectively；
Described terrestrial reference identification system is for the terrestrial reference on described indoor machine man-hour identification flooring, wherein, described flooring exists two or more terrestrial reference, and the above terrestrial reference of said two is positioned at the diverse location on described flooring；
Described memorizer is for storing the positional information of each terrestrial reference on described flooring；
Described processor is used for:
When described Indoor Robot works on described flooring, obtain the positional information of the described Indoor Robot position that described inertial navigation system measurement obtains；
If described Indoor Robot is in the process of movement, by the terrestrial reference in described terrestrial reference identification system identification to described flooring, then:
The positional information of the described Indoor Robot present position that positional information according to each terrestrial reference on the described flooring that described memorizer stores and described inertial navigation system measurement obtain, the positional information of the terrestrial reference recognized described in determining, wherein, the positional information of the described terrestrial reference determined is minimum with the position deviation value of the positional information of described Indoor Robot present position；
The positional information of the described Indoor Robot present position described inertial navigation system measurement obtained is revised as the positional information of the described terrestrial reference determined.
Another aspect of the present invention provides a kind of localization method being applied to Indoor Robot, and above-mentioned Indoor Robot includes inertial navigation system, and above-mentioned localization method includes:
When described Indoor Robot works on flooring, obtain the positional information of the described Indoor Robot position that described inertial navigation system measurement obtains, wherein, described flooring exists two or more terrestrial reference, and the above terrestrial reference of said two is positioned at the diverse location on described flooring；
If described Indoor Robot is in the process of movement, recognize the terrestrial reference on described flooring, then:
The positional information of the described Indoor Robot present position that positional information according to each terrestrial reference on the described flooring prestored and described inertial navigation system measurement obtain, the positional information of the terrestrial reference recognized described in determining, wherein, the positional information of the described terrestrial reference determined is minimum with the position deviation value of the positional information of described Indoor Robot present position；
The positional information of the described Indoor Robot present position described inertial navigation system measurement obtained is revised as the positional information of the described terrestrial reference determined.
Therefore, the present invention prestores the positional information of each terrestrial reference on flooring, when Indoor Robot works on above-mentioned flooring, inertial navigation system is utilized to record the positional information of Indoor Robot position, and when recognizing the terrestrial reference on flooring, the positional information of the Indoor Robot present position that positional information according to each terrestrial reference on the flooring prestored and inertial navigation system measurement obtain, determine the positional information of the terrestrial reference recognized, inertial navigation system is recorded the positional information of Indoor Robot position and is corrected by the positional information utilizing the terrestrial reference determined, thus obtaining the positional information of the actual position of Indoor Robot, improve the positioning precision of Indoor Robot.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is a kind of one example structure schematic diagram of Indoor Robot provided by the invention；
Fig. 2-a and Fig. 2-b is the partial structurtes top view of the Indoor Robot under a kind of application scenarios provided by the invention；
Fig. 3 is a kind of one embodiment schematic flow sheet of localization method being applied to Indoor Robot provided by the invention；
Fig. 4 is the terrestrial reference displaying figure under a kind of application scenarios provided by the invention.
Detailed description of the invention
For making the goal of the invention of the present invention, feature, the advantage can be more obvious and understandable, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only a part of embodiment of the present invention, and not all embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Below a kind of Indoor Robot in the embodiment of the present invention being described, refer to Fig. 1, the Indoor Robot 100 in the embodiment of the present invention includes:
Inertial navigation system 101, terrestrial reference identification system 102, memorizer 103, and the processor 104 being connected with inertial navigation system 101, terrestrial reference identification system 102 and memorizer 103 respectively.
Terrestrial reference identification system 102 is for when Indoor Robot 100 works, identifying the terrestrial reference on flooring, wherein, above-mentioned flooring exists two or more terrestrial reference, and the above terrestrial reference of above-mentioned two is positioned at the diverse location on above-mentioned flooring.
Memorizer 103 is for the positional information of each terrestrial reference ground in locker room.
