CN106919171B - Indoor robot positioning and navigation system and method - Google Patents
Indoor robot positioning and navigation system and method Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention relates to the technical field of robots, in particular to an indoor positioning navigation system and method for a robot. The method comprises the following steps: setting initial coordinate values of at least three base stations used in a positioning system and establishing an absolute coordinate system according to the initial coordinate values; receiving the setting of the target position and the target posture of the robot in an absolute coordinate system; acquiring the current position and the current posture of the robot in an absolute coordinate system; receiving a navigation starting instruction, calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture, and controlling the robot to move according to the walking path of the robot; and in the motion process of the robot, updating the current position and the current posture, using the updated current position and the updated current posture as feedback, and recalculating the walking path of the robot. The method is based on UWB indoor positioning technology, sets initial coordinate values of at least three base stations and establishes an absolute coordinate system according to the initial coordinate values, and the positioning method is simpler and easier to use.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to an indoor positioning navigation system and method for a robot.
[ background of the invention ]
With the development of sensing technology, control technology, machining and new materials, especially the rapid development of computer, network and image processing technology in recent years, the intelligent navigation research of mobile robots has been greatly advanced. At present, the application field of the mobile robot is continuously expanded, the complexity of the indoor activity environment of the mobile robot is increased day by day, and the requirements of users on the mobile robot are improved.
In the research of the related technologies of the mobile robot, the navigation and positioning technologies are the core of the research, and are also the key technologies for realizing the intellectualization and complete autonomy of the mobile robot.
In the process of implementing the invention, the inventor finds that at least the following technical problems exist: how to carry out indoor positioning navigation on the robot and the positioning navigation method of the robot is simple and easy to use.
[ summary of the invention ]
The invention provides an indoor robot positioning and navigation system and method aiming at the technical problems that how to perform indoor positioning and navigation on a robot and the positioning and navigation method of the robot is simple and easy to use in the prior art, and the technical scheme is as follows:
the embodiment of the invention provides an indoor positioning and navigation method for a robot, which comprises the following steps:
setting initial coordinate values of at least three base stations used in a positioning system, and establishing an absolute coordinate system according to the initial coordinate values of the at least three base stations;
receiving settings of a target position and a target attitude of the robot in the absolute coordinate system;
acquiring the current position and the current posture of the robot in the absolute coordinate system;
receiving a navigation starting instruction, calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture, and controlling the robot to move according to the walking path of the robot;
in the motion process of the robot, updating the current position into an updated current position and updating the current posture into an updated current posture;
and calculating the process walking path of the robot according to the target position, the target posture, the updated current position and the updated current posture.
Optionally, in the moving process of the robot, after updating the current position to be the updated current position and updating the current posture to be the updated current posture, the method further includes:
correcting the updated current attitude to obtain an updated and corrected current attitude;
the step of calculating the process walking path of the robot according to the target position, the target posture, the updated current position and the updated current posture specifically comprises the following steps:
and calculating the walking path of the robot according to the target position, the target posture, the updated current position after correction and the updated and corrected current posture.
Optionally, the robot includes a plurality of attitude sensors, a relative coordinate system is established on an installation plane where connection lines between the plurality of attitude sensors are located, wherein an x-axis direction of the relative coordinate system is parallel to the ground and is consistent with a robot running direction, a y-axis direction of the relative coordinate system is parallel to the ground, and the correcting the updated current attitude to obtain the updated and corrected current attitude specifically includes:
acquiring a current attitude angle α of the robot in a current attitude through an attitude sensor of the robot;
obtaining an updated current pose angle β for the robot at an updated current pose via the pose sensor of the robot;
updating and correcting the current attitude angle by the following equation:
γ＝β-α
wherein γ is an updated corrected current attitude angle and an updated current attitude angle when the robot is in the updated current attitude, which are obtained by the attitude sensor of the robot.
Optionally, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically includes:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a position threshold value D;
if the target distance D is greater than the position threshold D, calculating an included angle theta between a connecting line of the current position and the target position and an X axis of an absolute coordinate system, and calculating a difference value a between the included angle theta and the current attitude angle α;
judging whether the difference a is larger than a first orientation threshold a 1;
and if the difference a is larger than a first orientation threshold a1, controlling the robot to turn left or right according to the value range of the difference a and the walking path of the robot.
Optionally, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot further includes:
if the target distance D is greater than a position threshold value D, if the difference value a is not greater than a first direction threshold value a1, controlling the robot to advance according to the walking path of the robot.
Optionally, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot further includes:
if the target distance D is not greater than the position threshold D, acquiring a target attitude angle delta of the robot in the target attitude, and calculating a difference b between the current attitude angle α and the target attitude angle delta;
judging whether the difference value b is larger than a second orientation threshold value a 2;
and if the difference b is larger than a second orientation threshold value a2, controlling the robot to turn left or right according to the value range of the difference b and the walking path of the robot.
Optionally, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot further includes:
and if the target distance D is not greater than a position threshold value D, if the difference b is not greater than a second orientation threshold value a2, controlling the robot to stop according to the walking path of the robot.
Optionally, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically includes:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a distance threshold D1;
if the target distance D is greater than a distance threshold D1, calculating a target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system;
judging whether the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system;
and if the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system, controlling the robot to move forwards or backwards according to the value range of the target difference xx and the walking path of the robot.
Optionally, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot further includes:
if the target distance D is greater than a distance threshold D1 and the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, calculating a target difference yy between a coordinate value of the current position on a Y axis of the absolute coordinate system and a coordinate value of the target position on the Y axis of the absolute coordinate system;
judging whether the target difference yy is larger than a position threshold Dy of an absolute coordinate system Y axis;
and if the target difference xx is not more than the position threshold Dx of the X axis of the absolute coordinate system and the target difference yy is more than the position threshold Dy of the Y axis of the absolute coordinate system, controlling the robot to move forwards or backwards according to the target difference yy and the walking path of the robot.
Optionally, the receiving of the navigation start instruction is based on the target position, the target attitude, the current position and the current attitude
Calculating the walking path of the robot, and controlling the robot to move according to the walking path of the robot specifically comprises the following steps:
and if the target distance D is greater than a distance threshold D1, the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and the target difference yy is not greater than a position threshold Dy of a Y axis of the absolute coordinate system, controlling the robot to stop according to the walking path of the robot.
Optionally, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot further includes:
and if the target distance D is not greater than a distance threshold value D1, controlling the robot to stop according to the walking path of the robot.
The embodiment of the invention also provides an indoor robot positioning and navigation system, which comprises a remote control end, a robot body control end and a server end for connecting the remote control end and the robot body control end, wherein the server end comprises:
the remote control end is used for setting initial coordinate values of at least three base stations used in the positioning system and establishing an absolute coordinate system according to the initial coordinate values of the at least three base stations; receiving settings of a target position and a target attitude of the robot in the absolute coordinate system;
the robot body control end is used for acquiring the current position and the current posture of the robot in the absolute coordinate system; receiving a navigation starting instruction, calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture, and controlling the robot to move according to the walking path of the robot; in the motion process of the robot, updating the current position into an updated current position and updating the current posture into an updated current posture; and calculating the process walking path of the robot according to the target position, the target posture, the updated current position and the updated current posture.
Optionally, the robot body controller is further configured to:
in the motion process of the robot, after the current position is updated to be the updated current position and the current posture is updated to be the updated current posture, correcting the updated current posture to obtain the updated and corrected current posture; and calculating the walking path of the robot according to the target position, the target posture, the updated current position after correction and the updated and corrected current posture.
