CN106840152A - A kind of high-precision integrated navigation system and method towards indoor mobile robot - Google Patents
A kind of high-precision integrated navigation system and method towards indoor mobile robot Download PDFInfo
- Publication number
- CN106840152A CN106840152A CN201710060303.6A CN201710060303A CN106840152A CN 106840152 A CN106840152 A CN 106840152A CN 201710060303 A CN201710060303 A CN 201710060303A CN 106840152 A CN106840152 A CN 106840152A
- Authority
- CN
- China
- Prior art keywords
- navigation
- magnetic
- module
- robot
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
Abstract
The present invention relates to a kind of high-precision integrated navigation system towards indoor mobile robot, including sensor data acquisition module, microprocessor, PC ends and inertial navigation control algolithm module, magnetic nail and priori map, the data fusion module carries out data fusion to the signal that the sensor data acquisition module is obtained, information and the position of magnetic nail that the inertial navigation control algolithm module is obtained according to the data fusion, course information is determined with reference to the priori map by calculating.The invention further relates to a kind of method of the high-precision integrated navigation towards indoor mobile robot, the signal of inertial navigation sensors, magnetic navigation sensor and photoelectric encoder is gathered and according to the magnetic navigation sensor and the position of magnetic nail by main control chip, with reference to priori map, course angle is obtained by calculating.The present invention provide guider and method equipment it is simple, navigation accuracy is high, navigation speed faster, the real-time and positioning precision of robot navigation can be greatly improved.
Description
Technical field
It is the present invention relates to a kind of technical field positioned using inertia system more particularly to used without gps signal region
The technical field of property navigation system.
Background technology
The civil area of inertial technology is mainly accurate measurement and positioning.Gps signal is inaccessiable under water, subglacial,
Virgin forest, tunnel and City Building City Regions, inertial technology precise navigation, measurement and positioning in terms of still compared with
GPS has advantage.Additionally, it is used for the physical prospecting of land and marine resources using high-precision navigation and airborne gravitormeter, with
And the radius of curvature of various pipelines using the buried underground of inertia system measurement exploration etc., being all that inertia system is advantageous answers
Use field.
Relatively more to the theoretical research of inertial navigation both at home and abroad at present, air navigation aid mainly passes through inertial measurement cluster
（IMU）The angular speed and acceleration information in measurement carrier relative inertness space, object is calculated using Newton's laws of motion automatically
Instantaneous velocity and positional information, also achieved a series of good results in recent years, and foreign countries are mainly used in AGV dollies, Er Qieyou
Corresponding product comes out, but expensive.It is generally used for the field such as port logistics and storage.Domestic this respect theoretical research ratio
It is more, but the real domestic inertial navigation small scale robot for coming into operation is seldom, has Zhejiang University, Hunan big at present in colleges and universities
, University Of Nanchang etc. are being studied.Market application relies primarily on import at present, and price is generally higher.
The Chinese patent application of Application No. 201210173646.0 discloses a kind of magnetic navigation assistant GPS/INS combinations
Navigation positioning system and its control method, belong to motor vehicle navigation positioning field.Integrated navigation and location system connects including GPS
Receipts machine, INS and INS processing units, the magnetic being laid on road nail, vehicle-mounted Magnetic Sensor and central processing module.Centre
Reason unit includes decoder and Kalman filtering module, receives the navigation of GPS receivers, INS processing units and Magnetic Sensor
Information, is calculated by Kalman filtering, corrects the parameter of INS processing modules, obtains final integrated navigation information data.Should
It is continuous with time duration that method efficiently solves GPS navigation system easily navigation positioning error affected by environment and INS
The problem of increase, improves navigation and positioning accuracy, realizes continual vehicle high-precision navigation locating function.But GPS is not
Suitable for indoor navigation system.
The Chinese patent application of Application No. 201510590866.7 discloses a kind of inertial navigation of suitable storage AGV
Method, it includes following sub-step：S1 ：Navigation system is built, S2：Read magnetic nail data, S3：Dolly offset data is obtained,
S4 ：Path planning, S5：Obtain gyroscope angle, S6：Angle calibration system, S7：Read RFID, S8：Determine operational mode, S9
：Motion control, S10：Repeat step S2-S9.The method replaces magnetic stripe and Quick Response Code using magnetic nail, effectively cost-effective
Quick Response Code can be solved is influenceed more serious defect by dirty environment simultaneously, realizes trackless navigation mode, and the systematic survey position is accurate
Really, the reachable ± 5mm of positional precision, measurement angle is accurate, and angle precision is ± 0.1 degree, and its navigation accuracy is high, and navigation accuracy is
± 10mm, navigation speed effectively economizes on resources up to 1m/s.But its method comparison for obtaining course information it is complicated, it is necessary to
Navigation system takes more times and resource is calculated, and constrains navigation speed.