Processor 104 is used for:
When Indoor Robot 100 works on above-mentioned flooring, obtain inertial navigation system 101 and measure the positional information of Indoor Robot 100 position obtained；If Indoor Robot 100 is in the process of movement, recognized the terrestrial reference on above-mentioned flooring by terrestrial reference identification system 102, then:
The positional information of each terrestrial reference on above-mentioned flooring according to memorizer 103 storage and inertial navigation system 101 measure the positional information of Indoor Robot 100 present position obtained, identify the positional information of the terrestrial reference that other system 102 recognizes definitely, wherein, the positional information of the above-mentioned terrestrial reference determined is minimum with the position deviation value of the positional information of described Indoor Robot present position；
The positional information that inertial navigation system 101 is measured Indoor Robot 100 present position obtained is revised as the positional information of the above-mentioned terrestrial reference determined.
Optionally, processor 104 is additionally operable to: in the process that Indoor Robot 100 moves, the distance of the accumulative movement of statistics Indoor Robot 100；If Indoor Robot 100 is in the process of movement, by the unidentified terrestrial reference to above-mentioned flooring of terrestrial reference identification system 102, and the distance of the accumulative movement of Indoor Robot 100 reaches predetermined threshold value, then: measure the positional information of Indoor Robot 100 present position obtained according to the positional information of each terrestrial reference on the above-mentioned flooring of memorizer 103 storage and inertial navigation system 101, control Indoor Robot 100 and move to the terrestrial reference closest with Indoor Robot 100.Processor is additionally operable to: after the positional information that inertial navigation system 10 is measured Indoor Robot 100 present position obtained is revised as the positional information of terrestrial reference of above-mentioned reading, the distance of the accumulative movement of Indoor Robot 100 of statistics is reset.
Optionally, processor 104 is additionally operable to: after control Indoor Robot 100 moves to the terrestrial reference closest with Indoor Robot 100, when failing to recognize terrestrial reference within the scope of precalculated position by terrestrial reference identification system 102, control Indoor Robot 100 mobile with S shape track other tracks such as (or) zigzag trajectories, until recognizing the terrestrial reference on above-mentioned flooring by terrestrial reference identification system 102.
Optionally, on the basis of embodiment illustrated in fig. 1, terrestrial reference identification system 102 specifically includes: reflective photoelectric switch module, rotation dish and motor；Above-mentioned reflective photoelectric switch module comprises: N number of reflective photoelectric switch sensor, and above-mentioned N number of reflective photoelectric switch sensor is a shape arrangement, and above-mentioned N is more than 2.Each terrestrial reference of above-mentioned flooring is varied in size by M and reflexible oval marks forms, the positional information that above-mentioned M oval marks is corresponding different respectively, and the transverse of each oval marks in above-mentioned M oval marks is not more than the length of above-mentioned N number of reflective photoelectric switch sensor, above-mentioned M is more than 2.
Processor 104 specifically for: if being positioned at reflective photoelectric switch sensor sensing in the middle of above-mentioned N number of reflective photoelectric switch sensor to oval marks, it is determined that recognize the terrestrial reference on above-mentioned flooring.Processor 104 is specifically for determining the positional information of the above-mentioned terrestrial reference recognized in the following way:
Record in current above-mentioned N number of reflective photoelectric switch sensor, sense the number of the reflection photoelectric switch of this oval marks；
By the above-mentioned rotation dish of above-mentioned step motor drive, to control Indoor Robot 100 in present position every time with default rotation direction and predetermined angle rotation, until Indoor Robot 100 is dynamic 180 degree of present position corotation, wherein, above-mentioned predetermined angle is more than 0 and less than 20；
Indoor Robot 100 rotates after every time, record in above-mentioned N number of reflective photoelectric switch sensor, sense the number of the reflection photoelectric switch of this oval marks；
When Indoor Robot 100 is after dynamic 180 degree of present position corotation, the change according to the number of the reflection photoelectric switch sensing this oval marks, it is determined that the feature of this oval marks；
The positional information of each terrestrial reference on above-mentioned flooring according to memorizer 103 storage, inertial navigation system 101 measure the positional information of the above-mentioned Indoor Robot present position obtained and the feature of this oval marks, it is determined that the positional information that this oval marks is corresponding.
Optionally, Indoor Robot 100 also includes: be arranged on Indoor Robot, for covering the shade of above-mentioned N number of reflective photoelectric switch sensor.
