CN107436148A - A kind of robot navigation method and device based on more maps - Google Patents
A kind of robot navigation method and device based on more maps Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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Abstract
The present invention provides a kind of robot navigation method and device based on more maps, including：The current location of robot is obtained, area navigation figure corresponding to current location is searched using global path figure；According to current location and target location, guidance path is determined in global path figure using preset routing algorithm, obtains the information of each switching point included in guidance path, switching point is located at the intersection of adjacent two area navigation figures, and the information of switching point includes：The identification information of the positional information of switching point and corresponding area navigation figure；According to the identification information of area navigation figure corresponding to each switching point, area navigation figure corresponding to each switching point is searched, and the positional information using each switching point and the area navigation figure that finds out, control machine people advance according to guidance path to target location.The robot navigation of complex environment is present invention can be suitably applied to, and navigation system cost can be reduced, reduces navigation system complexity, improves navigation system reliability.
Description
Technical field
The present invention relates to field of computer technology, more particularly to a kind of robot navigation method and dress based on more maps
Put.
Background technology
With the development of robot technology, there is intelligent robot to start to be widely used in the market, such as power transformation
Stand crusing robot, prospecting robot, factory's transfer robot and dining room service robot etc..This kind of robot is due to work
It is more complicated to make environment, working region scope is larger, or even needs in different geographical height alternation, therefore to the need of navigation
Ask comparison high.However, this kind of robot mainly uses single map air navigation aid at present, i.e., carried out by a navigation picture
Navigation.This navigation mode can not be applied to region height difference but in the environment of same coordinate there is significant limitation.
Also, in environment with a varied topography and big working region, the not only master control performance to robot and the navigation of above-mentioned navigation mode
Algorithm requires higher, and the requirement to sensor is also higher, in order to ensure the accuracy of navigation, is just necessary for robot and matches somebody with somebody
Standby high performance processor and sensor, cost are higher.
The content of the invention
In view of this, the present invention provides a kind of robot navigation method and device based on more maps, is applicable to complexity
The robot navigation of environment, and navigation system cost can be reduced, reduce navigation system complexity, improve navigation system reliability.
The embodiment of the present invention provides a kind of robot navigation method based on more maps, including：
The current location of robot is obtained, area navigation figure corresponding to the current location is searched using global path figure,
Comprising respectively all coordinate points by path and each coordinate points are each in whole navigational environment in the global path figure
The identification information of self-corresponding area navigation figure；
According to the current location and target location, determine to lead in the global path figure using preset routing algorithm
Bit path, obtains the information of each switching point included in the guidance path, and the switching point is located at adjacent two area navigations
The intersection of figure, the information of the switching point include：The mark of the positional information of the switching point and corresponding area navigation figure
Know information；
According to the identification information of area navigation figure corresponding to each switching point, region corresponding to each switching point is searched
Navigation picture, and the positional information using each switching point and the area navigation figure that finds out, control the robot according to institute
Guidance path is stated to advance to the target location.
The embodiment of the present invention provides a kind of robot navigation device based on more maps, including：
Position acquisition module, for obtaining the current location of robot；
Navigation picture searching modul, for searching area navigation figure corresponding to the current location, institute using global path figure
State and include in whole navigational environment that respectively all coordinate points by path and each coordinate points are each in global path figure
The identification information of corresponding area navigation figure；
Guidance path determining module, for according to the current location and target location, being existed using preset routing algorithm
Guidance path is determined in the global path figure, obtains the information of each switching point included in the guidance path, the switching
Point is located at the intersection of adjacent two area navigation figures, and the information of the switching point includes：The positional information of the switching point with
And the identification information of corresponding area navigation figure；
The navigation picture searching modul, the identification information of the area navigation figure according to corresponding to each switching point is additionally operable to,
Search area navigation figure corresponding to each switching point；
Navigation module, for the positional information using each switching point and the area navigation figure found out, described in control
Robot advances according to the guidance path to the target location.