The Chinese patent application of Application No. 201410572116.2 discloses a kind of Novel fork vehicle AGV dollies, including
Car body, the front portion of car body is provided with jacking system, and jacking system is connected with material fork, it is characterised in that：On the car body
Multifunctional integrated control device is provided with, two-wheel differential drive device is provided with the middle part of the car body, two-wheel differential drives dress
Put the multifunctional integrated control device of connection；The surrounding of the car body is provided with protector；The bottom of the car body is provided with certainly
Adapt to travel mechanism.The original place that the performance that the invention is realized in fork truck is loaded with AGV is spinned, and is precisely controlled, automatic running
Feature, while it is more flexible to ensure that the present invention is turned to, radius of turn diminishes.But the invention needs more sensor simultaneously
Determine course information, magnetic navigation device, inertial navigation unit, supplied laser navigation apparatus, non-emissive plate supplied laser navigation apparatus, light belt are led
Boat device, and the use of magnetic stripe makes navigation accuracy receive restriction.
The content of the invention
The invention provides a kind of high-precision integrated navigation system and method towards indoor mobile robot, in the system
It is middle to add the inertial navigation control algolithm module of autonomous Design, and created new course angle computational methods, its advantage
It is：1）By the way of information fusion, inertial navigation is realized using Multi-sensor fusion；2）Autonomous Design inertial navigation
Control algolithm module, sums up simpler algorithm and course angle algorithmic formula；3）Navigation accuracy is high；4）Need not rely on GPS；
5）It is adapted to complex environment navigation；6) towards Indoor Robot field.
The invention provides a kind of high-precision integrated navigation system towards indoor mobile robot, including sensing data
Acquisition module, microprocessor and PC ends and inertial navigation control algolithm module, magnetic nail and priori map, the microprocessor bag
Data fusion module, control module, wireless module are included, the data fusion module is obtained to the sensor data acquisition module
Signal carry out data fusion, information that the inertial navigation control algolithm module is obtained according to data fusion and magnetic nail
Position, course information is determined with reference to the priori map by calculating.
Preferably, the course information is obtained by course angle algorithm, and specific formula is：
Da detects magnetic nail A and after adjusting course for robot, distances of the magnetic nail A apart from robot axis；Db is inspection
When measuring magnetic nail B, magnetic follows closely distances of the B apart from axis；L is the mileage that robot reaches node B travelings from node A；（xa,ya）
It is the world coordinates of magnetic nail A；（xb,yb）It is the world coordinates of magnetic nail B；Angle is the direct path courses of magnetic nail A, B, according to
The positive negative judgement robot left avertence or right avertence of angle.
In any of the above-described scheme preferably, the sensor data acquisition module includes inertial navigation sensors, magnetic conductance
Boat sensor and photoelectric encoder.
In any of the above-described scheme preferably, the inertial navigation sensors are 9 free degree inertial navigation sensors.
In any of the above-described scheme preferably, 9 free degree inertial navigation sensors include that three-axis gyroscope, three axles add
Fast device and three axle electronic compass.
In any of the above-described scheme preferably, the three-axis gyroscope is ITG3205.
In any of the above-described scheme preferably, the three axles accelerator is ADXL345.
In any of the above-described scheme preferably, the three axle electronic compass is HMC5883L.
In any of the above-described scheme preferably, the magnetic navigation sensor is 16 magnetic navigation sensors.
In any of the above-described scheme preferably, 16 magnetic navigation sensors are 16 magnetic navigation sensings of XGS16N types
Device.
In any of the above-described scheme preferably, the photoelectric encoder is Omron E6B2-CWZ6C encoders.
In any of the above-described scheme preferably, the microprocessor includes main control chip, and the main control chip is STM32-
F103。
In any of the above-described scheme preferably, the data fusion module includes the self-positioning module of mobile platform and heading device
Breath correcting module, the self-positioning module of mobile platform carries out input fusion by Kalman filtering algorithm.
In any of the above-described scheme preferably, the PC ends include upper computer module.
In any of the above-described scheme preferably, the PC ends include the selecting module to control model, the control model
Including remote control mode and from tracking pattern.
In any of the above-described scheme preferably, the wireless module uses the wireless WIFI modules of ESP-12F.
Present invention also offers a kind of method of the high-precision integrated navigation towards indoor mobile robot, including following step
Suddenly：
Step one：The value of sensor is obtained by terminal,
Step 2：The course value that data fusion calculates next step is carried out,
Step 3：It is sent to host computer,
Step 4：Sending Algorithms of Robots Navigation System to carries out decision-making, concretely comprises the following steps,
The signal of inertial navigation sensors, magnetic navigation sensor and photoelectric encoder is gathered by main control chip；To the inertia
Navigation sensor, magnetic navigation sensor and photoelectric encoder information are merged, and obtain controlled quentity controlled variable, are sensed according to the magnetic navigation
The position of device and magnetic nail, with reference to priori map, course angle is obtained by calculating；Real-time output control amount signal is to driving mould
Block, PC upper computer modules are sent to by result of calculation by wireless module；PC upper computer modules show positioning result and map.
Preferably, the obtaining step of the controlled quentity controlled variable is：
The inertial navigation sensors return to posture information, the current speed of the photoelectric encoder robot measurement, by institute
The information fusion for stating inertial navigation sensors and photoelectric encoder extrapolates the relative pose change of the robot；
The position followed closely by the magnetic is modified to the robot course information；
Information and the position of magnetic nail that inertial navigation control algolithm module is obtained according to the data fusion, with reference to the elder generation
Test map and determine the course information by calculating, data fusion module carries out input fusion using Kalman filtering algorithm, passes
Give control module amendment course information.
