CN106708053A - Autonomous navigation robot and autonomous navigation method thereof - Google Patents
Autonomous navigation robot and autonomous navigation method thereof Download PDFInfo
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- CN106708053A CN106708053A CN201710057591.XA CN201710057591A CN106708053A CN 106708053 A CN106708053 A CN 106708053A CN 201710057591 A CN201710057591 A CN 201710057591A CN 106708053 A CN106708053 A CN 106708053A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000013500 data storage Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 8
- 210000000352 storage cell Anatomy 0.000 claims description 7
- 238000011156 evaluation Methods 0.000 claims description 3
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an autonomous navigation robot which comprises a motion module, a control module, a gyroscope and a laser sensor, wherein the motion module comprises four universal wheels, two steering wheels and a motor; the steering wheels are connected with an output shaft of the motor; the control module comprises a data storage unit, a data processing unit, an information receiving unit and a signal output unit; the motor is connected with the signal output unit; and the gyroscope and the laser sensor are connected with the information receiving unit. The invention further discloses an autonomous navigation method of the robot. The method comprises the following steps: pre-storing a map, performing route planning, avoiding an obstacle and the like. According to the autonomous navigation robot and the method disclosed by the invention, the types of obstacles can be identified, and the obstacles can be autonomously avoided; and the time or distance priority rule can be set according to needs, and real optimization of a target route is realized.
Description
Technical field
The invention belongs to robotics, and in particular to a kind of robot of independent navigation and its independent navigation side
Method.
Background technology
In today that artificial intelligence, robotics development are more and more flourishing, occurring in that much can be with the intelligence of automatic moving
Energy equipment, robot, security protection crusing robot that such as family expenses are swept the floor etc., these smart machines generally can voluntarily perceive periphery
Environment, generates map and plans track route.
Airmanship is one of core technology for mobile robot, and it refers to that mobile robot passes through sensor senses
Environmental information and oneself state, it is real now with object-oriented autokinetic movement in the environment of obstacle.Most of mobile robot masters
The navigation mode wanted includes：Magnetic navigation, inertial navigation, vision guided navigation etc..
There is not enough intelligence and calculate complicated in current navigation.
The content of the invention
In order to solve the above problems, the present invention provides a kind of independent navigation robot and autonomous navigation method, using technology
Scheme is as follows：
A kind of robot of independent navigation, including motion module, control module, gyroscope, laser sensor, the motion module
Including four universal wheels, both direction wheel and motor, the steering wheel is connected with the output shaft of motor, the control module bag
Include data storage cell, data processing unit, information receiving unit, signal output unit, the motor and signal output unit
It is connected, the gyroscope and laser sensor are connected with information receiving unit.
Preferably, also including communication module, the communication module is connected with signal output unit.
A kind of autonomous navigation method of robot, comprises the following steps：
（1）Pre-stored map：Realize positioning the map structuring of surrounding environment and position by SLAM algorithms, and map is prestored
In data storage cell；
（2）Path planning：According to the map prestored in the first step, set optimal between robot current location and target location
Path；
（3）The determination in direction：Destination path is divided into N deciles, perceiving robot using the gyroscope of robot interior advances
The angle of direction and goal path first paragraph, when angle exceedes certain angle, then robot adjustment direction wheel is first turned to, and makes machine
Device people direction of advance is consistent with the first paragraph direction of destination path.
Preferably, certain angle is 30 °.
Preferably, it is further comprising the steps of：
（1）The avoidance of barrier
During robot advance, laser sensor from different directions, is predicted with friction speed, sees if there is barrier
And whether can bump against with barrier, when the current direction of advance of robot and speed can bump against with barrier, then adjust machine
Device people direction of advance and angle, it is to avoid bump against with barrier.
Preferably, the different directions are 20 different directions, and the friction speed is 20 friction speeds.
Preferably, 20 different directions are to divide equally 20 directions in laser sensor sweep limits.
Preferably, the pre- measured frequency is 1 second 2-3 times.
Preferably, the destination path optimizing evaluation method is as follows：
（1）Forbid collision；
（2）Distance setting weight coefficient a, time setting weight coefficient b, and a+b is equal to 1；When needing distance shorter, then set
Determine a ＞ b；When comparing short between when needed, then a ＜ b are set.
The beneficial effects of the invention are as follows：
（1）The both direction wheel and gyroscope being provided with, realize robot pivot stud, reduce turnaround time and distance；
（2）The type of Intelligent Recognition barrier, and can autonomous avoiding barrier；
（3）The time being provided with or distance priority rule, can be set as needed, realize the real optimization of destination path.
Brief description of the drawings
Fig. 1 is each several part attachment structure schematic diagram of robot in the present invention；
In figure：1 universal wheel, 2 motion modules, 3 steering wheels, 4 motors, 5 communication modules, 6 signal receiving devices, 7 gyroscopes, 8 swash
Optical sensor, 9 control modules, 10 information receiving units, 11 data processing units, 12 data storage cells, 13 signal output lists
Unit.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with embodiment.