According to above-described embodiment, a kind of robot navigation method and device based on more maps provided by the invention, pass through
The guidance path from the current location of robot to target location is determined using global path figure, this is obtained according to guidance path and led
Area navigation figure corresponding to each switching point in bit path, navigated using the area navigation figure segmentation of acquisition.Compared to existing
Technology, on the one hand the area navigation figure corresponding to being used for different regions is navigated, therefore can effectively be solved existing
It is different but the environment of same coordinate the problem of that region height can not be applied to present in technology, realize with a varied topography and
Robot navigation in the big environment in working region, on the other hand due to being to utilize more digital map navigations, each area navigation
The data volume included in figure is smaller, therefore difficulty and treating capacity when can reduce data processing, so as to and can reduce navigation system
Cost, reduce navigation system complexity, improve navigation system reliability.
For the above and other objects, features and advantages of the present invention can be become apparent, preferred embodiment cited below particularly,
And coordinate institute's accompanying drawings, it is described in detail below.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the robot navigation method based on more maps provided in an embodiment of the present invention；
Fig. 2 is global path Tu Yu areas in a kind of robot navigation method based on more maps provided in an embodiment of the present invention
One schematic diagram of domain navigation picture relation；
Fig. 3 is global path Tu Yu areas in a kind of robot navigation method based on more maps provided in an embodiment of the present invention
Another schematic diagram of domain navigation picture relation；
Fig. 4 is the flow of step S103 in a kind of robot navigation method based on more maps provided in an embodiment of the present invention
Figure；
Fig. 5 is a kind of structural representation for robot navigation device based on more maps that one embodiment of the invention provides；
Fig. 6 is a kind of structural representation for robot navigation device based on more maps that another embodiment of the present invention provides
Figure.
Embodiment
Further to illustrate that the present invention is to realize technological means and effect that predetermined goal of the invention taken, below in conjunction with
Accompanying drawing and preferred embodiment, to embodiment, structure, feature and its effect according to the present invention, describe in detail as after.
Referring to Fig. 1, a kind of robot navigation method based on more maps of first embodiment of the invention offer is shown
Flow chart, this method can be applied in robot, realize more map independent navigations to robot.Wherein, the robot body
Including：Master cpu (central processing unit, Central Processing Unit), memory, motor, odometer, gyroscope with
And laser aid.Wherein, motor moves for control machine people, and odometer, gyroscope, laser aid are used for external environmental information
Collection and the positioning of robot, navigation.Specifically, mileage is obtained using odometer, and obtained using laser aid
Laser data is modified to the mileage of acquisition, so that it is determined that the accurate location of robot.
As shown in figure 1, this method specifically may include following steps：
S101, the current location for obtaining robot, area navigation figure corresponding to current location is searched using global path figure；
A global path figure is configured with the memory of robot and by multiple area navigation figure structures that are mutually related
Into area navigation atlas, the respectively coordinate points by path and each coordinate are included in whole navigational environment in the global path figure
The identification information of each self-corresponding area navigation figure of point.Multiple and the regional in navigational environment are included in area navigation atlas
The corresponding area navigation figure that is mutually related respectively.Global path figure generates according to area navigation atlas.
Preferably, area navigation figure is stored in a manner of grating map.In addition, global path figure is by preset whole navigation
Environment is (such as：The actual working environment of the robots such as dining room, factory) in respectively by the coordinate points in path and each coordinate points each
The identification information (e.g., ground figure number) of corresponding area navigation figure is stored in a manner of adjacency matrix, can significantly reduce internal memory
CPU consumption when the consumption of resource and path planning, improves navigation speed.
Robot loads global path figure, then obtains the current location of itself on global road first before being navigated
Coordinate in the figure of footpath, according to the coordinate of the current location of acquisition, region corresponding with current location is determined by global path figure
The identification information of navigation picture, the region corresponding with the identification information is searched from area navigation atlas according to the identification information of determination
Navigation picture, that is, area navigation figure corresponding to current location is searched, and load the area navigation figure found out.
S102, according to current location and target location, navigation is determined in global path figure using preset routing algorithm
Path, the information of each switching point included in guidance path being obtained, switching point is located at the intersection of adjacent two area navigation figures,
The information of switching point includes：The identification information of the positional information of switching point and corresponding area navigation figure；
Preferably, using the thorough algorithm (English of enlightening Coase：Dijkstra's algorithm), global navigation is calculated
The optimal path of target location is reached as guidance path from current location in figure.Then, using global path figure, navigation is obtained
Being reached from the current location of robot of being included in path needed in the way of target location by each switching point information.Wherein
Switching point be in global path figure positioned at adjacent two area navigation figures intersection the abutment points with switching point attribute (such as
A and B shown in Fig. 2).The information of switching point includes：The identification information of the positional information of switching point and corresponding area navigation figure.
