CN106767825A - A kind of robot indoor positioning method and system - Google Patents
A kind of robot indoor positioning method and system Download PDFInfo
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- CN106767825A CN106767825A CN201611200869.6A CN201611200869A CN106767825A CN 106767825 A CN106767825 A CN 106767825A CN 201611200869 A CN201611200869 A CN 201611200869A CN 106767825 A CN106767825 A CN 106767825A
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- robot
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- illumination light
- led lamp
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of robot indoor positioning method and system, the described method comprises the following steps：S1, set up coordinate system in robot ambulation region；S2, the coordinate for obtaining room lighting radiant, and radiant will be illuminated as coordinate transmitters, coordinate information is carried and to emission by illumination light；S3, the signal of robot coordinate acquisition transmitter transmitting, obtain the coordinate information of respective coordinates transmitter, and according to the radiation scope of coordinate transmitters, obtain robot position.Can launch the LED lamp of coordinate information itself by setting indoors, and light is gathered according to robot, the region where obtaining robot, LED lamp can be illuminated, and positioning action be played again, it is not necessary to build the location facilities of complexity, reduce cost.
Description
Technical field
The present invention relates to space orientation technique field, more particularly, to a kind of robot indoor positioning method and system.
Background technology
Robot is the mechanical device for performing work automatically, and it can receive mankind commander, advance layout can be run again
Program, it is also possible to according to the principle guiding principle action specified with artificial intelligence technology.At present in the world to the research hair of robot
Exhibition is very rapid, and wherein robot positioning system is used as very important key technology in numerous robot technology, its running
Strong influence robot is the service quality of mankind's service by situation.
In recent years, intelligent robot technology's development is swift and violent, and, for the requirement of intelligent robot, a bit most basic is just for people
It is that robot can realize automatically walk.Smoothly to realize autonomous, it is necessary to robot can be allowed to understand residing for oneself
Accurate location.Because the current application scenarios of robot are located at interior mostly, traditional robot positioning system include GPS, RFID,
Inertial navigation system, the manually method such as technology such as patch terrestrial reference, infrared, ultrasonic wave, WLAN, GPS is widely used, high precision, but receives
Ambient influnence is big, but it is very weak to penetrate the radiofrequency signal after building walls, causes position error excessive or even positioning failure,
Precision can be greatly affected when interior uses；Basic inertial navigation system is entirely autonomous, and frequency is high but influence of noise is big；Manually
Patch terrestrial reference method, there is more achievement in research at present, such as in metope patch RFID, on roof sets infrared dot matrix method, but the party
Method needs manually to paste terrestrial reference, influences attractive in appearance to a certain extent, also increases production cost.In addition, using RFID, red
Outward, it is necessary to build the location facilities of complexity, not only high cost, positioning precision and peace when the technological means such as ultrasonic wave, WLAN is positioned
Full property also cannot be guaranteed.
The content of the invention
The present invention provides a kind of robot indoor positioning for overcoming above mentioned problem or solving the above problems at least in part
Method and system, setting can launch the LED lamp of coordinate information itself indoors, and gather light according to robot, obtain machine
Region where device people, LED lamp can be illuminated, and positioning action is played again, it is not necessary to built the location facilities of complexity, reduced
Cost.
According to an aspect of the present invention, there is provided a kind of robot indoor orientation method, comprise the following steps：
S1, set up coordinate system in robot ambulation region；
S2, the coordinate for obtaining room lighting radiant, and radiant will be illuminated as coordinate transmitters, taken by illumination light
With coordinate information and to emission；
S3, the signal of robot coordinate acquisition transmitter transmitting, the coordinate information of acquisition respective coordinates transmitter, and according to
The radiation scope of coordinate transmitters, obtains robot position.
Used as preferred, the step S2 is further included：
The coordinate information for illuminating radiant is converted into visible ray data signal, and carries out coding and be loaded into illumination radiant
Light-emitting mode in, the illumination radiant is launched the illumination light for carrying coordinate information.
Used as preferred, in step s 2, the illumination radiant is LED lamp.The step S2 is further included：
Be loaded into coordinate information on light-emitting mode by lamplight modulation device by the LED lamp, is launched with the LED
Has the illumination light of coordinate information.