Embodiment 1
A kind of robot of independent navigation, including motion module, control module, gyroscope, laser sensor, the motion module
Including four universal wheels, both direction wheel and motor, the steering wheel is connected with the output shaft of motor, the control module bag
Include data storage cell, data processing unit, information receiving unit, signal output unit, the motor and signal output unit
It is connected, the gyroscope and laser sensor are connected with information receiving unit.
Gyroscope and laser sensor collection robot advance during the information such as speed, angle, direction, and by correlation
Information transfer to information receiving unit, information receiving unit transmits to data processing unit, data processing unit relevant information
After processing related data, on the one hand data processed result is transmitted to data storage cell, on the other hand transmitted to letter
Number output unit, dependent instruction is transferred to motor by signal output unit, so as to realize the change in direction and speed.
A kind of autonomous navigation method of robot, comprises the following steps：
（1）Pre-stored map：Realize positioning the map structuring of surrounding environment and position by SLAM algorithms, and map is prestored
In data storage cell；
（2）Path planning：According to the map prestored in the first step, set optimal between robot current location and target location
Path；
（3）The determination in direction：Destination path is divided into 20 deciles, perceiving robot using the gyroscope of robot interior advances
Direction and goal path first paragraph（That is preceding the 5% of destination path）Angle, when angle is more than 30 °, then the control mould of robot
Block is realized turning to by the direction and speed of control direction wheel, makes the first paragraph direction of robot direction of advance and destination path
Unanimously.
（4）The avoidance of barrier
During robot advance, laser sensor is entered with 20 friction speeds from 20 different directions with frequency per second 2-3 times
Row prediction, sees if there is barrier, when there is barrier, then breaks the barriers with the change of the distance between robot to judge barrier
Hinder the type of thing（Barrier is static or motion）And whether can bump against with barrier.When current advance side of robot
During to that can bump against with barrier with speed, then robot direction of advance and angle are adjusted, it is to avoid bump against with barrier.
Wherein, 20 different directions are to divide equally 20 directions in laser sensor sweep limits.Laser in the present embodiment
The measurement angular range of sensor is 180 °, then the angle between different directions is 9 °.
In the present invention, the destination path optimizing evaluation method is as follows：
（1）Forbid collision；
（2）Distance setting weight coefficient 0.5, time setting weight coefficient 0.5, the weighted sum for calculating time and distance is minimum
Value, as optimal objective path.
Embodiment 2
Different from embodiment 1, the independent navigation robot also includes communication module, the communication module and signal output unit
It is connected.
When target location and robot current location be not in same room with them, robot is needed through moving into one's husband's household upon marriage, and gets to mesh
Punctuate, and during robot advance, door is to close.
When robot advances to the position of door, because door is to close, robot acquiescence door is barrier, so as to detour,
After direction of circling advances a segment distance, gyroscope perceives robot direction of advance and destination path direction is inconsistent（Advance
Angle between direction and destination path front end is more than 30 °）, now robot steering, adjustment direction of advance.
When after attempting twice, robot autonomous decision gate be here optimal path must be through point, robot is in door
Position waits.If after waiting 10 minutes, door is still closed, i.e., obstacle is still present, then robot leads to relevant location information
Cross communication module sending signal reception device, the signal receiving device is mobile phone or computer, and return-to-home position.Also may be used
Setting program is continued waiting for by robot.
Obviously, embodiment described above is only part preferred embodiment of the present invention, rather than whole implementation methods.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
Claims (9)
1. a kind of robot of independent navigation, it is characterised in that including motion module, control module, gyroscope, laser sensing
Device, the motion module includes four universal wheels, both direction wheel and motors, and the steering wheel is connected with the output shaft of motor
Connect, the control module includes data storage cell, data processing unit, information receiving unit, signal output unit, the electricity
Machine is connected with signal output unit, and the gyroscope and laser sensor are connected with information receiving unit.
2. the robot of a kind of independent navigation according to claim 1, it is characterised in that described also including communication module
Communication module is connected with signal output unit.
3. a kind of autonomous navigation method of robot, it is characterised in that comprise the following steps：
（1）Pre-stored map
Realize positioning the map structuring of surrounding environment and position by SLAM algorithms, and map is pre-stored in data storage list
Unit；
（2）Path planning
According to the map prestored in the first step, optimal path is set between robot current location and target location；
（3）The determination in direction
Destination path is divided into N deciles, robot direction of advance and destination path are perceived using the gyroscope of robot interior
The angle of first paragraph, when angle exceed certain angle when, then robot adjustment direction wheel is first turned to, make robot direction of advance and
The first paragraph direction of destination path is consistent.
4. a kind of autonomous navigation method of robot according to claim 3, it is characterised in that certain angle is 30 °.
5. a kind of autonomous navigation method of robot according to claim 3, it is characterised in that further comprising the steps of：
（1）The avoidance of barrier
During robot advance, laser sensor from different directions, is predicted with friction speed, sees if there is barrier
And whether can bump against with barrier, when the current direction of advance of robot and speed can bump against with barrier, then adjust machine
Device people direction of advance and angle, it is to avoid bump against with barrier.
6. a kind of autonomous navigation method of robot according to claim 5, it is characterised in that the different directions are 20
Different directions, the friction speed is 20 friction speeds.