S103, according to corresponding to each switching point area navigation figure identification information, search each switching point corresponding to region lead
Chart, and the positional information using each switching point and the area navigation figure that finds out, control machine people is according to guidance path to mesh
Cursor position is advanced.
According to the identification information of area navigation figure corresponding to each switching point, area navigation figure corresponding to each switching point is searched,
And the positional information using each switching point and the area navigation figure that finds out, control machine people is according to guidance path to target location
Advance, wherein often reaching the switching point included in a guidance path, then switch area navigation figure corresponding with the switching point and enter
Row area navigation, until arriving at target location.
Specifically, according to the identification information of corresponding area navigation figure in each switching point information of acquisition, in area navigation
Area navigation figure corresponding to the identification information is searched in atlas.Then according to guidance path, according to the positional information of each switching point,
Using area navigation figure corresponding to current location, control machine people advances to switching point nearest apart from itself on direct of travel,
When detecting that robot reaches the switching point, next area navigation figure is determined according to direct of travel.It is to be appreciated that due to
Switching point is located at the intersection of adjacent two area navigation figures, generally corresponds to two area navigation figures, therefore can be according to traveling side
To the area navigation figure that will use of determination, for example, as shown in Fig. 2 when direct of travel is from switching point A to switching point B, when
When robot arrives at switching point A, a switching point nearest apart from robot is B on direct of travel, it is determined that next region
Navigation picture is area navigation Fig. 2.Then navigated according to the next area navigation figure determined, until reaching target position
Put.
As another embodiment of the present invention, as shown in figure 4, step S103 is specifically included：
Area navigation figure corresponding to S1031, loading current location；
S1032, judge target location whether in the navigation picture currently loaded；
Specifically, current location and target position can be judged according to the current location obtained in real time and the coordinate of target location
Put and whether correspond to same area navigation figure, if corresponding same area navigation figure, judge target location positioned at current loading
Navigation picture in.It should be noted that only loading an area navigation figure at same time point, what is currently loaded in this step leads
Chart refers to the area navigation figure or target area navigation picture in the time point loading for performing this step.
If S1033, being located at, according to the navigation picture currently loaded, control machine people marches to target location；
If target location is located in the navigation picture currently loaded, navigated, controlled using the navigation picture currently loaded
Robot marches to target location.
If S1034, not being located at, nearest according to current distance robot on the navigation picture and direct of travel currently loaded
The positional information of switching point, control machine people advance to nearest switching point；
If target location in the navigation picture currently loaded, according to direct of travel, does not include from guidance path
Each switching point determines that this needs a nearest switching point of reach robot, is carried out using the navigation picture currently loaded
Navigation, control machine people advance to the switching point.
S1035, when detecting that robot reaches nearest switching point, according to area navigation corresponding to nearest switching point
The identification information and direct of travel of figure, search and load corresponding target area navigation picture, step S1032 is performed, until arriving
Up to target location.
According to the current location for the robot for continuing to obtain in real time and the position of nearest switching point, detection robot is
It is no to reach nearest switching point, if detect that robot reaches nearest switching point, led according to region corresponding to the switching point
The identification information and direct of travel of chart, search target area navigation corresponding with the nearest switching point on direct of travel
Figure.It is to be appreciated that because switching point is located at the intersection of adjacent two area navigation figures, that is to say, that same switching point
Corresponding two different area navigation figures are possible to, according to the identification information of area navigation figure corresponding to nearest switching point,
Area navigation figure corresponding to being searched in area navigation atlas, according to direct of travel, confirm the area navigation figure that finds out which
The target area navigation picture needed to use is only, and loads the target area navigation picture confirmed, then performs step
S1032-S1035, until control machine people reaches target location.