In any of the above-described scheme preferably, the course information is calculated by course angle algorithm, matrix formula is such as
Under：
Da detects magnetic nail A and after adjusting course for robot, and magnetic follows closely distances of the A apart from robot axis；Db is to detect
During magnetic nail B, magnetic follows closely distances of the B apart from axis；L is the mileage that robot reaches node B travelings from node A；（xa,ya）It is magnetic
Follow closely the world coordinates of A；（xb,yb）It is the world coordinates of magnetic nail B；Angle is the direct path courses of magnetic nail A, B, according to angle
Positive negative judgement robot left avertence or right avertence.
In any of the above-described scheme preferably, by the current acceleration of the inertial navigation sensors robot measurement,
Angular acceleration and azimuth.
In any of the above-described scheme preferably, the position followed closely by the magnetic navigation sensor detection magnetic, the magnetic navigation
Sensor includes data port, and data are sent to microcontroller by the data port.
In any of the above-described scheme preferably, the speed of robot is detected by the photoelectric encoder, the photoelectricity is compiled
Code device includes optoelectronic switch, and the speed of the number of times acquisition robot that grating is rotated is detected by the optoelectronic switch.
In any of the above-described scheme preferably, the data fusion module includes the self-positioning module of mobile platform and heading device
Breath correcting module, it is self-positioning that the self-positioning module of mobile platform moves platform, is obtained accurately by Kalman filtering
Angle information, mileage is calculated with reference to the photoelectric encoder；Course information correcting module carries out the amendment of course information, according to institute
State the mileage information that the self-positioning module of mobile platform obtains and obtain cumulative errors, correct described accumulative by magnetic navigation sensor
Error, when the data fusion module detects magnetic nail by magnetic navigation sensor, obtains described from the routing information for preserving
Course between the world coordinates of magnetic nail, and magnetic nail and next magnetic nail, corresponding routing information is followed closely according to the magnetic,
The navigation information of the robot of amendment in real time, next node is sailed into correct attitude.Heretofore described next magnetic nail refers to
Be next magnetic nail on travel track, when travel track is followed closely by two adjacent magnetic, the current magnetic nail and next
Magnetic nail is followed closely for adjacent magnetic.
In any of the above-described scheme preferably, microcontroller carries out both-way communication by wireless module and PC ends.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below by to be used needed for embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, for this area
For those of ordinary skill, without having to pay creative labor, can also obtain other attached according to these accompanying drawings
Figure.
Fig. 1 is led as the high accuracy combination towards indoor mobile robot according to a preferred embodiment of the present invention
The general frame of boat system
Fig. 2 is as the high-precision integrated navigation system towards indoor mobile robot according to a preferred embodiment of the present invention
Inertial navigation circuit design drawing
Fig. 3 is as the high-precision integrated navigation system towards indoor mobile robot according to a preferred embodiment of the present invention
Magnetic navigation circuit design drawing
Fig. 4 is as a kind of high-precision integrated navigation towards indoor mobile robot according to a preferred embodiment of the present invention
The photoelectric encoder circuit design drawing of system
Fig. 5 is as the high-precision integrated navigation system towards indoor mobile robot according to a preferred embodiment of the present invention
The WIFI wireless transmission interface circuit design figures of system
Fig. 6 is as the high-precision integrated navigation side towards indoor mobile robot according to a preferred embodiment of the present invention
The main program flow chart of method
Fig. 7 is as the high-precision integrated navigation system towards indoor mobile robot according to a preferred embodiment of the present invention
The course angle algorithm schematic diagram of system and method.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, it is necessary to it is pointed out here that, implement in detail below
Mode is served only for being further detailed the present invention, it is impossible to be interpreted as limiting the scope of the invention, the field
Technical staff can make some nonessential modifications and adaptations to the present invention according to foregoing invention content.
The present invention goes detection magnetic to follow closely using high accuracy magnetic navigation sensor, and position is followed closely in magnetic, and robot is according in this position
The priori of preservation goes to calibrate inertial navigation course error and robot location's error, and adjusts robot course.The present invention
By the use of wheeled robot as experiment porch, high accuracy magnetic navigation sensor and combination priori map are carried, in theory can be by
Lateral error is controlled in Centimeter Level.This scheme sensor cost is relatively low, and navigation algorithm is simple and easy to apply, easily real in engineering
It is existing, can greatly improve the real-time and positioning precision of robot navigation.
Fig. 1 is the master-plan block diagram of whole system, and inertial navigation sensors return to posture information, photoelectric encoder measurement
Current speed, the relative pose for extrapolating system by the information fusion of two kinds of sensors changes.Then the position followed closely by magnetic
Put and robot course information is modified.Data fusion module carries out input fusion, Ran Houchuan using Kalman filtering algorithm
Giving control module carries out the amendment of system.Kalman filtering is optimal estimation theory in linear system, and it is only needed in storage
The historical data at one moment, data volume is small, is very suitable for processor real-time operation.Microcontroller is by WIFI module and PC ends
Carry out both-way communication.