Used as preferred, in step s3, the robot is converted to corresponding electric signal by by the illumination light of collection,
And judged whether to demodulate the electric signal according to signal strength, when signal intensity exceedes given threshold, then judge that robot is reached and be somebody's turn to do
The coordinate information radiation scope of LED lamp, and the coordinate information of the LED lamp is obtained to electric signal demodulation.
Used as preferred, the step S3 is further included：
By receiving a coordinate information and illumination light radiation scope for illuminating radiant, robot is obtained in the illumination light
In the radiation scope of light source；
By receiving the coordinate information of multiple illumination radiants and the radiation scope of illumination light, robot is obtained in multiple
Illuminate in the common radiation scope of radiant.
A kind of Indoor Robot alignment system, including located at some illumination radiants in robot ambulation region, for leading to
Over-illumination light sends the positional information of illumination radiant to external radiation, and the robot is provided with light corresponding with illumination radiant
Receiver.
Used as preferred, the positional information of the coordinate transmitters is seat of the coordinate transmitters in robot ambulation region
Mark.
Used as preferred, the position transmitters include LED lamp and lamplight modulation device, and the LED lamp is used to launch
Illumination light, the lamplight modulation device is used to for coordinate information to be converted into visible ray data signal, and will be seen that light data signal is compiled
Code is loaded on the light-emitting mode of LED lamp.
Used as preferred, the coordinate receiver includes photo-detector and location analysis module；The photo-detector is used for
Illumination light is gathered, and illumination light is converted into corresponding electric signal and be sent to location analysis module；The location analysis module is used
According to the electrical signal intensity for receiving, judge whether robot is located in the coordinate information radiation scope of the LED lamp, if telecommunications
Number intensity exceedes given threshold, then the electric signal is demodulated, and obtains the positional information of the light fixture.
The application proposes a kind of robot indoor positioning method and system, adds in the illumination light of LED lamp transmitting indoors
The positional information of corresponding LED lamp is carried, the position that illumination light obtains correspondence LED lamp is gathered during patrol by robot
Confidence ceases, and then the region where determination robot, in actual use, it is possible to use existing LED lamp, it is only necessary to
The equipment such as loading lamplight modulation device, the light loading position information for enabling LED lamp to launch can realize determining for robot
Position, need not carry the location facilities of complexity again, save cost, and due to indoor LED lamps arrange it is intensive, positioning precision and
Security can also be guaranteed.
Brief description of the drawings
Fig. 1 is robot indoor positioning method flow diagram of the invention；
Fig. 2 is to be illustrated according to embodiment of the present invention localization method；
Fig. 3 is the system architecture diagram schematic diagram according to the embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the invention is described in further detail.Hereinafter implement
Example is not limited to the scope of the present invention for illustrating the present invention.
Fig. 1 shows a kind of robot indoor orientation method, and the position of robot is positioned by illumination light,
It is extended in existing illumination light device, it is only necessary to load the equipment such as lamplight modulation device, the positional information of radiant will be illuminated
Launched by illumination light, the positioning of robot can be realized, the location facilities of complexity need not be carried again, saved into
This, specifically comprises the following steps：
S1, set up coordinate system in robot ambulation region；In actually implementing, such as robot in building is positioned
When, the space coordinates of three-dimensional can be set up, it is capable of achieving the positioning to each position in Zheng Dong buildings；
S2, the coordinate for obtaining room lighting radiant, and radiant will be illuminated as coordinate transmitters, taken by illumination light
With coordinate information and to emission；
S3, the signal of robot coordinate acquisition transmitter transmitting, the coordinate information of acquisition respective coordinates transmitter, and according to
The radiation scope of coordinate transmitters, obtains robot position.
As preferred, in the step S2, the coordinate information for illuminating radiant is converted into visible ray data signal, and
Encode and be loaded into the light-emitting mode of illumination radiant, the illumination radiant is launched the illumination for carrying coordinate information
Light.In the present embodiment, coordinate information can be encoded by binary unit by visible ray coding method, by electric light
Conversion method will be seen that light data signal is converted to optical signal, and be loaded into the light-emitting mode of illumination radiant.
Used as preferred, in step s 2, the illumination radiant is LED lamp, can either realize the effect of illumination, together
When have coordinate concurrently and indicate function, realize to the positioning of robot location.