7. a kind of autonomous navigation method of robot according to claim 6, it is characterised in that 20 different directions are
Divide equally 20 directions in laser sensor sweep limits.
8. a kind of autonomous navigation method of robot according to claim 5, it is characterised in that the pre- measured frequency is 1 second
Clock 2-3 times.
9. a kind of autonomous navigation method of robot according to claim any one of 3-8, it is characterised in that the target road
Footpath optimizing evaluation method is as follows：
（1）Forbid collision；
（2）Distance setting weight coefficient a, time setting weight coefficient b, and a+b is equal to 1；When needing distance shorter, then set
Determine a ＞ b；When comparing short between when needed, then a ＜ b are set.
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| CN201710057591.XA CN106708053A (en) | 2017-01-26 | 2017-01-26 | Autonomous navigation robot and autonomous navigation method thereof |
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| CN201710057591.XA CN106708053A (en) | 2017-01-26 | 2017-01-26 | Autonomous navigation robot and autonomous navigation method thereof |
Publications (1)
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Family
ID=58909779
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107402574A (en) * | 2017-08-22 | 2017-11-28 | 上海合时智能科技有限公司 | Robot autonomous charging system and method |
| CN107478230A (en) * | 2017-08-08 | 2017-12-15 | 中山大学南方学院 | A kind of dolly navigation system of view-based access control model information |
| CN108108850A (en) * | 2017-12-29 | 2018-06-01 | 江苏高科物流科技股份有限公司 | A kind of telecontrol equipment and its pathfinding control method and the device with store function |
| CN108646730A (en) * | 2018-04-13 | 2018-10-12 | 北京海风智能科技有限责任公司 | A kind of service robot and its multiple target autonomous cruise method based on ROS |
| CN108716421A (en) * | 2018-05-19 | 2018-10-30 | 西安科技大学 | A kind of underground movable grouting device and method |
| CN110187709A (en) * | 2019-06-11 | 2019-08-30 | 北京百度网讯科技有限公司 | Travel processing method, equipment and storage medium |
| WO2019205001A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Method and apparatus for positioning robot |
| CN110538051A (en) * | 2019-08-27 | 2019-12-06 | 华南理工大学 | intelligent blind person auxiliary device capable of automatically finding way and method thereof |
| CN110946508A (en) * | 2018-09-27 | 2020-04-03 | 广东美的生活电器制造有限公司 | Control method and device of sweeping robot using laser radar and camera |
| CN111090282A (en) * | 2019-12-19 | 2020-05-01 | 安克创新科技股份有限公司 | Obstacle avoidance method for robot, robot and device |
| CN112352207A (en) * | 2018-06-20 | 2021-02-09 | 罗博艾特有限责任公司 | Autonomous mobile robot and control method thereof |
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| CN107478230A (en) * | 2017-08-08 | 2017-12-15 | 中山大学南方学院 | A kind of dolly navigation system of view-based access control model information |
| CN107478230B (en) * | 2017-08-08 | 2020-12-22 | 中山大学南方学院 | Trolley navigation system based on visual information |
| CN107402574A (en) * | 2017-08-22 | 2017-11-28 | 上海合时智能科技有限公司 | Robot autonomous charging system and method |
| CN108108850A (en) * | 2017-12-29 | 2018-06-01 | 江苏高科物流科技股份有限公司 | A kind of telecontrol equipment and its pathfinding control method and the device with store function |
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| CN108646730A (en) * | 2018-04-13 | 2018-10-12 | 北京海风智能科技有限责任公司 | A kind of service robot and its multiple target autonomous cruise method based on ROS |
| CN110546462A (en) * | 2018-04-25 | 2019-12-06 | 深圳市大疆创新科技有限公司 | Robot positioning method and device |
| WO2019205001A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Method and apparatus for positioning robot |
| CN108716421A (en) * | 2018-05-19 | 2018-10-30 | 西安科技大学 | A kind of underground movable grouting device and method |
| CN108716421B (en) * | 2018-05-19 | 2019-08-09 | 西安科技大学 | A kind of underground movable grouting method |
| CN112352207A (en) * | 2018-06-20 | 2021-02-09 | 罗博艾特有限责任公司 | Autonomous mobile robot and control method thereof |
| CN110946508A (en) * | 2018-09-27 | 2020-04-03 | 广东美的生活电器制造有限公司 | Control method and device of sweeping robot using laser radar and camera |
| CN110187709A (en) * | 2019-06-11 | 2019-08-30 | 北京百度网讯科技有限公司 | Travel processing method, equipment and storage medium |
| CN110538051A (en) * | 2019-08-27 | 2019-12-06 | 华南理工大学 | intelligent blind person auxiliary device capable of automatically finding way and method thereof |
| CN111090282A (en) * | 2019-12-19 | 2020-05-01 | 安克创新科技股份有限公司 | Obstacle avoidance method for robot, robot and device |
| CN111090282B (en) * | 2019-12-19 | 2023-10-31 | 安克创新科技股份有限公司 | Obstacle avoidance method of robot, robot and device |
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