Optionally, the robot includes a plurality of attitude sensors, and a relative coordinate system is constructed on an installation plane where connection lines of the plurality of attitude sensors are located, wherein an x-axis direction of the relative coordinate system is parallel to the ground and is consistent with a running direction of the robot, and a y-axis direction of the relative coordinate system is parallel to the ground;
the robot body controller is also used for acquiring a current attitude angle α when the robot is in the current attitude through an attitude sensor of the robot, and acquiring an updated current attitude angle β when the robot is in the updated current attitude through an attitude sensor of the robot;
updating and correcting the current attitude angle by the following equation:
γ＝β-α
wherein γ is an updated corrected current attitude angle and an updated current attitude angle when the robot is in the updated current attitude, which are obtained by the attitude sensor of the robot.
Optionally, the robot body controller is further configured to:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a position threshold value D;
if the target distance D is greater than the position threshold D, calculating an included angle theta between a connecting line of the current position and the target position and an X axis of an absolute coordinate system, and calculating a difference value a between the included angle theta and the current attitude angle α;
judging whether the difference a is larger than a first orientation threshold a 1;
and if the difference a is larger than a first orientation threshold a1, controlling the robot to turn left or right according to the value range of the difference a and the walking path of the robot.
Optionally, the robot body controller is further configured to:
if the target distance D is greater than a position threshold value D, if the difference value a is not greater than a first direction threshold value a1, controlling the robot to advance according to the walking path of the robot.
Optionally, the robot body controller is further configured to:
if the target distance D is not greater than the position threshold D, acquiring a target attitude angle delta of the robot in the target attitude, and calculating a difference b between the current attitude angle α and the target attitude angle delta;
judging whether the difference value b is larger than a second orientation threshold value a 2;
and if the difference b is larger than a second orientation threshold value a2, controlling the robot to turn left or right according to the value range of the difference b and the walking path of the robot.
Optionally, the robot body controller is further configured to:
and if the target distance D is not greater than a position threshold value D, if the difference b is not greater than a second orientation threshold value a2, controlling the robot to stop according to the walking path of the robot.
Optionally, the robot body controller is further configured to:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a distance threshold D1;
if the target distance D is greater than a distance threshold D1, calculating a target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system;
judging whether the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system;
and if the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system, controlling the robot to move forwards or backwards according to the value range of the target difference xx and the walking path of the robot.
Optionally, the robot body controller is further configured to:
if the target distance D is greater than a distance threshold D1 and the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, calculating a target difference yy between a coordinate value of the current position on a Y axis of the absolute coordinate system and a coordinate value of the target position on the Y axis of the absolute coordinate system;
judging whether the target difference yy is larger than a position threshold Dy of an absolute coordinate system Y axis;
and if the target difference yy is larger than the position threshold Dy of the Y axis of the absolute coordinate system, controlling the robot to move forwards or backwards according to the value range of the target difference yy and the walking path of the robot.
Optionally, the robot body controller is further configured to:
and if the target distance D is greater than a distance threshold D1, the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and the target difference yy is not greater than a position threshold Dy of a Y axis of the absolute coordinate system, controlling the robot to stop according to the walking path of the robot.
Optionally, the robot body controller is further configured to:
and if the target distance D is not greater than a distance threshold value D1, controlling the robot to stop according to the walking path of the robot.
The embodiment of the invention has the beneficial effects that the robot indoor positioning navigation method provided by the embodiment of the invention comprises the following steps: setting initial coordinate values of at least three base stations used in a positioning system and establishing an absolute coordinate system according to the initial coordinate values; receiving settings of a target position and a target attitude of the robot in the absolute coordinate system; acquiring the current position and the current posture of the robot in the absolute coordinate system; receiving a navigation starting instruction, calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture, and controlling the robot to move according to the walking path of the robot; and in the motion process of the robot, updating the current position and the current posture, using the updated current position and the updated current posture as feedback, and recalculating the walking path of the robot. The robot indoor positioning navigation method provided by the embodiment of the invention is based on UWB indoor positioning technology, sets the initial coordinate values of at least three base stations and establishes an absolute coordinate system according to the initial coordinate values, and the positioning method is simpler and easier to use; the walking path of the robot is calculated according to the current/target position and the current/target posture, the robot motion is controlled, the current position/current posture is changed due to the motion of the robot, the process walking path of the robot is calculated by combining the updated current position/updated current posture, the navigation direction is more consistent with the navigation of the robot in motion under the actual indoor environment, the position of the robot can be obtained by a positioning system, the posture of the robot is obtained by a posture sensor, and the navigation method is simpler and easier to use on the whole.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a structural block diagram of an indoor robot positioning and navigation system according to an embodiment of the present invention.
Fig. 2 is a schematic absolute coordinate system diagram of an indoor robot positioning navigation system according to an embodiment of the present invention.
Fig. 3a is a block diagram of a robot indoor positioning navigation system according to another embodiment of the present invention.
Fig. 3b is a block diagram of a closed-loop control of a robot indoor positioning navigation system according to another embodiment of the present invention.
Fig. 4 is a schematic installation diagram of an attitude sensor of a robot of the robot indoor positioning navigation system provided by the embodiment of the invention.
Fig. 5 is a flowchart of a robot indoor positioning navigation method according to an embodiment of the present invention.
Fig. 6 is a flowchart of a robot indoor positioning navigation method according to another embodiment of the present invention.
Fig. 7 is a flowchart of a robot indoor positioning navigation method according to another embodiment of the present invention.
Fig. 8 is a block diagram of a robot indoor positioning navigation device according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
An "Ultra Wide Band (UWB)" signal is a signal having a relative bandwidth greater than 0.2 or a bandwidth greater than 500MHz at any time of transmission. The narrower the pulse signal time domain width is, the higher the distance resolution is, the resolution of centimeter level can be achieved, the purpose of distance measurement can be achieved by measuring the electromagnetic wave path from the transmitting point to the receiving point, the direct signal has significance for distance measurement, and the reflected signal is interference. UWB positioning requires one positioning tag and several positioning base stations, and particularly requires at least several different positioning base stations according to a positioning algorithm, which is generally based on time delay or angle of arrival calculation (TDOA/AOA), and finally calculates the coordinates of the positioning tag. UWB navigation requires obtaining the coordinates of the object to be located, and also the current angle of the vehicle body, to control the robot to move according to a predetermined trajectory. The ultra-wideband positioning technology is a new technology which is completely new and has great difference with the traditional communication positioning technology. Ultra-wideband communication does not require the use of carriers in conventional communication regimes, but rather transmits data by sending and receiving extremely narrow pulses having nanosecond or subnanosecond levels, and therefore has a bandwidth on the order of GHz. The ultra-wideband positioning technology has the advantages of strong penetrating power, good anti-multipath effect, high safety, low system complexity, capability of providing accurate positioning precision and the like.
Example 1
Fig. 1 is a structural block diagram of an indoor robot positioning and navigation system according to an embodiment of the present invention. As shown in fig. 1, an indoor robot navigation system 100 according to an embodiment of the present invention includes a remote control end 11, a server end 12, and a robot body control end 13. The server end 12 is used for connecting the remote control end 11 and the robot body control end 13, and is a bridge between the remote control end 11 and the robot body control end 13.
The remote control terminal 11 is used for setting initial coordinate values of at least three base stations used in the positioning system, and establishing an absolute coordinate system according to the initial coordinate values of the at least three base stations; receiving settings of a target position and a target pose of the robot in the absolute coordinate system. In some embodiments, the remote control terminal 11 is also used for displaying the walking track of the robot on the map during the navigation process.