With reference to Fig. 2, to further illustrate the above-mentioned robot navigation method based on more maps, for example, assuming that machine
The current location of people is positioned at navigation grating map 1, and target location is located at navigation grating map 2, then：
First, robot carries out more digital map navigation initialization, is loaded into global path figure, according to robot self-position, looks for
To the navigation grating map 1 residing for robot, and load this area navigation grating map 1.
Then, when robot needs to reach some specific position, robot can according to current location and target location,
According to global path figure find robot need reach target used in Zone Full navigation grating map, then according to itself
Real-time loading area navigation grating map in position navigates, until arriving at.Specifically：
1st, according to self-position and target location, Dijkstra's is used in global path adjacency matrix figure
Algorithm finds out optimal path, and the abutment points with switching point attribute are found in the path to be passed through according to robot, really
Recognize required one or more area navigation grating maps number, the grating map 2 that such as navigates figure number；
2nd, judge target location whether currently load area navigation grating map 1 (when jumping to step 2 by step 5,
The area navigation grating map currently loaded is area navigation grating map 2) in, if in current map, skip to the 6th step and hold
OK, if not in the area navigation grating map 1 currently loaded, step 3 is performed；
3rd, according to the area navigation grating map 1 that currently loads, navigated by local control, into guidance path currently away from
The switching point A motion nearest from robot, switching point A are located at next area navigation grating map 2 and the region currently loaded
The intersection of navigation grating map 1；
4th, judge whether to reach switching point A, if reaching switching point A, perform following step 5, if do not reached,
The 3rd step is then skipped to continue executing with；
5th, new area navigation grating map 2 is loaded, the 2nd step is skipped to and continues executing with；
6th, according to the area navigation grating map 1 currently loaded (when jumping to step 2 by step 5 and jumping to 6 again, currently
The area navigation grating map of loading is area navigation grating map 2), navigated by local control, move to target location simultaneously
Terminate navigation.
As another embodiment of the present invention, before more digital map navigations are carried out, robot utilize built-in various gyroscopes,
The various data acquisition devices such as odometer and laser aid, the field data of preset navigational environment is gathered, according to collection
Field data and the graph parameter of building with setting, such as：The high low head threshold value of landform or top of map size threshold value, gyroscope feedback
Angle of inclination threshold value of spiral shell instrument feedback etc., the region of multiple and the area navigation figure that is mutually related is included using map tool generation
Navigation atlas (preferably, area navigation figure is stored in a manner of grating map) and global path figure (preferably a, global path
Figure is simultaneously stored the coordinate points by path and ground figure number in a manner of adjacency matrix).Specifically include following steps：
1st, the field data of preset navigational environment is gathered, the field data can be, but not limited to include：By gyroscope,
The initial data of odometer and the navigational environment of laser aid collection.
2nd, the field data of collection is handled by expanded Kalman filtration algorithm using preset map tool,
The body gesture and positional information of robot are obtained, wherein body gesture is derived from the data obtained by gyroscope, positional information
From the mileage obtained by odometer.
3rd, confirmed using map tool according to preset map size threshold value and the field data gathered by gyroscope
The number of area navigation grating map and the division packet of each area navigation grating map generated is needed, wherein gyroscope is adopted
The field data of collection can be, but not limited to include：The high low head threshold value of landform of gyroscope feedback or the inclination angle of gyroscope feedback
Spend threshold value.The map datum that corresponding area navigation grating map is included in packet is divided, the map datum includes：Above-mentioned step
The laser number gathered in the body gesture of the robot obtained in rapid 2, positional information and above-mentioned steps 1 by laser aid
According to.
4th, according to each division packet, the body gesture of the robot wherein included, positional information and laser number are used
According to, area navigation grating map is created using ICP (iteration closest approach algorithm, Iterative Closest Point) algorithm, and
According to the description information on summit and retouching for switching point of preset path length threshold or yaw angle threshold value generation global path figure
Information is stated, the wherein description information on the summit of global path figure includes the positional information on each summit and corresponding area navigation grid
The ground figure number of map, positional information and corresponding area navigation grating map of the description information including each switching point of switching point
Ground figure number.
5th, according to the summit of global path figure of generation and the description information of switching point, synthesis global path figure (or it is complete
Office's pathway contiguous matrix diagram).