Used as preferred, the step S2 is further included：
Be loaded into coordinate information on light-emitting mode by lamplight modulation device by the LED lamp, is launched with the LED
Has the illumination light of coordinate information.
Used as preferred, in step s3, the robot is converted to corresponding electric signal by by the illumination light of collection,
Judged whether to demodulate the electric signal according to signal strength simultaneously, because energy of the light in transmitting procedure can gradually weaken, therefore
The threshold value of luminous intensity can be gathered by the intensity settings robot of electric signal, is controlled come the coordinate radiation scope to LED lamp
System, when signal intensity exceedes given threshold, then judges that robot reaches the coordinate information radiation scope of the LED lamp, and to electricity
Signal demodulation obtains the coordinate information of the LED lamp.
As shown in Fig. 2 the step S3 is further included：
By receiving a coordinate information and illumination light radiation scope for illuminating radiant, robot is obtained in the illumination light
In the radiation scope of light source, i.e., the robot 5 in figure is in the radiation scope of LED lamp 4；
By receiving the coordinate information of multiple illumination radiants and the radiation scope of illumination light, robot is obtained in multiple
Illuminate in the common radiation scope of radiant, in such as Fig. 2, (1,2,3 in figure, radiation scope is marked respectively to choose three LED lamps
For 4,5,6), robot 7 directly receives the coordinate information of LED lamp 1, therefore its position is located in scope 4；Robot 8 is simultaneously
Receive the coordinate information of LED lamp 1,2, thus robot in the common radiation scope of LED lamp 1,3, such as in figure
It is shown；Robot 9 receives the coordinate information of LED lamp 1,2,3 simultaneously, therefore judges robot being total in LED lamp 1,2,3
With in radiation areas, as shown in FIG., by that analogy, when LED lamp setting is intensive, robot can be more accurately measured
Position.
Fig. 3 shows a kind of Indoor Robot alignment system, including located at some illumination light light in robot ambulation region
Source, the positional information for being sent illumination radiant to external radiation by illumination light, the robot is provided with and illumination light light
The corresponding optical receiver in source.
Used as preferred, the positional information of the coordinate transmitters is seat of the coordinate transmitters in robot ambulation region
Mark.
Used as preferred, the position transmitters include LED lamp and lamplight modulation device, and the LED lamp is used to launch
Illumination light, the lamplight modulation device is used to for coordinate information to be converted into visible ray data signal, and will be seen that light data signal is compiled
Code is loaded on the light-emitting mode of LED lamp.
Used as preferred, the coordinate receiver includes photo-detector and location analysis module；The photo-detector is used for
Illumination light is gathered, and illumination light is converted into corresponding electric signal and be sent to location analysis module；The location analysis module is used
According to the electrical signal intensity for receiving, judge whether robot is located in the coordinate information radiation scope of the LED lamp, if telecommunications
Number intensity exceedes given threshold, then the electric signal is demodulated, and obtains the positional information of the light fixture.
The application proposes a kind of robot indoor positioning method and system, adds in the illumination light of LED lamp transmitting indoors
The positional information of corresponding LED lamp is carried, the position that illumination light obtains correspondence LED lamp is gathered during patrol by robot
Confidence ceases, and then the region where determination robot, in actual use, it is possible to use existing LED lamp, it is only necessary to
The equipment such as loading lamplight modulation device, the light loading position information for enabling LED lamp to launch can realize determining for robot
Position, it is not necessary to carry complicated location facilities, saves cost, and because indoor LED lamps are arranged intensive, positioning precision and peace
Full property can also be guaranteed.
Finally, the present processes are only preferably embodiment, are not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc. should be included in protection of the invention
Within the scope of.
Claims (9)
1. a kind of robot indoor orientation method, it is characterised in that comprise the following steps：
S1, set up coordinate system in robot ambulation region；
S2, the coordinate for obtaining room lighting radiant, and radiant will be illuminated as coordinate transmitters, carried by illumination light and sat
Mark information and to emission；
S3, the signal of robot coordinate acquisition transmitter transmitting, obtain the coordinate information of respective coordinates transmitter, and according to coordinate
The radiation scope of transmitter, obtains robot position.
2. robot indoor orientation method according to claim 1, it is characterised in that the step S2 is further included：
The coordinate information for illuminating radiant is converted into visible ray data signal, and carries out encoding the hair for being loaded into illumination radiant
In optical mode, the illumination radiant is set to launch the illumination light for carrying coordinate information.