Optionally, inertial navigation system 101 includes: 3-axis acceleration sensor and angular-rate sensor；
The Z axis of above-mentioned 3-axis acceleration sensor is arranged on straight line perpendicular to the ground；
Above-mentioned angular-rate sensor is arranged at the center of above-mentioned Indoor Robot.
It should be noted that, the inertial navigation system mentioned in the embodiment of the present invention be a kind of do not rely on external information, also not to the autonomic navigation system of outside emittance, specifically, the structure of inertial navigation system is referred to prior art and realizes, and repeats no more herein.
The predetermined threshold value mentioned in the embodiment of the present invention refers to the fiducial range of inertial navigation system, namely in the cumulative error allowed, and the moveable distance range of inertial navigation system.It should be understood that, the fiducial range of inertial navigation system is relevant to the precision of inertial navigation system, the precision of inertial navigation system is relevant to the sensor mass of use algorithm, use, therefore the concrete value of the fiducial range of inertial navigation system is not defined in the embodiment of the present invention.
The reflective photoelectric switch sensor mentioned in the embodiment of the present invention and infrared tube, its function is to launch and receive the infrared light reflected, therefore, in the embodiment of the present invention, according to reflective photoelectric switch sensor detection ground surface reflectance, Indoor Robot can judge whether this reflective photoelectric switch sensor senses terrestrial reference.
Based on the Indoor Robot shown in Fig. 1, under a kind of application scenarios, the entity structure of the Indoor Robot in the embodiment of the present invention is referred to shown in the top view of the Indoor Robot shown in Fig. 2-a and Fig. 2-b, from Fig. 2-a and Fig. 2-b, Indoor Robot includes: the inertial navigation system being made up of 3-axis acceleration sensor 11 and angular-rate sensor 12, Indoor Robot moves required wheel 13, the reflective photoelectric switch module being made up of one group of reflective photoelectric switch sensor 21, for controlling the rotation dish 22 that described Indoor Robot rotates in original place, for driving the motor 23 of rotation dish 22, for blocking visible ray, avoid visible ray that reflective photoelectric switch sensor 21 is produced the shade 24 of interference.It should be noted that, Fig. 2-a and Fig. 2-b simply illustrates the part of devices of Indoor Robot, practically, Indoor Robot should also contain other device being built in Indoor Robot, for instance: above-mentioned memorizer, the processor being connected with inertial navigation system, the other system of land marking and memorizer respectively and other connection circuit etc..It should be understood that, for ease of describing, Fig. 2-a and Fig. 2-b divides and opens the part of devices illustrating Indoor Robot, practically, Indoor Robot should comprise all devices shown in Fig. 2-a and Fig. 2-b, further, the device that Fig. 2-a and Fig. 2-b shows not all is arranged at the viewing position of Indoor Robot, for instance 3-axis acceleration sensor 11, angular-rate sensor 12 and reflective photoelectric switch sensor 21 may be disposed at the non-viewing position (inside of such as Indoor Robot) of Indoor Robot.
Therefore, the present invention prestores the positional information of each terrestrial reference on flooring, when Indoor Robot works on above-mentioned flooring, inertial navigation system is utilized to record the positional information of Indoor Robot position, and when recognizing the terrestrial reference on flooring, the positional information of the Indoor Robot present position that positional information according to each terrestrial reference on the flooring prestored and inertial navigation system measurement obtain, determine the positional information of the terrestrial reference recognized, inertial navigation system is recorded the positional information of Indoor Robot position and is corrected by the positional information utilizing the terrestrial reference determined, thus obtaining the positional information of the actual position of Indoor Robot, improve the positioning precision of Indoor Robot.