The area navigation grating map of generation and the relation of global path figure are as shown in Figures 2 and 3.Wherein, it is single real in Fig. 2
Shown in line for area navigation grating map 1 (navigation map 1 in Fig. 3), shown in single dotted line for area navigation grating map 2
(navigation map 2 in Fig. 3), shown in double solid line for global path Fig. 3 (path profile in Fig. 3), hollow dotted line show 2
The intersection 4 of area navigation grating map, i.e. the two part repeated, point A and B on global path Fig. 3 are switching point, must
It must be in the intersection of 2 navigation grating maps 1 and 2 in the part that the two is repeated.
A kind of robot navigation method based on more maps provided in an embodiment of the present invention, it is true by using global path figure
The fixed guidance path from the current location of robot to target location, each switching point on the guidance path is obtained according to guidance path
Corresponding area navigation figure, navigated using the area navigation figure segmentation of acquisition.Compared to prior art, on the one hand due to pin
Area navigation figure corresponding to being used to different regions navigates, therefore can effectively solve fit present in prior art
It is different for region height but the environment of same coordinate the problem of, realize in environment with a varied topography and big working region
Robot navigation, on the other hand due to being to utilize more digital map navigations, the data volume included in each area navigation map compared with
It is small, therefore difficulty and treating capacity when can reduce data processing, so as to and navigation system cost can be reduced, reduction navigation system is answered
Miscellaneous degree, improve navigation system reliability.
Referring to Fig. 5, a kind of knot of robot navigation device based on more maps of one embodiment of the invention offer is shown
Structure schematic diagram, it can be a kind of holding for robot navigation method based on more maps provided in an embodiment of the present invention shown in Fig. 1
Row main body, such as a module in robot or robot, for convenience of description, it illustrate only related to the embodiment of the present invention
Part.As shown in figure 5, the device includes：Position acquisition module 501, navigation picture searching modul 502, guidance path determining module
503 and navigation module 504.Each module describes in detail as follows：
Wherein, position acquisition module 501, for obtaining the current location of robot；
Navigation picture searching modul 502, should for searching area navigation figure corresponding to the current location using global path figure
Respectively all coordinate points by path and respectively the coordinate points each correspond to are included in whole navigational environment in global path figure
Area navigation figure identification information；
Guidance path determining module 503, for according to the current location and target location, being existed using preset routing algorithm
Guidance path is determined in the global path figure, obtains the information of each switching point included in the guidance path, the switching point is located at
The intersection of adjacent two area navigation figures, the information of the switching point include：The positional information of the switching point and corresponding area
The identification information of domain navigation picture；
Navigation picture searching modul 502, the identification information according to respectively area navigation figure corresponding to the switching point is additionally operable to, searched
Respectively area navigation figure corresponding to the switching point；
Navigation module 504, for using the respectively positional information of the switching point and the area navigation figure found out, controlling the machine
Device people advances according to the guidance path to the target location.
It should be noted that in a kind of embodiment of robot navigation device based on more maps of figure 5 above example,
The division of each functional module is merely illustrative of, can be as needed in practical application, for example, the configuration requirement of corresponding hardware or
The convenient consideration of the realization of person's software, and above-mentioned function distribution is completed by different functional modules, will the device inside
Structure is divided into different functional modules, to complete all or part of function described above.Moreover, in practical application, this
Corresponding functional module in embodiment can be realized by corresponding hardware, can also be performed by corresponding hardware corresponding soft
Part is completed (each embodiment that this specification provides can all apply foregoing description principle, repeat no more below).Not using up details please
Referring to the description of earlier figures 1 to embodiment illustrated in fig. 4.
It was found from a kind of robot navigation device based on more maps of above-mentioned Fig. 5 examples, by using global path figure
It is determined that obtained according to guidance path and respectively switched on the guidance path to the guidance path of target location from the current location of robot
Area navigation figure corresponding to point, navigated using the area navigation figure segmentation of acquisition.Compared to prior art, on the one hand due to
For different region use corresponding to area navigation figure navigated, therefore can effectively solve can not present in prior art
It is different suitable for region height but the environment of same coordinate the problem of, realize in environment with a varied topography and big working region
In robot navigation, on the other hand due to being to utilize more digital map navigations, the data volume included in each area navigation map
It is smaller, therefore difficulty and treating capacity when can reduce data processing, so as to and can reduce navigation system cost, reduction navigation system
Complexity, improve navigation system reliability.