Fig. 2 is a schematic absolute coordinate system diagram of an indoor robot positioning navigation system according to an embodiment of the present invention. As shown in fig. 2, the X-axis/Y-axis of the absolute coordinate system indicates the X-axis/Y-axis in the map. According to the actual installation location of the base station, it can be determined that the coordinate positions of the three base stations in the absolute coordinate system are respectively: base station a0(0, 0), a1(x1,0), a2(x2, y 2). The setting of the initial coordinate values of the three base stations in the remote control terminal 11 is determined according to the values of the base stations of the absolute coordinate system.
The robot body control end 13 is used for acquiring the current position and the current posture of the robot in the absolute coordinate system; receiving a navigation starting instruction, calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture, and controlling the robot to move according to the walking path of the robot; in the motion process of the robot, updating the current position into an updated current position and updating the current posture into an updated current posture; and calculating the process walking path of the robot according to the target position, the target posture, the updated current position and the updated current posture.
The robot indoor positioning navigation system 100 provided by the embodiment of the invention has the beneficial effects that the initial coordinate values of at least three base stations are set based on the UWB indoor positioning technology, and an absolute coordinate system is established according to the initial coordinate values, so that the positioning method is simpler and easier to use; the walking path of the robot is calculated according to the current/target position and the current/target posture, the robot motion is controlled, the current position/current posture is changed due to the motion of the robot, the process walking path of the robot is calculated by combining the updated current position/updated current posture, the navigation direction is more consistent with the navigation of the robot in motion under the actual indoor environment, the position of the robot can be obtained by a positioning system, the posture of the robot is obtained by a posture sensor, and the navigation method is simpler and easier to use on the whole.
Fig. 3a is a block diagram of a robot indoor positioning navigation system according to another embodiment of the present invention. Further, as shown in fig. 3, the robot body controller 11 includes functional modules such as a positioning module 14, a navigation control module 15, a posture detection module 16, a motor control module 17, and a motor 18. Where the positioning module 14 primarily utilizes positioning tags/positioning base stations 142, several positioning tags need to be guaranteed to be mounted in a single plane. A trilateration algorithm (time delay or arrival angle calculation (TDOA/AOA)) is adopted to realize the real-time positioning function of the robot. The navigation control module 15 mainly operates a navigation algorithm to output a control signal, and controls the motor 18 to rotate through the motor control module 17 so as to control the robot to turn left, turn right, advance, retreat, stop and other behaviors. The attitude detection module 16 mainly detects an attitude angle of the robot by using an IMU sensor (attitude sensor) 161. The attitude angle is a description of the attitude of the robot in space, and the attitude angle is an angle with respect to an absolute coordinate system.
In yet another embodiment, the robot body controller 11 is further configured to:
in the motion process of the robot, after the current position is updated to be the updated current position and the current posture is updated to be the updated current posture, correcting the updated current posture to obtain the updated and corrected current posture; and calculating the walking path of the robot according to the target position, the target posture, the updated current position and the updated and corrected current posture.
Fig. 3b is a block diagram of a closed-loop control of a robot indoor positioning navigation system according to another embodiment of the present invention. As shown in fig. 3b, the closed-loop control process of the robot indoor positioning navigation system is as follows:
the navigation control module 15 uses the information of the current position and the current attitude of the robot and the information of the target position and the target attitude received by the positioning module 14 and the attitude detection module 16 as input signals, and outputs control signals through the operation of a navigation control algorithm in the navigation control module 15, the output control signals are used as the input of the motor control module 17 to control the motor 18, so as to control the robot to move, the movement of the robot changes the position and the attitude of the robot, new position and attitude of the robot are obtained through the positioning module 145 and the attitude detection module 16, the current position and attitude of the robot are respectively updated to be the updated current position and the updated current attitude, and the updated current position and the updated current attitude are used as feedback signals and are used as input signals of the navigation control module 15 again.
The embodiment of the invention has the advantages that the updated current posture is corrected in the motion process of the robot, so that the posture accuracy of the robot in the moving process is improved, and the robot walking path calculated by combining the updated current posture is more accurate and accords with the reality.
Specifically, the updated current posture is corrected to obtain a corrected updated posture, and the description of the corrected current posture is as follows. Fig. 4 is a schematic installation diagram of an attitude sensor of a robot of the robot indoor positioning navigation system provided by the embodiment of the invention. As shown in fig. 4, the robot includes a plurality of attitude sensors, and a relative coordinate system is established on an installation plane where connection lines of the plurality of attitude sensors are located, the installation plane being parallel to the ground and also parallel to a running plane of the robot. The direction of the x axis of the relative coordinate system is parallel to the ground and is consistent with the running direction of the robot, and the direction of the y axis of the relative coordinate system is parallel to the ground;
the robot body controller is also used for acquiring a current attitude angle α when the robot is in the current attitude through an attitude sensor of the robot, and acquiring an updated current attitude angle β when the robot is in the updated current attitude through an attitude sensor of the robot;
updating and correcting the current attitude angle by the following equation:
γ＝β-α
wherein γ is an updated corrected current attitude angle and an updated current attitude angle when the robot is in the updated current attitude, which are obtained by the attitude sensor of the robot.
The embodiment of the invention has the advantages that the difference value of the updated current attitude angle β and the current attitude angle α is calculated as the updated and corrected current attitude angle gamma, the calculation method is simple and effective, the updated current attitude angle β and the current attitude angle α are easy to obtain and can be corrected quickly, and in the motion process of the robot, the updated current attitude is corrected, so that the attitude accuracy of the robot in the moving process is improved, and the robot walking path calculated by combining the updated and corrected current attitude is more accurate and accords with the reality.
Fig. 6 is a control flow chart of a navigation algorithm for performing position and attitude feedback based navigation in the robot indoor positioning navigation method according to another embodiment of the present invention. In a further embodiment, as shown in fig. 6, the robot body controller 11 is further configured to run a navigation algorithm based on position and posture feedback, and in particular, the robot body controller 11 is further configured to:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a position threshold value D;
specifically, the position threshold D represents a distance of a specific value, and may be set in combination with the indoor specific environment, such as the indoor area size, the number of obstacles, the existence time and the dynamic change of the obstacles, in combination with the volume of the robot and the space required for the robot to turn, in combination with the requirements on the accuracy of the target position and the target attitude, and the like. The target distance D is larger than the position threshold value D, at least indicates that the robot does not move to the set target position and target posture, the robot still needs to be controlled to move, and the robot is controlled to move forward after rotating left or right according to the walking path of the robot, or the robot is directly controlled to move forward.
If the target distance D is greater than the position threshold D, calculating an included angle theta between a connecting line of the current position and the target position and an X axis of an absolute coordinate system, and calculating a difference value a between the included angle theta and the current attitude angle α;
specifically, if D > D, the difference a between the angle θ between the connecting line of the current position and the target position and the X axis of the absolute coordinate system and the current attitude angle α is further considered, and the robot is controlled to move backward or to advance in the original direction according to the difference a and whether the difference a is greater than the first orientation threshold a 1.
Judging whether the difference a is larger than a first orientation threshold a 1;
and if the difference a is larger than a first orientation threshold a1, controlling the robot to turn left or right according to the value range of the difference a and the walking path of the robot.