3. robot indoor orientation method according to claim 1, it is characterised in that in step s 2, the illumination light
Light source is LED lamp, and the step S2 is further included：
Be loaded into coordinate information on light-emitting mode by lamplight modulation device by the LED lamp, is launched and is sat with the LED lamp
The illumination light of mark information.
4. robot indoor orientation method according to claim 3, it is characterised in that further included in step S3：
The robot is converted to corresponding electric signal by by the illumination light of collection, and judges whether demodulation according to signal strength
The electric signal；
When signal intensity exceedes given threshold, it is determined that robot reaches the coordinate information radiation scope of the LED lamp, and to electricity
Signal demodulation obtains the coordinate information of the LED lamp.
5. robot indoor orientation method according to claim 1, it is characterised in that the step S3 is further included：
By receiving a coordinate information and illumination light radiation scope for illuminating radiant, robot is obtained in the illumination radiant
Radiation scope in；
By receiving the coordinate information of multiple illumination radiants and the radiation scope of illumination light, obtain robot and illuminated in multiple
In the common radiation scope of radiant.
6. a kind of Indoor Robot alignment system, it is characterised in that including some illumination light light located at robot ambulation region
Source, the positional information for being sent illumination radiant to external radiation by illumination light, the robot is provided with and illumination light light
The corresponding optical receiver in source.
7. Indoor Robot alignment system according to claim 6, it is characterised in that the position letter of the coordinate transmitters
Cease the coordinate in robot ambulation region for coordinate transmitters.
8. Indoor Robot alignment system according to claim 6, it is characterised in that the position transmitters include LED
Light fixture and lamplight modulation device, the LED lamp are used to launch illumination light, and the lamplight modulation device is used to be converted into coordinate information
Visible ray data signal, and will be seen that light digital signal encoding is loaded on the light-emitting mode of LED lamp.
9. Indoor Robot alignment system according to claim 6, it is characterised in that the coordinate receiver includes that light is visited
Survey device and location analysis module；The photo-detector is used to gather illumination light, and illumination light is converted into corresponding electric signal hair
Give location analysis module；The location analysis module is used to, according to the electrical signal intensity for receiving, judge whether robot is located at
In the coordinate information radiation scope of the LED lamp, if electrical signal intensity exceedes given threshold, the electric signal is demodulated,
Obtain the positional information of the light fixture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611200869.6A CN106767825A (en) | 2016-12-22 | 2016-12-22 | A kind of robot indoor positioning method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611200869.6A CN106767825A (en) | 2016-12-22 | 2016-12-22 | A kind of robot indoor positioning method and system |
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| CN201611200869.6A Pending CN106767825A (en) | 2016-12-22 | 2016-12-22 | A kind of robot indoor positioning method and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109008806A (en) * | 2018-06-25 | 2018-12-18 | 东莞市光劲光电有限公司 | A kind of sweeping robot positioning system and method based on the positioning of LED intelligent lamp |
| CN110113097A (en) * | 2019-04-28 | 2019-08-09 | 天津大学 | Indoor horizontal walking light source localization method based on LED light source |
| CN111052021A (en) * | 2017-09-07 | 2020-04-21 | 昕诺飞控股有限公司 | Indoor moving object positioning system |
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| CN105973223A (en) * | 2015-12-30 | 2016-09-28 | 乐视移动智能信息技术（北京）有限公司 | Indoor navigation method and device thereof |
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| CN102520394A (en) * | 2011-12-09 | 2012-06-27 | 南京大学 | Method for realizing indoor positioning by utilizing lighting system |
| CN102967307A (en) * | 2012-11-23 | 2013-03-13 | 清华大学 | Positioning and navigation system based on indoor illumination |
| CN105425210A (en) * | 2015-11-27 | 2016-03-23 | 泉州装备制造研究所 | Indoor visible light positioning system and method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111052021A (en) * | 2017-09-07 | 2020-04-21 | 昕诺飞控股有限公司 | Indoor moving object positioning system |
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| CN109008806A (en) * | 2018-06-25 | 2018-12-18 | 东莞市光劲光电有限公司 | A kind of sweeping robot positioning system and method based on the positioning of LED intelligent lamp |
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Application publication date: 20170531 |