A kind of preferred high-precision integrated navigation system towards indoor mobile robot is present embodiments provided, including is passed
Sensor data acquisition module, microprocessor and PC ends, and inertial navigation control algolithm module, magnetic nail and priori map, it is described
Microprocessor includes data fusion module, control module, wireless module, and the data fusion module is adopted to the sensing data
The signal that collection module is obtained carries out data fusion, the letter that the inertial navigation control algolithm module is obtained according to the data fusion
The position of breath and magnetic nail, course information is determined with reference to the priori map by calculating.
The course information is obtained by course angle algorithm, and specific formula is：
As shown in fig. 7, da detects magnetic nail A and after adjusting course for robot, the magnetic nail A apart from robot axis away from
From；To detect during magnetic nail B, magnetic follows closely distances of the B apart from axis to db；L is that robot is reached in node B travelings from node A
Journey；（xa,ya）It is the world coordinates of magnetic nail A；（xb,yb）It is the world coordinates of magnetic nail B；Angle is the direct paths of magnetic nail A, B
Course, according to the positive negative judgement robot left avertence or right avertence of angle.
In the present embodiment, the sensor data acquisition module include inertial navigation sensors, magnetic navigation sensor and
Photoelectric encoder.
In the present embodiment, the inertial navigation sensors are preferably 9 free degree inertial navigation sensors.
In the present embodiment, 9 free degree inertial navigation sensors include three-axis gyroscope, three axle accelerators and three axles
Electronic compass.Relative to the inertial navigation sensors of the single degree of freedom, 9 free degree inertial navigation sensors are from more dimensions pair
Navigation system is detected, including angle, acceleration and azimuthal multiple degrees of freedom are detected, makes the precision of the data obtained more
Height, the positioning of navigation system is more accurate, manipulates more accurate.
In the present embodiment, the magnetic navigation sensor is preferably 16 magnetic navigation sensors, 16 magnetic navigations sensing
Device is two rows, and a row can go out 8 data, and two rows are combined into the data of 16.The circuit that a row is only shown in Fig. 3 sets
Meter.16 magnetic navigation sensors are high accuracy magnetic navigation sensor, its beneficial effect be to the detection of magnetic nail signal more
Accurate even magnetic is followed closely small signal intensity and is also able to detect that, the data obtained by making are more accurate, make navigation system
Manipulation is more accurate.
In the present embodiment, photoelectric encoder is preferably used instead of traditional encoder, its advantage is photoelectric coding
Device small volume, more accurate, resolution is very high in itself for photoelectric encoder, and contactless without abrasion；Meanwhile, photoelectric encoder was both
Detectable angle displacement, again can the detection of straight lines displacement under mechanical switching device help.
In the present embodiment, the microprocessor includes main control chip, and the main control chip is STM32-F103.
Further in the present embodiment, main control end is provided with priori map, can be with auxiliary robot navigation system course
The correction of information.
In the present embodiment, the data fusion module includes the self-positioning module of mobile platform and course information amendment mould
Block.The self-positioning and described course information correcting module that the self-positioning module of mobile platform moves platform carries out heading device
The amendment of breath.Mobile platform is self-positioning to be needed to obtain accurate angle information then in conjunction with photoelectric encoder by Kalman filtering
Calculate mileage.The amendment of course information, by the cumulative errors of mileage information derived above, then by magnetic navigation sensor
To correct the cumulative errors.When the data fusion module detects certain magnetic nail by magnetic navigation sensor, from what is preserved
The course between the world coordinates of magnetic nail, and current magnetic nail and next magnetic nail is obtained in routing information.Follow closely right according to magnetic
The routing information answered, the navigation information of the robot of amendment in real time, then sails next node into correct attitude.
In the present embodiment, the PC ends include upper computer module.The operation principle of the navigation system of the present embodiment is logical
Cross the signal of main control chip collection inertial navigation sensors, magnetic navigation sensor and photoelectric encoder；The inertial navigation is passed
Sensor, magnetic navigation sensor and photoelectric encoder information are merged, and obtain controlled quentity controlled variable, according to the magnetic navigation sensor and
The position of magnetic nail, with reference to priori map, course angle is obtained by calculating；Real-time output control amount signal will be counted to drive module
Calculate result and PC ends upper computer module is sent to by wireless module；PC ends upper computer module display positioning result and map.
In the present embodiment, the PC ends include control model selecting module, the control model include remote control mode and
From tracking pattern.The remote control mode refers to that operator can send control command remote operated vehicle and advance or retrogressing by keyboard；Institute
State from tracking pattern and refer to that be stored in map in main control chip by way of pre-loaded map by operator, such robot is just
Can the trace information inside offline map be matched according to current track to obtain the information of next node.