Further, the difference between the angle θ between the line connecting the current position and the target position and the X axis of the absolute coordinate system and the current attitude angle α may be a positive value or a negative value, and when the robot is controlled to turn left or right, the direction in which the robot turns more quickly and efficiently is considered, for example, when θ - α is 30 °, the robot should be controlled to turn left by 30 °, θ - α is-270 °, and the robot should also be controlled to turn left by 90 °.
Specifically, the first orientation threshold a1 represents the angle of a specific value, and the first orientation threshold a1 may be set in combination with the shape and volume of the robot in different robot models and types, and in combination with the accuracy requirements for the target position and the target pose.
Further, if the target distance D is greater than a position threshold D, if the difference a is not greater than a first direction threshold a1, the robot is controlled to move forward according to the walking path of the robot. That is, if D is greater than D and a is less than or equal to a1, the advancing direction of the robot is considered to be more consistent with the required running direction, and the robot is controlled to advance according to the walking path of the robot.
It should be noted that, in the moving process of the robot, the current position and the current posture are updated, and in practical application, the walking path of the robot may be calculated by combining the updated current position, the updated current posture, the target position and the target posture, the updated target distance D 'between the updated current position and the target position may be calculated, and whether the updated target distance D' is greater than the position threshold D may be determined, and the robot may be further controlled to move or stop according to the determination result.
The robot navigation method has the advantages that if the target distance D is larger than a position threshold value D, if the difference a between the angle theta between the connecting line of the current position and the target position and the X axis of the absolute coordinate system and the current attitude angle α is larger than a first attitude threshold value a1, namely D > D and a > a1, a control command for enabling the robot to turn left or right is output according to the value range of a, D > D and a > a1 at least indicates that the robot does not move to the set target position and target attitude, the robot still needs to be controlled to move, the robot is controlled to turn left or right and then advances according to the walking path of the robot, so that the robot can move to be within a certain range close to the set target position (smaller than or equal to the position threshold value D), if the target distance D is larger than the position threshold value D, if the difference a between the connecting line of the current position and the target position and the X axis of the absolute coordinate system and the current attitude angle theta is larger than a first attitude 1, namely D > D1, the difference a between the angle theta between the connecting line of the current position and the absolute coordinate system X axis is smaller than a threshold value D, the moving threshold value D, the moving range of the robot navigation system is smaller than a navigation threshold value D, the target position threshold value D, the moving range of the navigation command, the moving range of the moving of the robot is set by the robot navigation system, the navigation process, the robot is set navigation process of the robot is set navigation process, the navigation process of the robot is set navigation system, the navigation process of the robot is considered, the robot is more easily, the robot is set by.
Still further, the robot body controller 11 is further configured to:
and if the target distance D is not more than a position threshold value D, acquiring a target attitude angle delta of the robot in the target attitude, and calculating a difference b between the current attitude angle α and the target attitude angle delta, specifically, if D < D, at least indicating that the robot has moved to a certain range close to the set target position, only controlling the robot to move to the target attitude, and controlling the robot to turn left, turn right and stop according to the walking path of the robot.
Judging whether the difference value b is larger than a second orientation threshold value a 2;
specifically, the second orientation threshold a2 represents a specific numerical angle, and the second orientation threshold a2 may be set in combination with the shape and volume of the robot in different robot models, and in combination with the accuracy requirements for the target position or target pose.
And if the difference b between the current attitude angle α and the target attitude angle delta is greater than a second azimuth threshold value a2, controlling the robot to turn left or right according to the value range of the difference b and the walking path of the robot.
Further, if the difference b between the current attitude angle α and the target attitude angle δ is greater than the second orientation threshold a2, that is, b > a2, the value of b may be positive or negative, and when the robot is controlled to turn left or right, the direction of turning is considered to be relatively fast and efficient, for example, if δ - α is 5 °, the robot should be controlled to turn right by 5 °, δ - α is-10 °, and the robot should also be controlled to turn left by 10 °.
And if the target distance D is not greater than a position threshold value D, if the difference b is not greater than a second orientation threshold value a2, controlling the robot to stop according to the walking path of the robot. Namely, if D is greater than D and b is less than or equal to a2, the current position and the current posture of the robot are considered to be more consistent with the target position and the target posture, and the robot is controlled to stop according to the walking path of the robot.
The embodiment of the invention has the advantages that if the target distance D is not more than the position threshold D, if the difference b is more than a second orientation threshold a2, namely D < D and b > a2, a control command for enabling the robot to turn left or right is output according to the value range of b; d < D and b > a2 at least indicates that the robot has moved to a certain range (less than or equal to a position threshold value D) close to a set target position, the robot is only required to be controlled to move to a target posture, and the robot is controlled to turn left or right according to the walking path of the robot so as to enable the posture of the robot to accord with an angle in the target posture requirement range; if the target distance D is not greater than the position threshold D, if the difference b is not greater than a second orientation threshold a2, namely D < D and b ≦ a2, outputting a command for stopping the robot; indicating that the robot has moved to a certain range (less than or equal to position threshold value D) close to the set target position and the robot posture conforms to the angle (less than or equal to second orientation threshold value a2) within the target posture requirement range, and the control is stopped according to the walking path of the robot. The position threshold D, the first orientation threshold a1 and the second orientation threshold a2 are set, the relation and mutual feedback of the position threshold D and the first orientation threshold a1 are considered in the robot positioning and navigation process, and the position and posture feedback-based navigation algorithm is supplemented.
Fig. 7 is a control flow chart of a navigation algorithm for operating a robot indoor positioning navigation method based on position feedback according to another embodiment of the present invention. As shown in fig. 7, in another embodiment, the robot body controller 11 is further configured to run a navigation algorithm based on position feedback, and specifically, the robot body controller 11 is further configured to:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a distance threshold D1;
specifically, the distance threshold D1 represents a specific value of distance, and can be set according to the indoor environment, such as the indoor area size, the number of obstacles, the existence time and dynamic change of the obstacles, the volume of the robot and the space required for the robot to turn, the accuracy of the target position and the target posture, and other requirements. The target distance D is greater than the distance threshold D1, which at least indicates that the robot has not moved to the set target position and target posture, and still needs to control the robot to move, and the robot is controlled to move forward after turning left or right according to the walking path of the robot, or the robot is directly controlled to move forward.
If the target distance D is greater than a distance threshold D1, calculating a target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system;
specifically, if D > D1, the robot is further controlled to move forward or backward in the original direction in consideration of the magnitude of a target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system, based on the magnitude of the difference xx and whether the magnitude of the difference xx is greater than a position threshold Dx of the X axis of the absolute coordinate system.
Judging whether the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system;
and if the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system, controlling the robot to move forwards or backwards according to the value range of the target difference xx and the walking path of the robot. That is, if D > D1, xx > Dx, the current position of the robot is considered to be a distance from the target position in the X-axis direction of the absolute coordinate system, and the robot may be controlled to move forward or backward according to the travel path of the robot.
Further, the target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system may be a positive value or a negative value. If the value is positive, the robot is controlled to retreat; if the value is negative, the robot should be controlled to advance.
Specifically, the position threshold Dx of the X-axis of the absolute coordinate system represents a distance of a specific value, and can be set in combination with the specific indoor environment, such as the indoor area size, the number of obstacles, the existence time and the dynamic change of the obstacles, in combination with the volume of the robot and the space required for robot steering, in combination with the requirements on the accuracy of the target position and the target attitude, and the like.
Further, if the target distance D is greater than a distance threshold D1 and the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, calculating a target difference yy between a coordinate value of the current position on a Y axis of the absolute coordinate system and a coordinate value of the target position on a Y axis of the absolute coordinate system;
specifically, if D > D1, the robot is further controlled to move forward or backward according to the magnitude of the target difference xx by further considering the magnitude of the target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system, and the magnitude of the target difference yy between the coordinate value of the current position on the Y axis of the absolute coordinate system and the coordinate value of the target position on the Y axis of the absolute coordinate system.