Below with another embodiment, the localization method being applied to Indoor Robot in the embodiment of the present invention being described, specifically, the structure of this Indoor Robot is referred to shown in Fig. 1, as it is shown on figure 3, the localization method in the embodiment of the present invention, including:
301, when above-mentioned Indoor Robot works on flooring, the positional information of the above-mentioned Indoor Robot position that above-mentioned inertial navigation system measurement obtains is obtained；
In the embodiment of the present invention, above-mentioned flooring exists two or more terrestrial reference, and the above terrestrial reference of above-mentioned two is positioned at the diverse location on above-mentioned flooring.Specifically, the quantity of terrestrial reference and the area of above-mentioned flooring and the positioning accuracy request of Indoor Robot is relevant, the area of above-mentioned flooring is more big, the positioning accuracy request of Indoor Robot is more high, then the terrestrial reference that above-mentioned flooring is placed is more many.And, certain interval is there is between any two terrestrial reference on above-mentioned flooring, the size at this interval can be set according to the inertial navigation system precision of above-mentioned Indoor Robot, such as, if the inertial navigation system precision of above-mentioned Indoor Robot is higher, then the interval between any two terrestrial reference on above-mentioned flooring can be relatively big, if the inertial navigation system precision of above-mentioned Indoor Robot is relatively low, then the interval between any two terrestrial reference on above-mentioned flooring needs suitably to reduce.Wherein, the precision of above-mentioned inertial navigation system is relevant to the sensor mass of use algorithm, use, therefore the concrete value of the fiducial range of inertial navigation system is not defined in the embodiment of the present invention.
If 302 Indoor Robots are in the process of movement, recognize the terrestrial reference on above-mentioned flooring, the positional information of the above-mentioned Indoor Robot present position then obtained according to the positional information of each terrestrial reference on the above-mentioned flooring prestored and above-mentioned inertial navigation system measurement, determine the positional information of the above-mentioned terrestrial reference recognized, wherein, the positional information of the above-mentioned terrestrial reference determined is minimum with the position deviation value of the positional information of above-mentioned Indoor Robot present position.
In the embodiment of the present invention, in advance the positional information of each terrestrial reference on above-mentioned flooring is stored in this Indoor Robot memorizer (such as read only memory (ROM, Read-OnlyMemory)) or can with in the miscellaneous equipment (such as server etc.) of this Indoor Robot communication.
303, the positional information of the above-mentioned Indoor Robot present position above-mentioned inertial navigation system measurement obtained is revised as the positional information of the above-mentioned terrestrial reference determined；
Namely the positional information of the above-mentioned Indoor Robot present position that above-mentioned inertial navigation system measurement is obtained by Indoor Robot is revised as the positional information of the terrestrial reference that step 302 is determined.
Alternatively, in the process that above-mentioned Indoor Robot moves, add up above-mentioned Indoor Robot and add up the distance of movement；If above-mentioned Indoor Robot is unidentified terrestrial reference to above-mentioned flooring in the process of movement, and the distance that above-mentioned Indoor Robot adds up movement reaches predetermined threshold value, then: the positional information according to the above-mentioned Indoor Robot present position that the positional information of each terrestrial reference on above-mentioned flooring and above-mentioned inertial navigation system measurement obtain, control above-mentioned Indoor Robot and move to the terrestrial reference closest with above-mentioned Indoor Robot.The positional information of the above-mentioned above-mentioned Indoor Robot present position above-mentioned inertial navigation system measurement obtained is revised as the positional information (i.e. step 303) of the above-mentioned terrestrial reference determined and includes afterwards: the distance that the above-mentioned Indoor Robot of statistics adds up movement resets.Illustrate, above-mentioned predetermined threshold value is set to 10 meters, if above-mentioned Indoor Robot is unidentified terrestrial reference to above-mentioned flooring in the process of movement, and this Indoor Robot adds up the distance of movement when reaching 10 meters, the positional information of the above-mentioned Indoor Robot present position that Indoor Robot obtains according to above-mentioned inertial navigation system measurement, if the positional information of above-mentioned Indoor Robot present position is coordinate points (x1, y1), and the positional information according to each terrestrial reference on above-mentioned flooring determines coordinate points (x2, y2) the terrestrial reference range coordinate point (x1 that place places, y1) nearest, then above-mentioned Indoor Robot is to coordinate points (x2, y2) direction is moved.Further, if above-mentioned Indoor Robot fails to recognize terrestrial reference within the scope of precalculated position, then control above-mentioned Indoor Robot mobile with S shape track other tracks such as (or) zigzag trajectories, until the terrestrial reference recognized on above-mentioned flooring.