Main hardware selection is in the present embodiment：
1. the selection of processor：STM32-F103 as information processing core
2. the selection of inertial navigation sensors：Using 9 free degree inertial navigation sensors, including ITG3205, ADXL345 and
HMC5883L, wherein ITG3205 are three-axis gyroscope, ADXL345 for three weeks accelerators and HMC5883L are three weeks electronic compass
3. the selection of magnetic navigation sensor：16 magnetic navigation sensors of XGS16N types
4. the selection of photoelectric encoder：Omron E6B2-CWZ6C encoders.
5. the selection of WIFI wireless transmitter modules：Using the wireless WIFI modules of ESP-12F.
Inertial navigation circuit design drawing in the present embodiment is illustrated in figure 2, inertial navigation sensors can measure current system
The acceleration of system, angular acceleration and azimuth.
Magnetic navigation circuit in the present embodiment is illustrated in figure 3, magnetic navigation sensor is passed from 16 magnetic navigations of XGS16N types
Sensor, wherein 8 data ports are connected with microcontroller, detects the position of magnetic nail, and number is sent to microcontroller by data port
According to.
Photoelectric encoder circuit in the present embodiment is illustrated in figure 4, photoelectric encoder can be by optoelectronic switch detection light
The number of times that grid are rotated is so as to the speed of detecting system.
WIFI wireless transmission interface circuit design figures are illustrated in figure 5, the data transfer of WIFI module connects in the present embodiment
Mouth is standard asynchronous communication serial port, and microcontroller A12, A13 pin is connected respectively.Microcontroller is interrupted to WIFI moulds by serial ports
Block sends information.
Adopted by main control chip as main control chip using STM32-F103 in the navigation system Software for Design of the present embodiment
Collect each MEMS inertial navigation systems signal, magnetic navigation sensor signal and photoelectric encoder signal；Each sensor information is entered
Row fusion, obtains controlled quentity controlled variable, and output control amount signal is passed to drive module and by result of calculation by WIFI module in real time
It is sent to PC ends upper computer module；PC ends upper computer module is responsible for positioning result and is shown and map denotation.Certainly, PC ends are in initial rank
Section can select control model, can select remote control mode and from tracking pattern.Remote control mode refers to that operator can be by keyboard
Control command remote operated vehicle is sent to advance or retreat；Refer to operator by way of pre-loaded map by map from tracking pattern
It is stored in main control chip, such robot just can match the trace information inside offline map to obtain according to current track
The information of next node.
The navigation system provided by the present embodiment can in accordance with the following methods carry out the high accuracy group of indoor mobile robot
Close navigation, the navigation system program step：
Step one：The value of sensor is obtained by terminal；
Step 2：Carry out the course value that data fusion calculates next step；
Step 3：It is sent to host computer；
Step 4：The system of sending to carries out decision-making.
Concretely comprise the following steps,
The signal of inertial navigation sensors, magnetic navigation sensor and photoelectric encoder is gathered by main control chip；To the inertia
Navigation sensor, magnetic navigation sensor and photoelectric encoder information are merged, and obtain controlled quentity controlled variable, are sensed according to the magnetic navigation
The position of device and magnetic nail, with reference to priori map, course angle is obtained by calculating；Real-time output control amount signal is to driving mould
Block, PC upper computer modules are sent to by result of calculation by wireless module；PC upper computer modules show positioning result and map.
In the present embodiment, the obtaining step of the controlled quentity controlled variable is：
The inertial navigation sensors return to posture information, the current speed of the photoelectric encoder robot measurement, by institute
The information fusion for stating inertial navigation sensors and photoelectric encoder extrapolates the relative pose change of the robot；
The position followed closely by the magnetic is modified to the robot course information；
Information and the position of magnetic nail that inertial navigation control algolithm module is obtained according to the data fusion, with reference to the elder generation
Test map and determine the course information by calculating, data fusion module carries out input fusion using Kalman filtering algorithm, passes
Give control module amendment course information.
Main program flow chart is illustrated in figure 6, navigation starts rear sensor data acquisition module carries out the collection of signal, so
The pretreatment of data being carried out afterwards, then data being carried out with fusion treatment by data fusion module, the result of acquisition is transferred to execution
Mechanism module and/or carry out data transmission to upper computer module by wireless network, upper computer module display positioning result and map,
Then coming back to sensor data acquisition module again carries out the circulation of next step, and the positioning for completing robot system is led
Boat.
The implementation method of system is mainly completed by two big main processing modules in the present embodiment, including sensor collection
Module and data fusion module.
The action principle of sensor acquisition module is in the present embodiment, the A/D module that main control chip is carried by itself and
SCI modules obtain the signal of low accuracy inertial navigation system, and the wheel that photoelectric encoder is gathered is obtained by pulse integrating instrument module
Fast signal, obtains magnetic and follows closely the distance signal for deviateing magnetic navigation sensor by 16 magnetic navigation sensors of XGS16N types.