Judging whether the target difference yy is larger than a position threshold Dy of an absolute coordinate system Y axis;
and if the target difference yy is larger than the position threshold Dy of the Y axis of the absolute coordinate system, controlling the robot to move forwards or backwards according to the value range of the target difference yy and the walking path of the robot. That is, if D > D1, xx < Dx, and yy > Dy, the robot may be controlled to move forward or backward by considering that the current position of the robot is a distance from the target position in the Y-axis direction of the absolute coordinate system.
Further, the target difference yy between the coordinate value of the current position on the Y axis of the absolute coordinate system and the coordinate value of the target position on the Y axis of the absolute coordinate system may be a positive value or a negative value. If the value is positive, the robot is controlled to retreat; if the value is negative, the robot should be controlled to advance.
Specifically, the position threshold Dy of the Y-axis of the absolute coordinate system represents a distance of a specific value, and may be set in combination with specific indoor environments, such as the indoor area size, the number of obstacles, the existence time and dynamic changes of the obstacles, in combination with the volume of the robot and the space required for robot steering, and in combination with requirements on the accuracy of the target position and the target attitude.
It should be noted that, in the moving process of the robot, the current position is updated, and in practical applications, the walking path of the robot may be calculated by combining the updated current position, the current posture, the target position and the target posture, and the updated target distance D 'between the updated current position and the target position is calculated, and whether the updated target distance D' is greater than the distance threshold D1 is determined, and the robot is further controlled to move or stop according to the determination result.
The embodiment of the invention has the advantages that if the target distance D is greater than a distance threshold D1, and the target difference xx is greater than a position threshold Dx of an X axis of an absolute coordinate system, the robot is controlled to move forward or backward according to the value range of the target difference xx and the walking path of the robot, namely D > D1 and xx > Dx, and a control command for moving the robot forward or backward is output according to the size of the target difference xx; d > D1 and xx > Dx at least indicate that the robot does not move to the set target position in the X-axis direction of the absolute coordinate system, the robot still needs to be controlled to move, and the robot is controlled to move forwards or backwards according to the walking path of the robot so as to move to a certain range (smaller than or equal to a distance threshold value D1) close to the set target position. If the target distance D is greater than a distance threshold D1, if the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and if the target difference yy is greater than a position threshold Dy of a Y axis of the absolute coordinate system, controlling the robot to move forward or backward according to the value range of the target difference yy and the walking path of the robot. Namely D > D1, xx < Dx and yy > Dy, and outputs a command for advancing or retreating the robot; d > D1, xx < Dx and yy > Dy at least indicate that the robot does not move to the set target position in the Y-axis direction of the absolute coordinate system, and the robot needs to be controlled to move forwards or backwards according to the walking path of the robot so as to move to a certain range (smaller than or equal to a distance threshold value D1) close to the set target position. The distance threshold D1, the position threshold Dx of the X axis of the absolute coordinate system and the position threshold Dy of the Y axis of the absolute coordinate system are set, the distance between the current position of the robot and the target position in the X axis of the absolute coordinate system is considered in the robot positioning and navigation process, or the distance between the current position of the robot and the target position in the X axis and the Y axis of the absolute coordinate system is considered in a double mode, and navigation is conducted based on position feedback.
Still further, the robot body controller is further configured to:
and if the target distance D is greater than a distance threshold D1, the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and the target difference yy is not greater than a position threshold Dy of a Y axis of the absolute coordinate system, controlling the robot to stop according to the walking path of the robot. That is, if D > D1, xx < Dx, and yy < Dy, it is considered that the current position of the robot is within a certain range (less than or equal to the distance threshold value D1) in which both the X-axis direction and the Y-axis direction of the absolute coordinate system are close to the target position, and the robot may be controlled to stop according to the travel path of the robot.
The embodiment of the invention has the beneficial effects that if the target distance D is greater than a distance threshold D1, the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and the target difference yy is not greater than a position threshold Dy of a Y axis of the absolute coordinate system, the robot is controlled to stop according to the walking path of the robot. If D > D1, xx < Dx and yy < Dy, the robot can be controlled to stop according to the walking path of the robot within a certain range (less than or equal to a distance threshold value D1) that the X-axis direction and the Y-axis direction of the absolute coordinate system are close to the target position. The distance threshold D1, the position threshold Dx of the X axis of the absolute coordinate system and the position threshold Dy of the Y axis of the absolute coordinate system are set, the distances between the current position of the robot and the target position in the X axis and the Y axis of the absolute coordinate system are considered in the robot positioning and navigation process, and navigation is carried out based on position feedback.
Still further, the robot body controller is further configured to:
and if the target distance D is not greater than a distance threshold value D1, controlling the robot to stop according to the walking path of the robot.
The embodiment of the invention has the beneficial effect that if the target distance D is not greater than the distance threshold value D1, the robot is controlled to stop according to the walking path of the robot. If D is less than or equal to D1, the robot is controlled to stop according to the walking path of the robot, at least the fact that the robot has moved to a certain range of the set target position in the absolute coordinate system (less than or equal to the distance threshold value D1) is represented. The distance threshold D1 is set, the difference value between the current position and the target position of the robot is considered in the robot positioning and navigation process, and navigation is carried out based on position feedback.
Example 2
The embodiment of the invention also provides an indoor positioning and navigation method for a robot, which comprises the following steps of:
303, acquiring the current position and the current posture of the robot in the absolute coordinate system;
305, updating the current position to be the updated current position and updating the current posture to be the updated current posture in the robot movement process;
and step 306, calculating the process walking path of the robot according to the target position, the target posture, the updated current position and the updated current posture.
It should be noted that the robot indoor positioning navigation method and the robot indoor positioning navigation system provided in the embodiments of the present invention are based on the same inventive concept, and the corresponding technical contents in the embodiments of the system and the method are applicable to each other, and are not described in detail herein.
The robot indoor positioning navigation method has the advantages that the robot indoor positioning navigation method provided by the embodiment of the invention is based on UWB indoor positioning technology, sets the initial coordinate values of at least three base stations and establishes an absolute coordinate system according to the initial coordinate values, and the positioning method is simpler and easier to use; the walking path of the robot is calculated according to the current/target position and the current/target posture, the robot motion is controlled, the current position/current posture is changed due to the motion of the robot, the process walking path of the robot is calculated by combining the updated current position/updated current posture, the navigation direction is more consistent with the navigation of the robot in motion under the actual indoor environment, the position of the robot can be obtained by a positioning system, the posture of the robot is obtained by a posture sensor, and the navigation method is simpler and easier to use on the whole.
In a further embodiment of the method according to the invention,
in the motion process of the robot, after the current position is updated to be the updated current position and the current posture is updated to be the updated current posture, the robot indoor positioning navigation method further comprises the following steps:
307, correcting the updated current posture to obtain an updated and corrected current posture;
the step of calculating the process walking path of the robot according to the target position, the target posture, the updated current position and the updated current posture specifically comprises the following steps:
step 3061, calculating the walking path of the robot according to the target position, the target posture, the updated current position and the updated and corrected current posture.
The embodiment of the invention has the advantages that the updated current posture is corrected in the motion process of the robot, so that the posture accuracy of the robot in the moving process is improved, and the robot walking path calculated by combining the updated current posture is more accurate and accords with the reality.