Referring to Fig. 6, a kind of robot navigation device based on more maps of another embodiment of the present invention offer is shown
Structural representation, it can be a kind of robot navigation side based on more maps provided in an embodiment of the present invention shown in Fig. 1 to Fig. 4
The executive agent of method, such as a module in robot or robot, for convenience of description, it illustrate only and the embodiment of the present invention
Related part.On the basis of a kind of robot navigation device based on more maps shown in Fig. 5, with embodiment illustrated in fig. 5
Unlike, in the present embodiment：
Further, navigation module 504 includes：
Navigation picture loads submodule 5041, for loading area navigation figure corresponding to the current location；
Judging submodule 5042, for judging the target location whether in the navigation picture currently loaded；
D navigation submodule 5043, if judging that the target location is located at the navigation currently loaded for judging submodule 5042
In figure, then the navigation picture that is currently loaded according to this controls the robot to march to the target location；
D navigation submodule 5043, if being additionally operable to judging submodule 5042 judges what the target location did not loaded currently positioned at this
In navigation picture, then the position of the nearest switching point of the current distance robot on the navigation picture and direct of travel that are currently loaded according to this
Confidence ceases, and controls the robot to be advanced to the nearest switching point；
Detection sub-module 5044, for detecting whether the robot reaches the nearest switching point；
Navigation picture searching modul 502, it is additionally operable to when detection sub-module 5044 detects that the robot reaches this and nearest cut
When changing, according to the identification information and the direct of travel of area navigation figure corresponding to the nearest switching point, corresponding to lookup
Target area navigation picture；
Navigation picture loads submodule 5041, is additionally operable to load the target area navigation picture；
Judging submodule 5042, it is additionally operable to after navigation picture loading submodule loads the target area, judges the target
Whether position is in the navigation picture currently loaded.
Further, guidance path determining module 503, it is additionally operable to utilize the thorough algorithm of enlightening Coase, according to the global path figure,
Obtain reaching the optimal path of the target location as the guidance path from the current location.
Further, the device also includes：
Acquisition module 601, for gathering the field data of the navigational environment, the field data includes：By gyroscope, inner
The initial data of journey meter and the navigational environment of laser aid collection；
Data processing module 602, for utilizing preset map tool by expanded Kalman filtration algorithm, to collection
Field data is handled, and obtains the body gesture and positional information of the robot；
Confirm module 603, for according to preset map size threshold value and by gyroscope gather field data, really
Recognize the number of the area navigation figure that needs to generate and respectively the division packet of the area navigation figure, included in the division packet
Each self-corresponding laser data of each area navigation figure, the body gesture and positional information of robot；
Area navigation figure creation module 604, for according to the respectively division packet, being created using iteration closest approach algorithm should
Area navigation figure；
Generation module 605, for according to preset path length threshold or yaw angle threshold value, generating the global path figure
Summit and the description information of switching point；
Global path figure synthesis module 606, for the summit of the global path figure according to generation and the description of switching point
Information, synthesize the global path figure.
Further, the area navigation figure is stored in a manner of grating map, and the global path figure is by the whole navigation ring
In border respectively all coordinate points by path and respectively the identification information of each self-corresponding area navigation figure of the coordinate points with neighbour
The mode for connecing matrix is stored.
It was found from a kind of robot navigation device based on more maps of above-mentioned Fig. 6 examples, by using global path figure
It is determined that obtained according to guidance path and respectively switched on the guidance path to the guidance path of target location from the current location of robot
Area navigation figure corresponding to point, navigated using the area navigation figure segmentation of acquisition.Compared to prior art, on the one hand due to
For different region use corresponding to area navigation figure navigated, therefore can effectively solve can not present in prior art
It is different suitable for region height but the environment of same coordinate the problem of, realize in environment with a varied topography and big working region
In robot navigation, on the other hand due to being to utilize more digital map navigations, the data volume included in each area navigation map
It is smaller, therefore difficulty and treating capacity when can reduce data processing, so as to and can reduce navigation system cost, reduction navigation system
Complexity, improve navigation system reliability.