Data fusion module includes two parts in the present embodiment, and one is mobile platform self-positioning, it is necessary to pass through Kalman
Filtering obtains accurate angle information and calculates mileage then in conjunction with photoelectric encoder.Another is the amendment of course information, the above
Cumulative errors are obtained in the mileage information for obtaining, this cumulative errors is then corrected by magnetic navigation sensor.This module is led to
Cross magnetic navigation sensor detect certain magnetic follow closely when, from preserve routing information in obtain the magnetic nail world coordinates, and work as
Course between preceding magnetic nail and next magnetic nail.Corresponding routing information is followed closely according to magnetic, the navigation information of the robot of amendment in real time,
Then next node is sailed into correct attitude.Lower course angle algorithm is described below, as shown in fig. 7, da is detected for robot
A is followed closely to magnetic and after adjusting course, magnetic follows closely distances of the A apart from robot axis；, to detect during magnetic nail B, magnetic nail B is in for db
The distance of axis；L is the mileage that robot reaches node B travelings from node A,（xa,ya）It is the world coordinates of magnetic nail A,（xb,
yb）It is the world coordinates of magnetic nail B；Angle is the direct path courses of magnetic nail A, B.The value of angle can be calculated by scheming us, according to angle it is positive and negative we may determine that robot left avertence or right avertence.
Innovation of the invention is：
1. by the way of information fusion, inertial navigation is realized using Multi-sensor fusion；
2. autonomous Design inertial navigation control algolithm module, and passes through the side that sensor directly measures course angle in the prior art
Unlike method, the present invention is mainly the position followed closely according to magnetic navigation sensor and magnetic, with reference to the priori map for preserving before,
By calculating the course angle for obtaining.Need to carry out the positioning of magnetic nail and adopting for corresponding map during this of the invention
Collection, Main Function is the precision that improve navigation, and makes navigation system affected by environment small.Navigation system of the present invention
Containing inertial navigation control algolithm module, the inertial navigation control algolithm module is calculated heading device by course angle algorithm
Breath and correction information, its formula, it is to be obtained using navigation system of the present invention
Data obtained by, and specific to method of the present invention, its algorithm is simple so that data processing speed faster,
Navigation system is more accurate quick；
3. navigation accuracy is high, positional precision ± 5mm, angle precision ± 0.1 degree, navigation accuracy ± 10mm, navigation speed 2m/s；
4. GPS is needed not rely on, GPS device is not included in navigation system；
5. complex environment navigation is adapted to；
6. followed closely rather than magnetic stripe using magnetic, this is that, because magnetic stripe is merely able to detect continuous position, and magnetic is followed closely for right
Individually point is detected, therefore detection is more flexibly, and positioning precision is higher, and cost is also lower, easy care；
7. towards Indoor Robot field.
Claims (10)
1. a kind of high-precision integrated navigation system towards indoor mobile robot, including sensor data acquisition module, Wei Chu
Reason device and PC ends, the microprocessor include data fusion module, control module, wireless module, it is characterised in that also including used
Property Navigation Control algoritic module, magnetic nail and priori map, the data fusion module obtains to the sensor data acquisition module
The signal for obtaining carries out data fusion, information and magnetic nail that the inertial navigation control algolithm module is obtained according to data fusion
Position, with reference to the priori map through calculating determine course information.
2. as claimed in claim 1 towards the high-precision integrated navigation system of indoor mobile robot, it is characterised in that described
Course information is obtained by course angle algorithm, and specific formula is：
Da detects magnetic nail A and after adjusting course for robot, distances of the magnetic nail A apart from robot axis；Db is inspection
When measuring magnetic nail B, magnetic follows closely distances of the B apart from axis；L is the mileage that robot reaches node B travelings from node A；（xa,ya）
It is the world coordinates of magnetic nail A；（xb,yb）It is the world coordinates of magnetic nail B；Angle is the direct path courses of magnetic nail A, B,
According to the positive negative judgement robot left avertence or right avertence of angle.
3. as claimed in claim 2 towards the high-precision integrated navigation system of indoor mobile robot, it is characterised in that described
Sensor data acquisition module includes inertial navigation sensors, magnetic navigation sensor and photoelectric encoder.
4. as claimed in claim 3 towards the high-precision integrated navigation system of indoor mobile robot, it is characterised in that described
Inertial navigation sensors are 9 free degree inertial navigation sensors.
5. as claimed in claim 4 towards the high-precision integrated navigation system of indoor mobile robot, it is characterised in that described
9 free degree inertial navigation sensors include three-axis gyroscope, three axle accelerators and three axle electronic compass.
6. as claimed in claim 5 towards the high-precision integrated navigation system of indoor mobile robot, it is characterised in that described
Three-axis gyroscope is ITG3205.
7. as claimed in claim 5 towards the high-precision integrated navigation system of indoor mobile robot, it is characterised in that described
Three axle accelerators are ADXL345.
8. as claimed in claim 5 towards the high-precision integrated navigation system of indoor mobile robot, it is characterised in that described
Three axle electronic compass is HMC5883L.
9. a kind of method of high-precision integrated navigation towards indoor mobile robot, comprises the following steps：
Step one：The value of sensor is obtained by terminal,
Step 2：The course value that data fusion calculates next step is carried out,
Step 3：It is sent to host computer,
Step 4：Sending Algorithms of Robots Navigation System to carries out decision-making,
Characterized in that,
The signal of inertial navigation sensors, magnetic navigation sensor and photoelectric encoder is gathered by main control chip；To the inertia
Navigation sensor, magnetic navigation sensor and photoelectric encoder information are merged, and obtain controlled quentity controlled variable, are sensed according to the magnetic navigation
The position of device and magnetic nail, with reference to priori map, course angle is obtained by calculating；Real-time output control amount signal is to driving mould
Block, PC ends upper computer module is sent to by result of calculation by wireless module；PC ends upper computer module display positioning result and ground
Figure.