Specifically, the updated current posture is corrected to obtain a corrected updated posture, and the description of the corrected current posture is as follows.
309, acquiring a current attitude angle α of the robot in the current attitude through an attitude sensor of the robot;
step 310, obtaining an updated current attitude angle β when the robot is in an updated current attitude through an attitude sensor of the robot;
updating and correcting the current attitude angle by the following equation:
γ＝β-α
wherein γ is an updated corrected current attitude angle and an updated current attitude angle when the robot is in the updated current attitude, which are obtained by the attitude sensor of the robot.
It should be noted that, the robot indoor positioning navigation method provided in the embodiment of the present invention and the mobile robot provided in the embodiment of the entity apparatus are based on the same inventive concept, and the corresponding technical contents in the embodiments of the entity apparatus and the method may be mutually applicable, and are not described in detail herein.
The embodiment of the invention has the advantages that the difference value of the updated current attitude angle β and the current attitude angle α is calculated as the updated and corrected current attitude angle gamma, the calculation method is simple and effective, the updated current attitude angle β and the current attitude angle α are easy to obtain and can be corrected quickly, and in the motion process of the robot, the updated current attitude is corrected, so that the attitude accuracy of the robot in the moving process is improved, and the robot walking path calculated by combining the updated and corrected current attitude is more accurate and accords with the reality.
In another embodiment, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target pose, the current position, and the current pose, and controlling the robot to move according to the walking path of the robot specifically includes:
step 3041, receiving a navigation start instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
step 3042, calculating a target distance d from the current position to the target position;
step 3043, determining whether the target distance D is greater than a position threshold D;
step 3044, if the target distance D is greater than the position threshold D, calculating an included angle θ between a connection line between the current position and the target position and an X axis of the absolute coordinate system, and calculating a difference a between the included angle θ and the current attitude angle α;
step 3045, determining whether the difference a is greater than a first orientation threshold a 1;
step 3046, if the difference a is greater than the first orientation threshold a1, controlling the robot to turn left or right according to the range of the difference a and the walking path of the robot.
Further, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically further includes:
step 3047, if the target distance D is greater than the position threshold D, if the difference a is not greater than the first direction threshold a1, controlling the robot to move forward according to the walking path of the robot.
The robot navigation method has the advantages that if the target distance D is larger than a position threshold value D, if the difference a between the angle theta between the connecting line of the current position and the target position and the X axis of the absolute coordinate system and the current attitude angle α is larger than a first attitude threshold value a1, namely D > D and a > a1, a control command for enabling the robot to turn left or right is output according to the value range of a, D > D and a > a1 at least indicates that the robot does not move to the set target position and target attitude, the robot still needs to be controlled to move, the robot is controlled to turn left or right and then advances according to the walking path of the robot, so that the robot can move to be within a certain range close to the set target position (smaller than or equal to the position threshold value D), if the target distance D is larger than the position threshold value D, if the difference a between the connecting line of the current position and the target position and the X axis of the absolute coordinate system and the current attitude angle theta is larger than a first attitude 1, namely D > D1, the difference a between the angle theta between the connecting line of the current position and the absolute coordinate system X axis is smaller than a threshold value D, the moving threshold value D, the moving range of the robot navigation system is smaller than a navigation threshold value D, the target position threshold value D, the moving range of the navigation command, the moving range of the moving of the robot is set by the robot navigation system, the navigation process, the robot is set navigation process of the robot is set navigation process, the navigation process of the robot is set navigation system, the navigation process of the robot is considered, the robot is more easily, the robot is set by.
Further, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically further includes:
step 3048, if the target distance D is not greater than the position threshold D, obtaining a target attitude angle δ of the robot at the target attitude, and calculating a difference b between the current attitude angle α and the target attitude angle δ;
step 3049, determining whether the difference b is greater than a second orientation threshold a 2;
step 3140, if the b is larger than a second orientation threshold value a2, controlling the robot to turn left or right according to the value range of the difference b and the walking path of the robot.
Further, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically further includes:
step 3141, if the target distance D is not greater than the position threshold D, if the difference b is not greater than a second orientation threshold a2, controlling the robot to stop according to the walking path of the robot.
The embodiment of the invention has the advantages that if the target distance D is not more than the position threshold D, if the difference b is more than a second orientation threshold a2, namely D < D and b > a2, a control command for enabling the robot to turn left or right is output according to the value range of b; d < D and b > a2 at least indicates that the robot has moved to a certain range (less than or equal to a position threshold value D) close to a set target position, the robot is only required to be controlled to move to a target posture, and the robot is controlled to turn left or right according to the walking path of the robot so as to enable the posture of the robot to accord with an angle in the target posture requirement range; if the target distance D is not greater than the position threshold D, if the difference b is not greater than a second orientation threshold a2, namely D < D and b ≦ a2, outputting a command for stopping the robot; indicating that the robot has moved to a certain range (less than or equal to position threshold value D) close to the set target position and the robot posture conforms to the angle (less than or equal to second orientation threshold value a2) within the target posture requirement range, and the control is stopped according to the walking path of the robot. The position threshold D, the first orientation threshold a1 and the second orientation threshold a2 are set, the relation and mutual feedback of the position threshold D and the first orientation threshold a1 are considered in the robot positioning and navigation process, and the position and posture feedback-based navigation algorithm is supplemented.
In another embodiment, the robot body controller 11 is further configured to run a navigation algorithm based on position feedback, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically includes:
step 3142, receiving a navigation start instruction, and calculating the walking path of the robot according to the target position, the target posture, the current position and the current posture;
step 3143, calculating a target distance d between the current position and the target position;
step 3144, judging whether the target distance D is greater than a distance threshold value D1;
step 3145, if the target distance D is greater than a distance threshold D1, calculating a target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system;
step 3146, judging whether the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system;
step 3147, if the target difference xx is greater than the position threshold Dx of the X axis of the absolute coordinate system, controlling the robot to move forward or backward according to the value range of the target difference xx and the walking path of the robot.
Further, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically further includes:
step 3148, if the target distance D is greater than the distance threshold D1 and the target difference xx is not greater than the position threshold Dx of the X axis of the absolute coordinate system, calculating the target difference yy between the coordinate value of the current position on the Y axis of the absolute coordinate system and the coordinate value of the target position on the Y axis of the absolute coordinate system;
3149, judging whether the target difference yy is larger than a position threshold Dy of the Y axis of the absolute coordinate system;
step 3240, if the target difference xx is not greater than the position threshold Dx of the X axis of the absolute coordinate system, and if the target difference yy is greater than the position threshold Dy of the Y axis of the absolute coordinate system, controlling the robot to move forward or backward according to the value range of the target difference yy and the walking path of the robot.
Further, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically further includes:
step 3241, if the target distance D is greater than a distance threshold D1, the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and the target difference yy is not greater than a position threshold Dy of a Y axis of the absolute coordinate system, controlling the robot to stop according to a walking path of the robot.