In several embodiments provided herein, it should be understood that disclosed method and apparatus, it can be passed through
Its mode is realized.For example, device embodiment described above is only schematical, for example, the division of the module, only
Only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple module or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be the INDIRECT COUPLINGs or logical by some interfaces, device or module
Letter connection, can be electrical, mechanical or other forms.
The module illustrated as separating component can be or may not be physically separate, show as module
The part shown can be or may not be physical module, you can with positioned at a place, or can also be distributed to multiple
On mixed-media network modules mixed-media.Some or all of module therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional module in each embodiment of the present invention can be integrated in a processing module, can also
That modules are individually physically present, can also two or more modules be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.
If the integrated module is realized in the form of software function module and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the present invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It should be noted that for foregoing each method embodiment, in order to which simplicity describes, therefore it is all expressed as a series of
Combination of actions, but those skilled in the art should know, the present invention is not limited by described sequence of movement because
According to the present invention, some steps can use other orders or carry out simultaneously.Secondly, those skilled in the art should also know
Know, embodiment described in this description belongs to preferred embodiment, and involved action and module might not all be this hairs
Necessary to bright.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
Be above to a kind of description of robot navigation method and device based on more maps provided by the present invention, for
Those skilled in the art, according to the thought of the embodiment of the present invention, change is had in specific embodiments and applications
Part, to sum up, this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of robot navigation method based on more maps, it is characterised in that methods described includes：
The current location of robot is obtained, area navigation figure corresponding to the current location is searched using global path figure, it is described
Comprising respectively all coordinate points by path and each coordinate points are each right in whole navigational environment in global path figure
The identification information for the area navigation figure answered；
According to the current location and target location, road of navigating is determined in the global path figure using preset routing algorithm
Footpath, obtains the information of each switching point included in the guidance path, and the switching point is located at adjacent two area navigation figures
Intersection, the information of the switching point include：The positional information of the switching point and the mark of corresponding area navigation figure letter
Breath；
According to the identification information of area navigation figure corresponding to each switching point, area navigation corresponding to each switching point is searched
Figure, and the positional information using each switching point and the area navigation figure that finds out, control the robot to be led according to described
Radially the target location is advanced in air route.
2. according to the method for claim 1, it is characterised in that the area navigation figure according to corresponding to each switching point
Identification information, search area navigation figure corresponding to each switching point, and using each switching point positional information and look into
The area navigation figure found out, controlling the robot to be advanced according to the guidance path to the target location includes：
Load area navigation figure corresponding to the current location；
Judge the target location whether in the navigation picture currently loaded；
If being located at, according to the navigation picture currently loaded, the robot is controlled to march to the target location；
If not being located at, according to the cutting recently of robot described in current distance on the navigation picture and direct of travel currently loaded
Positional information a little is changed, controls the robot to be advanced to the nearest switching point；
When detecting that the robot reaches the nearest switching point, led according to region corresponding to the nearest switching point
The identification information of chart and the direct of travel, search and load corresponding target area navigation picture, perform the judgement institute
The step whether target location is located in the navigation picture currently loaded is stated, until reaching the target location.
3. according to the method for claim 1, it is characterised in that it is described using preset routing algorithm in the global path
Determine that guidance path includes in figure：
Using the thorough algorithm of enlightening Coase, according to the global path figure, obtain reaching the target location from the current location
Optimal path is as the guidance path.
4. according to the method for claim 1, it is characterised in that methods described also includes：
The field data of the navigational environment is gathered, the field data includes：Adopted by gyroscope, odometer and laser aid
The initial data of the navigational environment of collection；
Using preset map tool by expanded Kalman filtration algorithm, the field data of collection is handled, obtains institute
State the body gesture and positional information of robot；
According to preset map size threshold value and the field data gathered by gyroscope, confirm to need the region generated
The division packet of the number of navigation picture and each area navigation figure, described divide in packet include each area navigation
Scheme each self-corresponding laser data, the body gesture and positional information of the robot；
According to each division packet, the area navigation figure is created using iteration closest approach algorithm, and according to preset road
Electrical path length threshold value or yaw angle threshold value, generate the summit of the global path figure and the description information of switching point；
According to the summit of the global path figure of generation and the description information of switching point, the global path figure is synthesized.
5. according to the method described in Claims 1-4 any one, it is characterised in that the area navigation figure is with grating map
Mode store, the global path figure by the whole navigational environment respectively by all coordinate points on path and each institute
The identification information for stating each self-corresponding area navigation figure of coordinate points is stored in a manner of adjacency matrix.
6. a kind of robot navigation device based on more maps, it is characterised in that described device includes：
Position acquisition module, for obtaining the current location of robot；
Navigation picture searching modul is described complete for searching area navigation figure corresponding to the current location using global path figure
Comprising respectively all coordinate points by path and each coordinate points each correspond in whole navigational environment in office's path profile
Area navigation figure identification information；
Guidance path determining module, for according to the current location and target location, using preset routing algorithm described
Guidance path is determined in global path figure, obtains the information of each switching point included in the guidance path, the switching point position
In the intersection of adjacent two area navigation figures, the information of the switching point includes：The positional information of the switching point and right
The identification information for the area navigation figure answered；
The navigation picture searching modul, the identification information of the area navigation figure according to corresponding to each switching point is additionally operable to, searched
Area navigation figure corresponding to each switching point；
Navigation module, for the positional information using each switching point and the area navigation figure found out, control the machine
People advances according to the guidance path to the target location.
7. device according to claim 6, it is characterised in that the navigation module includes：
Navigation picture loads submodule, for loading area navigation figure corresponding to the current location；
Judging submodule, for judging the target location whether in the navigation picture currently loaded；
D navigation submodule, if judging that the target location is located at the navigation picture currently loaded for the judging submodule
In, then according to the navigation picture currently loaded, control the robot to march to the target location；
The d navigation submodule, if being additionally operable to the judging submodule judges that the target location does not load currently positioned at described
In navigation picture, then the nearest switching point of the robot according to current distance on the navigation picture and direct of travel currently loaded
Positional information, control the robot to be advanced to the nearest switching point；
Detection sub-module, for detecting whether the robot reaches the nearest switching point；
The navigation picture searching modul, it is additionally operable to when the detection sub-module detects that the robot reaches described nearest cut
When changing, according to the identification information of area navigation figure and the direct of travel corresponding to the nearest switching point, search pair
The target area navigation picture answered；
The navigation picture loads submodule, is additionally operable to load the target area navigation picture；
The judging submodule, it is additionally operable to after navigation picture loading submodule loads the target area, judges the mesh
Whether cursor position is in the navigation picture currently loaded.
8. device according to claim 6, it is characterised in that
The guidance path determining module, it is additionally operable to utilize the thorough algorithm of enlightening Coase, according to the global path figure, obtains from described
Current location reaches the optimal path of the target location as the guidance path.
9. device according to claim 6, it is characterised in that described device also includes：
Acquisition module, for gathering the field data of the navigational environment, the field data includes：Pass through gyroscope, mileage
The initial data of meter and the navigational environment of laser aid collection；
Data processing module, for utilizing preset map tool by expanded Kalman filtration algorithm, to the live number of collection
According to being handled, the body gesture and positional information of the robot are obtained；
Module is confirmed, for according to preset map size threshold value and the field data gathered by gyroscope, confirming to need
The number of the area navigation figure and the division packet of each area navigation figure of generation, described divide include in packet
Each self-corresponding laser data of each area navigation figure, the body gesture and positional information of the robot；
Area navigation figure creation module, for according to each division packet, the area to be created using iteration closest approach algorithm
Domain navigation picture；
Generation module, for according to preset path length threshold or yaw angle threshold value, generating the summit of the global path figure
And the description information of switching point；
Global path figure synthesis module, for the summit of the global path figure according to generation and the description information of switching point,
Synthesize the global path figure.
10. according to the device described in claim 6 to 9 any one, it is characterised in that the area navigation figure is with grating map
Mode store, the global path figure by the whole navigational environment respectively by all coordinate points on path and each institute
The identification information for stating each self-corresponding area navigation figure of coordinate points is stored in a manner of adjacency matrix.
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