10. the method for the high-precision integrated navigation towards indoor mobile robot as claimed in claim 9, it is characterised in that
The obtaining step of the controlled quentity controlled variable is：
The inertial navigation sensors return to posture information, the current speed of the photoelectric encoder robot measurement, by institute
The information fusion for stating inertial navigation sensors and photoelectric encoder extrapolates the relative pose change of the robot；
The position followed closely by the magnetic is modified to the robot course information；
Information and the position of magnetic nail that inertial navigation control algolithm module is obtained according to the data fusion, with reference to the elder generation
Test map and determine the course information by calculating, data fusion module carries out input fusion using Kalman filtering algorithm, passes
Give control module amendment course information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710060303.6A CN106840152A (en) | 2017-01-24 | 2017-01-24 | A kind of high-precision integrated navigation system and method towards indoor mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710060303.6A CN106840152A (en) | 2017-01-24 | 2017-01-24 | A kind of high-precision integrated navigation system and method towards indoor mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106840152A true CN106840152A (en) | 2017-06-13 |
Family
ID=59121759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710060303.6A Pending CN106840152A (en) | 2017-01-24 | 2017-01-24 | A kind of high-precision integrated navigation system and method towards indoor mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106840152A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741596A (en) * | 2017-11-07 | 2018-02-27 | 浙江理工大学 | A kind of GPS/INS navigation system of magnetic nail positioning auxiliary |
| CN108784545A (en) * | 2018-07-25 | 2018-11-13 | 苏州精源创智能科技有限公司 | A kind of inertial navigation system and method applied to sweeping robot |
| CN109032130A (en) * | 2018-06-22 | 2018-12-18 | 青岛港国际股份有限公司 | A kind of automatic dock magnetic nail repair method and system |
| CN109506650A (en) * | 2018-09-12 | 2019-03-22 | 广东嘉腾机器人自动化有限公司 | AGV navigation deviation of stroke modification method based on BP network |
| CN109813213A (en) * | 2019-02-11 | 2019-05-28 | 芯球（上海）智能科技有限责任公司 | AGV vehicle angle detection system and method |
| CN110307844A (en) * | 2019-07-26 | 2019-10-08 | 马鞍山市科泰电气科技有限公司 | A kind of factory personnel Position Fixing Navigation System and method based on 3 d modeling system |
| CN110907221A (en) * | 2019-12-31 | 2020-03-24 | 哈工大机器人智能制造有限公司 | Mobile robot system for automatic temperature measurement and sampling of stokehold molten iron |
| CN111380527A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Navigation method and navigation controller of indoor service robot |
| CN111413991A (en) * | 2020-05-14 | 2020-07-14 | 东南大学 | Robot navigation positioning method and system |
| CN113126619A (en) * | 2021-03-19 | 2021-07-16 | 福建首松智能科技有限公司 | Robot multi-angle fusion navigation implementation method based on AGV control |
| CN113703446A (en) * | 2021-08-17 | 2021-11-26 | 泉州装备制造研究所 | Magnetic nail-based guidance vehicle navigation method and scheduling system |
| CN114061566A (en) * | 2021-11-04 | 2022-02-18 | 北京特种机械研究所 | Arc navigation method, device, equipment and computer readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6477465B1 (en) * | 1999-11-29 | 2002-11-05 | American Gnc Corporation | Vehicle self-carried positioning method and system thereof |
| CN105015521A (en) * | 2015-07-13 | 2015-11-04 | 上海交通大学 | Automatic parking device of large vehicle based on magnetic nail |
| CN105180931A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Inertial navigation system for storage AGV |
| CN105180930A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | AGV inertial navigation system |
| CN106249736A (en) * | 2016-07-13 | 2016-12-21 | 上海交通大学 | A kind of automatic guided vehicle based on magnetic nail digital map navigation |
-
2017
- 2017-01-24 CN CN201710060303.6A patent/CN106840152A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6477465B1 (en) * | 1999-11-29 | 2002-11-05 | American Gnc Corporation | Vehicle self-carried positioning method and system thereof |
| CN105015521A (en) * | 2015-07-13 | 2015-11-04 | 上海交通大学 | Automatic parking device of large vehicle based on magnetic nail |
| CN105180931A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | Inertial navigation system for storage AGV |
| CN105180930A (en) * | 2015-09-16 | 2015-12-23 | 成都四威高科技产业园有限公司 | AGV inertial navigation system |
| CN106249736A (en) * | 2016-07-13 | 2016-12-21 | 上海交通大学 | A kind of automatic guided vehicle based on magnetic nail digital map navigation |
Non-Patent Citations (5)