The embodiment of the invention has the advantages that if the target distance D is greater than a distance threshold D1, and the target difference xx is greater than a position threshold Dx of an X axis of an absolute coordinate system, the robot is controlled to move forward or backward according to the value range of the target difference xx and the walking path of the robot, namely D > D1 and xx > Dx, and a control command for moving the robot forward or backward is output according to the size of the target difference xx; d > D1 and xx > Dx at least indicate that the robot does not move to the set target position in the X-axis direction of the absolute coordinate system, the robot still needs to be controlled to move, and the robot is controlled to move forwards or backwards according to the walking path of the robot so as to move to a certain range (smaller than or equal to a distance threshold value D1) close to the set target position. If the target distance D is greater than a distance threshold D1, if the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and if the target difference yy is greater than a position threshold Dy of a Y axis of the absolute coordinate system, controlling the robot to move forward or backward according to the value range of the target difference yy and the walking path of the robot. Namely D > D1, xx < Dx and yy > Dy, and outputs a command for advancing or retreating the robot; d > D1, xx < Dx and yy > Dy at least indicate that the robot does not move to the set target position in the Y-axis direction of the absolute coordinate system, and the robot needs to be controlled to move forwards or backwards according to the walking path of the robot so as to move to a certain range (smaller than or equal to a distance threshold value D1) close to the set target position. The distance threshold D1, the position threshold Dx of the X axis of the absolute coordinate system and the position threshold Dy of the Y axis of the absolute coordinate system are set, the distance between the current position of the robot and the target position in the X axis of the absolute coordinate system is considered in the robot positioning and navigation process, or the distance between the current position of the robot and the target position in the X axis and the Y axis of the absolute coordinate system is considered in a double mode, and navigation is conducted based on position feedback.
Further, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically further includes:
step 3242, if the target distance D is greater than a distance threshold D1, the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and the target difference yy is not greater than a position threshold Dy of a Y axis of the absolute coordinate system, controlling the robot to stop according to a walking path of the robot.
The embodiment of the invention has the beneficial effects that if the target distance D is greater than a distance threshold D1, the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and the target difference yy is not greater than a position threshold Dy of a Y axis of the absolute coordinate system, the robot is controlled to stop according to the walking path of the robot. If D > D1, xx < Dx and yy < Dy, the robot can be controlled to stop according to the walking path of the robot within a certain range (less than or equal to a distance threshold value D1) that the X-axis direction and the Y-axis direction of the absolute coordinate system are close to the target position. The distance threshold D1, the position threshold Dx of the X axis of the absolute coordinate system and the position threshold Dy of the Y axis of the absolute coordinate system are set, the distances between the current position of the robot and the target position in the X axis and the Y axis of the absolute coordinate system are considered in the robot positioning and navigation process, and navigation is carried out based on position feedback.
Further, the receiving a navigation start instruction, calculating a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and controlling the robot to move according to the walking path of the robot specifically further includes:
step 3243, if the target distance D is not greater than the distance threshold D1, controlling the robot to stop according to the walking path of the robot.
The embodiment of the invention has the beneficial effect that if the target distance D is not greater than the distance threshold value D1, the robot is controlled to stop according to the walking path of the robot. If D is less than or equal to D1, the robot is controlled to stop according to the walking path of the robot, at least the fact that the robot has moved to a certain range of the set target position in the absolute coordinate system (less than or equal to the distance threshold value D1) is represented. The distance threshold D1 is set, the difference value between the current position and the target position of the robot is considered in the robot positioning and navigation process, and navigation is carried out based on position feedback.
Example 3
Fig. 8 is a block diagram of a robot indoor positioning navigation device according to an embodiment of the present invention. As shown in fig. 8, the robot indoor positioning navigation apparatus 200 includes an absolute coordinate system establishing module 201, a target position and target posture receiving module 202, a current position and current posture acquiring module 203, a calculating and controlling module 204, an updating module 205, and a post-updating calculating module 206.
In this embodiment, the module 201 for establishing an absolute coordinate system is configured to set initial coordinate values of at least three base stations used in the positioning system, and establish the absolute coordinate system according to the initial coordinate values of the at least three base stations;
a target position and target posture receiving module 202, configured to receive settings of a target position and a target posture of the robot in the absolute coordinate system;
a current position and current posture obtaining module 203, configured to obtain a current position and a current posture of the robot in the absolute coordinate system;
the calculation and control module 204 is configured to receive a navigation start instruction, calculate a walking path of the robot according to the target position, the target posture, the current position, and the current posture, and control the robot to move according to the walking path of the robot;
an updating module 205, configured to update the current position to be an updated current position and update the current posture to be an updated current posture in the robot motion process;
and the post-update calculation module 206 is configured to calculate a process walking path of the robot according to the target position, the target posture, the updated current position, and the updated current posture.
In another embodiment, the apparatus further comprises:
a correction module 207, configured to correct the updated current posture to obtain an updated and corrected current posture;
the post-update calculation module 206 is further configured to:
and calculating the walking path of the robot according to the target position, the target posture, the updated current position after correction and the updated and corrected current posture.
In another embodiment, the robot includes a plurality of attitude sensors, a relative coordinate system is constructed on an installation plane where connection lines of the plurality of attitude sensors are located, wherein an x-axis direction of the relative coordinate system is parallel to the ground and is consistent with a running direction of the robot, and a y-axis direction of the relative coordinate system is parallel to the ground, and the correction module 207 is further configured to:
acquiring a current attitude angle α of the robot in a current attitude through an attitude sensor of the robot;
obtaining an updated current pose angle β for the robot at an updated current pose via the pose sensor of the robot;
updating and correcting the current attitude angle by the following equation:
γ＝β-α
wherein γ is an updated corrected current attitude angle and an updated current attitude angle when the robot is in the updated current attitude, which are obtained by the attitude sensor of the robot.
In another embodiment, the calculation and control module 204 is further configured to:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a position threshold value D;
if the target distance D is greater than the position threshold D, calculating an included angle theta between a connecting line of the current position and the target position and an X axis of an absolute coordinate system, and calculating a difference value a between the included angle theta and the current attitude angle α;
judging whether the difference a is larger than a first orientation threshold a 1;
and if the difference a is larger than a first orientation threshold a1, controlling the robot to turn left or right according to the value range of the difference a and the walking path of the robot.
In another embodiment, the calculation and control module 204 is further configured to:
if the target distance D is greater than a position threshold value D, if the difference value a is not greater than a first direction threshold value a1, controlling the robot to advance according to the walking path of the robot.
In yet another embodiment, the calculation and control module 204 is further configured to:
if the target distance D is not greater than the position threshold D, acquiring a target attitude angle delta of the robot in the target attitude, and calculating a difference b between the current attitude angle α and the target attitude angle delta;
judging whether the difference value b is larger than a second orientation threshold value a 2;
and if the difference b is larger than a second orientation threshold value a2, controlling the robot to turn left or right according to the value range of the difference b and the walking path of the robot.
In yet another embodiment, the calculation and control module 204 is further configured to:
and if the target distance D is not greater than a position threshold value D, if the difference b is not greater than a second orientation threshold value a2, controlling the robot to stop according to the walking path of the robot.
In a further embodiment, the calculation and control module 204 is further configured to:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a distance threshold D1;
if the target distance D is greater than a distance threshold D1, calculating a target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system;
judging whether the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system;
and if the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system, controlling the robot to move forwards or backwards according to the value range of the target difference xx and the walking path of the robot.
In another embodiment, the calculation and control module 204 is further configured to:
if the target distance D is greater than a distance threshold D1 and the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, calculating a target difference yy between a coordinate value of the current position on a Y axis of the absolute coordinate system and a coordinate value of the target position on the Y axis of the absolute coordinate system;
judging whether the target difference yy is larger than a position threshold Dy of an absolute coordinate system Y axis;
and if the target difference xx is not more than the position threshold Dx of the X axis of the absolute coordinate system and the target difference yy is more than the position threshold Dy of the Y axis of the absolute coordinate system, controlling the robot to move forwards or backwards according to the target difference yy and the walking path of the robot.
In yet another embodiment, the calculation and control module 204 is further configured to:
and if the target distance D is greater than a distance threshold D1, the target difference xx is not greater than a position threshold Dx of an X axis of an absolute coordinate system, and the target difference yy is not greater than a position threshold Dy of a Y axis of the absolute coordinate system, controlling the robot to stop according to the walking path of the robot.
In a further embodiment, the calculation and control module 204 is further configured to:
and if the target distance D is not greater than a distance threshold value D1, controlling the robot to stop according to the walking path of the robot.
It should be noted that the robot indoor positioning navigation device 200 and the robot indoor positioning navigation system embodiment and the robot indoor positioning navigation method embodiment proposed by the embodiments of the present invention are based on the same inventive concept, the robot indoor positioning navigation device 200 and the robot indoor positioning navigation system and the robot indoor positioning navigation method proposed by the embodiments of the present invention are based on the same inventive concept, and the corresponding technical contents in the system embodiments, the method embodiments and the device embodiments are applicable to each other, and detailed description thereof is omitted.
The robot indoor positioning navigation device 200 provided by the embodiment of the invention has the beneficial effects that the robot indoor positioning navigation device 200 provided by the embodiment of the invention comprises an absolute coordinate system establishing module 201, a target position and target posture receiving module 202, a current position and current posture acquiring module 203, a calculating and controlling module 204, an updating module 205 and a post-updating calculating module 206. The robot indoor positioning navigation device 200 provided by the embodiment of the invention is based on UWB indoor positioning technology, sets the initial coordinate values of at least three base stations and establishes an absolute coordinate system according to the initial coordinate values, and the positioning method is simpler and easier to use; the walking path of the robot is calculated according to the current/target position and the current/target posture, the robot motion is controlled, the current position/current posture is changed due to the motion of the robot, the process walking path of the robot is calculated by combining the updated current position/updated current posture, the navigation direction is more consistent with the navigation of the robot in motion under the actual indoor environment, the position of the robot can be obtained by a positioning system, the posture of the robot is obtained by a posture sensor, and the navigation method is simpler and easier to use on the whole.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (8)
1. A robot indoor positioning navigation method is characterized by comprising the following steps:
setting initial coordinate values of at least three base stations used in a positioning system, and establishing an absolute coordinate system according to the initial coordinate values of the at least three base stations;
receiving settings of a target position and a target attitude of the robot in the absolute coordinate system;
acquiring the current position and the current posture of the robot in the absolute coordinate system;
receiving a navigation starting instruction, calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture, and controlling the robot to move according to the walking path of the robot;
updating the current position to be the updated current position and updating the current posture to be the updated current posture in the robot movement process;
correcting the updated current posture to obtain an updated and corrected current posture;
calculating a process walking path of the robot according to the target position, the target posture, the updated current position and the updated and corrected current posture;
wherein, correcting the updated current attitude to obtain the updated and corrected current attitude comprises:
acquiring a current attitude angle α of the robot in a current attitude through an attitude sensor;
obtaining a current pose angle β of the robot at the updated current pose via a pose sensor;
and calculating the updated and corrected current attitude angle according to the gamma- β - α, wherein the gamma is the updated and corrected current attitude angle.
2. The method of claim 1, wherein the robot includes a plurality of attitude sensors, and wherein a relative coordinate system is constructed on an installation plane on which a line connecting the plurality of attitude sensors to each other is located, wherein an x-axis direction of the relative coordinate system is parallel to the ground and coincides with a robot traveling direction, and a y-axis direction of the relative coordinate system is parallel to the ground.
3. The method of claim 2, wherein the receiving an instruction to start navigation, calculating a walking path of the robot according to the target position, the target pose, the current position, and the current pose, and controlling the robot to move according to the walking path of the robot specifically comprises:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a position threshold value D;
if the target distance D is greater than the position threshold D, calculating an included angle theta between a connecting line of the current position and the target position and an X axis of an absolute coordinate system, and calculating a difference value a between the included angle theta and the current attitude angle α;
judging whether the difference a is larger than a first orientation threshold a 1;
and if the difference a is larger than a first orientation threshold a1, controlling the robot to turn left or right according to the value range of the difference a and the walking path of the robot.
4. The method of claim 2, wherein the receiving an instruction to start navigation, calculating a walking path of the robot according to the target position, the target pose, the current position, and the current pose, and controlling the robot to move according to the walking path of the robot specifically comprises:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a distance threshold D1;
if the target distance D is greater than a distance threshold D1, calculating a target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system;
judging whether the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system;
and if the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system, controlling the robot to move forwards or backwards according to the value range of the target difference xx and the walking path of the robot.
5. The indoor robot positioning and navigation system is characterized by comprising a remote control end, a robot body control end and a server end used for connecting the remote control end and the robot body control end, wherein the server end comprises:
the remote control end is used for setting initial coordinate values of at least three base stations used in the positioning system and establishing an absolute coordinate system according to the initial coordinate values of the at least three base stations; receiving settings of a target position and a target attitude of the robot in the absolute coordinate system;
the robot body control end is used for acquiring the current position and the current posture of the robot in the absolute coordinate system; receiving a navigation starting instruction, calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture, and controlling the robot to move according to the walking path of the robot; in the motion process of the robot, updating the current position into an updated current position and updating the current posture into an updated current posture; correcting the updated current posture to obtain an updated and corrected current posture; calculating a process walking path of the robot according to the target position, the target posture, the updated current position and the updated and corrected current posture;
wherein, correcting the updated current attitude to obtain the updated and corrected current attitude comprises:
acquiring a current attitude angle α of the robot in a current attitude through an attitude sensor;
obtaining a current pose angle β of the robot at the updated current pose via a pose sensor;
and calculating the updated and corrected current attitude angle according to the gamma- β - α, wherein the gamma is the updated and corrected current attitude angle.
6. The robot indoor positioning navigation system of claim 5, wherein the robot includes a plurality of attitude sensors, and a relative coordinate system is constructed on an installation plane where a line connecting the plurality of attitude sensors to each other is located, wherein an x-axis direction of the relative coordinate system is parallel to the ground and coincides with a robot traveling direction, and a y-axis direction of the relative coordinate system is parallel to the ground.
7. The robot indoor positioning navigation system of claim 6, wherein the robot body controller is further to:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a position threshold value D;
if the target distance D is greater than the position threshold D, calculating an included angle theta between a connecting line of the current position and the target position and an X axis of an absolute coordinate system, and calculating a difference value a between the included angle theta and the current attitude angle α;
judging whether the difference a is larger than a first orientation threshold a 1;
and if the difference a is larger than a first orientation threshold a1, controlling the robot to turn left or right according to the value range of the difference a and the walking path of the robot.
8. The robot indoor positioning navigation system of claim 6, wherein the robot body controller is further to:
receiving a navigation starting instruction, and calculating a walking path of the robot according to the target position, the target posture, the current position and the current posture;
calculating a target distance d between the current position and a target position;
judging whether the target distance D is greater than a distance threshold D1;
if the target distance D is greater than a distance threshold D1, calculating a target difference xx between the coordinate value of the current position on the X axis of the absolute coordinate system and the coordinate value of the target position on the X axis of the absolute coordinate system;
judging whether the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system;
and if the target difference xx is larger than a position threshold Dx of an X axis of an absolute coordinate system, controlling the robot to move forwards or backwards according to the value range of the target difference xx and the walking path of the robot.
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| CN110411446B (en) * | 2018-04-28 | 2023-09-08 | 深圳果力智能科技有限公司 | Path planning method for robot |
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