Optionally, above-mentioned positioning robot includes: N number of reflective photoelectric switch sensor, and above-mentioned N number of reflective photoelectric switch sensor is a shape arrangement, and above-mentioned N is more than 2.The terrestrial reference being then positioned over above-mentioned flooring in the embodiment of the present invention can be the transparent pad pasting of smooth material or frosted material, to reach the change ground surface reflectance when not affecting the appearance, for above-mentioned reflective photoelectric switch sensor sensing.Specifically, so that Indoor Robot can more effectively find terrestrial reference, each terrestrial reference of above-mentioned flooring is varied in size by M and reflexible oval marks forms, the positional information that above-mentioned M oval marks is corresponding different respectively, and the transverse of each oval marks in above-mentioned M oval marks is not more than the length of above-mentioned N number of reflective photoelectric switch sensor, above-mentioned M is more than 2.Terrestrial reference 40 for being made up of 6 oval marks as shown in Figure 4.
Optionally, if above-mentioned Indoor Robot is in the process of movement, it is positioned at reflective photoelectric switch sensor sensing in the middle of above-mentioned N number of reflective photoelectric switch sensor to oval marks, it is determined that recognize the terrestrial reference on described flooring.Step 302 specifically includes:
Record in current above-mentioned N number of reflective photoelectric switch sensor, sense the number of the reflection photoelectric switch of this oval marks；
Controlling above-mentioned Indoor Robot to rotate with default rotation direction and predetermined angle in present position, until above-mentioned Indoor Robot is dynamic 180 degree of present position corotation, wherein, above-mentioned predetermined angle is more than 0 and less than 20 every time；
Above-mentioned Indoor Robot rotates after every time, record in above-mentioned N number of reflective photoelectric switch sensor, sense the number of the reflection photoelectric switch of this oval marks；
When above-mentioned Indoor Robot is after dynamic 180 degree of present position corotation, the change according to the number of the reflection photoelectric switch sensing this oval marks, it is determined that the feature of this oval marks；
The positional information of the above-mentioned Indoor Robot present position obtained according to the positional information of each terrestrial reference on the described flooring that above-mentioned memorizer stores, above-mentioned inertial navigation system measurement and the feature of this oval marks, it is determined that the positional information that this oval marks is corresponding.
Should be understood that the Indoor Robot in the embodiment of the present invention can Indoor Robot in said apparatus embodiment, it implements process and can refer to the associated description in said apparatus embodiment, repeats no more herein.
Therefore, the present invention prestores the positional information of each terrestrial reference on flooring, when Indoor Robot works on above-mentioned flooring, inertial navigation system is utilized to record the positional information of Indoor Robot position, and when recognizing the terrestrial reference on flooring, the positional information of the Indoor Robot present position that positional information according to each terrestrial reference on the flooring prestored and inertial navigation system measurement obtain, determine the positional information of the terrestrial reference recognized, inertial navigation system is recorded the positional information of Indoor Robot position and is corrected by the positional information utilizing the terrestrial reference determined, thus obtaining the positional information of the actual position of Indoor Robot, improve the positioning precision of Indoor Robot.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is possible to realize by another way.Such as, device embodiment described above is merely schematic, such as, the division of said units, being only a kind of logic function to divide, actual can have other dividing mode when realizing, for instance multiple unit or assembly can in conjunction with or be desirably integrated into another system, or some features can ignore, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be through INDIRECT COUPLING or the communication connection of some interfaces, device or unit, it is possible to be electrical, machinery or other form.
It should be noted that, for aforesaid each embodiment of the method, in order to simplicity describes, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the present invention is not by the restriction of described sequence of movement, because according to the present invention, some step can adopt other order or carry out simultaneously.Secondly, those skilled in the art also should know, it might not be all necessary to the present invention that embodiment described in this description belongs to preferred embodiment, involved action and module.
In the above-described embodiments, the description of each embodiment is all emphasized particularly on different fields, certain embodiment there is no the part described in detail, it is possible to referring to the associated description of other embodiments.
More than for the description to a kind of localization method being applied to Indoor Robot provided by the present invention and Indoor Robot, for one of ordinary skill in the art, thought according to the embodiment of the present invention, all will change in specific embodiments and applications, to sum up, this specification content should not be construed as limitation of the present invention.
Claims (10)
1. an Indoor Robot, it is characterised in that including:
Inertial navigation system, terrestrial reference identification system, memorizer, and the processor being connected with described inertial navigation system, described terrestrial reference identification system and described memorizer respectively；
Described terrestrial reference identification system is for the terrestrial reference on described indoor machine man-hour identification flooring, wherein, described flooring exists two or more terrestrial reference, and the above terrestrial reference of said two is positioned at the diverse location on described flooring；
Described memorizer is for storing the positional information of each terrestrial reference on described flooring；
Described processor is used for:
When described Indoor Robot works on described flooring, obtain the positional information of the described Indoor Robot position that described inertial navigation system measurement obtains；
If described Indoor Robot is in the process of movement, by the terrestrial reference in described terrestrial reference identification system identification to described flooring, then:
The positional information of the described Indoor Robot present position that positional information according to each terrestrial reference on the described flooring that described memorizer stores and described inertial navigation system measurement obtain, the positional information of the terrestrial reference recognized described in determining, wherein, the positional information of the described terrestrial reference determined is minimum with the position deviation value of the positional information of described Indoor Robot present position；
The positional information of the described Indoor Robot present position described inertial navigation system measurement obtained is revised as the positional information of the described terrestrial reference determined.
2. Indoor Robot according to claim 1, it is characterised in that described processor is additionally operable to:
In the process that described Indoor Robot moves, add up described Indoor Robot and add up the distance of movement；
If described Indoor Robot is in the process of movement, by the described unidentified terrestrial reference to described flooring of terrestrial reference identification system, and described Indoor Robot adds up the distance of movement and reaches predetermined threshold value, then:
The positional information of the described Indoor Robot present position that positional information according to each terrestrial reference on the described flooring that described memorizer stores and described inertial navigation system measurement obtain, controls described Indoor Robot and moves to the terrestrial reference closest with described Indoor Robot；
Described processor is additionally operable to: after the positional information of the described Indoor Robot present position described inertial navigation system measurement obtained is revised as the positional information of described terrestrial reference of described reading, and the distance that the described Indoor Robot of statistics adds up movement resets.
3. indoor machine according to claim 2 he, it is characterised in that described processor is additionally operable to:
After the described Indoor Robot of control moves to the terrestrial reference closest with described Indoor Robot, when failing to recognize terrestrial reference within the scope of precalculated position by described terrestrial reference identification system, control described Indoor Robot to move with S shape track, until by the terrestrial reference in described terrestrial reference identification system identification to described flooring.
4. the Indoor Robot according to any one of claims 1 to 3, it is characterised in that
Described terrestrial reference identification system specifically includes: reflective photoelectric switch module, rotation dish and motor；
Described reflective photoelectric switch module comprises: N number of reflective photoelectric switch sensor, and described N number of reflective photoelectric switch sensor is a shape arrangement, and described N is more than 2；
Each terrestrial reference of described flooring is varied in size by M and reflexible oval marks forms, the positional information that described M oval marks is corresponding different respectively, and the transverse of each oval marks in described M oval marks is not more than the length of described N number of reflective photoelectric switch sensor, described M is more than 2；
Described processor specifically for: if being positioned at reflective photoelectric switch sensor sensing in the middle of described N number of reflective photoelectric switch sensor to oval marks, it is determined that recognize the terrestrial reference on described flooring；
The positional information of the described processor terrestrial reference specifically for recognizing described in determining in the following way:
Record in presently described N number of reflective photoelectric switch sensor, sense the number of the reflection photoelectric switch of this oval marks；
By rotation dish described in described step motor drive, to control described Indoor Robot in present position every time with default rotation direction and predetermined angle rotation, until described Indoor Robot is dynamic 180 degree of present position corotation, wherein, described predetermined angle is more than 0 and less than 20；
Described Indoor Robot rotates after every time, record in described N number of reflective photoelectric switch sensor, sense the number of the reflection photoelectric switch of this oval marks；
When described Indoor Robot is after dynamic 180 degree of present position corotation, the change according to the number of the reflection photoelectric switch sensing this oval marks, it is determined that the feature of this oval marks；
The positional information of the described Indoor Robot present position obtained according to the positional information of each terrestrial reference on the described flooring that described memorizer stores, described inertial navigation system measurement and the feature of this oval marks, it is determined that the positional information that this oval marks is corresponding.
5. Indoor Robot according to claim 4, it is characterised in that described Indoor Robot also includes: be arranged on Indoor Robot, for covering the shade of described N number of reflective photoelectric switch sensor.
6. the Indoor Robot according to any one of claims 1 to 3, it is characterised in that described inertial navigation system includes: 3-axis acceleration sensor and angular-rate sensor；
The Z axis of described 3-axis acceleration sensor is arranged on straight line perpendicular to the ground；
Described angular-rate sensor is arranged at the center of described Indoor Robot.
7. the localization method being applied to Indoor Robot, it is characterised in that described Indoor Robot includes inertial navigation system, and described localization method includes:
When described Indoor Robot works on flooring, obtain the positional information of the described Indoor Robot position that described inertial navigation system measurement obtains, wherein, described flooring exists two or more terrestrial reference, and the above terrestrial reference of said two is positioned at the diverse location on described flooring；
If described Indoor Robot is in the process of movement, recognize the terrestrial reference on described flooring, then:
The positional information of the described Indoor Robot present position that positional information according to each terrestrial reference on the described flooring prestored and described inertial navigation system measurement obtain, the positional information of the terrestrial reference recognized described in determining, wherein, the positional information of the described terrestrial reference determined is minimum with the position deviation value of the positional information of described Indoor Robot present position；
The positional information of the described Indoor Robot present position described inertial navigation system measurement obtained is revised as the positional information of the described terrestrial reference determined.
8. localization method according to claim 7, it is characterised in that described method also includes:
In the process that described Indoor Robot moves, add up described Indoor Robot and add up the distance of movement；
If described Indoor Robot is unidentified terrestrial reference to described flooring in the process of movement, and described Indoor Robot adds up the distance of movement and reaches predetermined threshold value, then:
The positional information of the described Indoor Robot present position that positional information according to each terrestrial reference on described flooring and described inertial navigation system measurement obtain, controls described Indoor Robot and moves to the terrestrial reference closest with described Indoor Robot；
The positional information of the described described Indoor Robot present position described inertial navigation system measurement obtained is revised as the positional information of the described terrestrial reference determined, includes afterwards:
The distance that the described Indoor Robot of statistics adds up movement resets.
9. localization method according to claim 8, it is characterised in that the described Indoor Robot of described control moves to the terrestrial reference closest with described Indoor Robot, includes afterwards:
If failing to recognize terrestrial reference within the scope of precalculated position, then control described Indoor Robot and move with S shape track, until the terrestrial reference recognized on described flooring.
10. the localization method according to any one of claim 7 to 9, it is characterised in that described positioning robot includes: N number of reflective photoelectric switch sensor, described N number of reflective photoelectric switch sensor is a shape arrangement, and described N is more than 2；
Each terrestrial reference of described flooring is varied in size by M and reflexible oval marks forms, the positional information that described M oval marks is corresponding different respectively, and the transverse of each oval marks in described M oval marks is not more than the length of described N number of reflective photoelectric switch sensor, described M is more than 2；
Described method includes:
If described Indoor Robot is in the process of movement, it is positioned at reflective photoelectric switch sensor sensing in the middle of described N number of reflective photoelectric switch sensor to oval marks, it is determined that recognize the terrestrial reference on described flooring；
The positional information of the described Indoor Robot present position that the positional information of each terrestrial reference on described flooring that described basis prestores and described inertial navigation system measurement obtain, it is determined that described in the positional information of terrestrial reference that recognizes, particularly as follows:
Record in presently described N number of reflective photoelectric switch sensor, sense the number of the reflection photoelectric switch of this oval marks；
Controlling described Indoor Robot to rotate with default rotation direction and predetermined angle in present position, until described Indoor Robot is dynamic 180 degree of present position corotation, wherein, described predetermined angle is more than 0 and less than 20 every time；
Described Indoor Robot rotates after every time, record in described N number of reflective photoelectric switch sensor, sense the number of the reflection photoelectric switch of this oval marks；
When described Indoor Robot is after dynamic 180 degree of present position corotation, the change according to the number of the reflection photoelectric switch sensing this oval marks, it is determined that the feature of this oval marks；
The positional information of the described Indoor Robot present position obtained according to the positional information of each terrestrial reference on the described flooring that described memorizer stores, described inertial navigation system measurement and the feature of this oval marks, it is determined that the positional information that this oval marks is corresponding.
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