| Title |
|---|
| 季冉鸣等: "《一种基于磁钉和惯导系统的机器人导航控制算法》", 《制造业自动化》 * |
| 朱从民: "《AGV AGENT控制系统研究》", 《中国博士学位论文全文数据库 信息科技辑》 * |
| 朱从民等: "AGV多传感器导航系统研究", 《仪器仪表学报》 * |
| 朱从民等: "惯性导航自动引导车磁钉校正路径迭代学习方法", 《农业机械学报》 * |
| 沈猛等: "轮式移动机器人组合导航方法及试验研究", 《计算机仿真》 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741596A (en) * | 2017-11-07 | 2018-02-27 | 浙江理工大学 | A kind of GPS/INS navigation system of magnetic nail positioning auxiliary |
| CN109032130A (en) * | 2018-06-22 | 2018-12-18 | 青岛港国际股份有限公司 | A kind of automatic dock magnetic nail repair method and system |
| CN109032130B (en) * | 2018-06-22 | 2021-08-27 | 青岛港国际股份有限公司 | Automatic wharf magnetic nail maintenance method and system |
| CN108784545A (en) * | 2018-07-25 | 2018-11-13 | 苏州精源创智能科技有限公司 | A kind of inertial navigation system and method applied to sweeping robot |
| CN109506650B (en) * | 2018-09-12 | 2020-12-04 | 广东嘉腾机器人自动化有限公司 | AGV navigation travel deviation correction method based on BP network |
| CN109506650A (en) * | 2018-09-12 | 2019-03-22 | 广东嘉腾机器人自动化有限公司 | AGV navigation deviation of stroke modification method based on BP network |
| CN111380527A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Navigation method and navigation controller of indoor service robot |
| CN109813213A (en) * | 2019-02-11 | 2019-05-28 | 芯球（上海）智能科技有限责任公司 | AGV vehicle angle detection system and method |
| CN110307844A (en) * | 2019-07-26 | 2019-10-08 | 马鞍山市科泰电气科技有限公司 | A kind of factory personnel Position Fixing Navigation System and method based on 3 d modeling system |
| CN110907221A (en) * | 2019-12-31 | 2020-03-24 | 哈工大机器人智能制造有限公司 | Mobile robot system for automatic temperature measurement and sampling of stokehold molten iron |
| CN111413991A (en) * | 2020-05-14 | 2020-07-14 | 东南大学 | Robot navigation positioning method and system |
| CN113126619A (en) * | 2021-03-19 | 2021-07-16 | 福建首松智能科技有限公司 | Robot multi-angle fusion navigation implementation method based on AGV control |
| CN113703446A (en) * | 2021-08-17 | 2021-11-26 | 泉州装备制造研究所 | Magnetic nail-based guidance vehicle navigation method and scheduling system |
| CN113703446B (en) * | 2021-08-17 | 2023-11-07 | 泉州装备制造研究所 | Guide vehicle navigation method and dispatch system based on magnetic nails |
| CN114061566A (en) * | 2021-11-04 | 2022-02-18 | 北京特种机械研究所 | Arc navigation method, device, equipment and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106840152A (en) | A kind of high-precision integrated navigation system and method towards indoor mobile robot | |
| Bonnifait et al. | Design and experimental validation of an odometric and goniometric localization system for outdoor robot vehicles | |
| CN106527432B (en) | The indoor mobile robot cooperative system corrected certainly based on fuzzy algorithmic approach and two dimensional code | |
| CN105066917B (en) | A kind of small pipeline GIS-Geographic Information System measuring device and its measurement method | |
| US9062980B2 (en) | Autonomous mobile system | |
| CN106393104B (en) | A kind of stroke calibration method of mobile robot | |
| CN104597905B (en) | Route tracking method for magnetic navigation AGV | |
| CN109991636A (en) | Map constructing method and system based on GPS, IMU and binocular vision | |
| US8548731B2 (en) | Navigation method, navigation system, navigation device, vehicle provided therewith and group of vehicles | |
| CN109141410B (en) | Multi-sensor fusion positioning method for AGV (automatic guided vehicle) combined navigation | |
| Weinstein et al. | Pose estimation of Ackerman steering vehicles for outdoors autonomous navigation | |
| CN106382934A (en) | High-precision moving robot positioning system and method | |
| CN105987696A (en) | Low-cost vehicle automatic driving design realization method | |
| Pfaff et al. | Towards mapping of cities | |
| CN108613697A (en) | The device and method demarcated for the parameter to vehicle sensors | |
| CN205950750U (en) | Transformer station inspection robot control system that navigates based on inertial navigation | |
| CN103838240A (en) | Control method and electronic equipment | |
| CN104216405A (en) | Navigation method and equipment for field robot | |
| CN106843206A (en) | Assisted location method based on existing road network | |
| Cechowicz | Bias drift estimation for mems gyroscope used in inertial navigation | |
| CN202304739U (en) | Measuring wheel used for measuring range and area | |
| Santos et al. | A robust self-localization system for a small mobile autonomous robot | |
| US20240077880A1 (en) | Slope location correction method and apparatus, robot and readable storage medium | |
| CN105759292B (en) | A kind of the relative position parameter calibration method and system of differential GPS and robot | |
| TWI426241B (en) | Self - propelled device for the tracking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |