CN107655471A - Across the floor air navigation aid of floor measuring method and robot based on IMU - Google Patents
Across the floor air navigation aid of floor measuring method and robot based on IMU Download PDFInfo
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- CN107655471A CN107655471A CN201710653155.9A CN201710653155A CN107655471A CN 107655471 A CN107655471 A CN 107655471A CN 201710653155 A CN201710653155 A CN 201710653155A CN 107655471 A CN107655471 A CN 107655471A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Disclose a kind of the floor measuring method based on IMU and across the floor air navigation aid of robot.This method can include：The data for the IMU Inertial Measurement Units being arranged in elevator are read with setting time interval, to obtain the acceleration of elevator in the vertical direction；When detecting that change takes place in acceleration, then recording acceleration data and transformation period；The running status of elevator is judged according to the initial variation tendency of acceleration；Running status, acceleration information, transformation period and initial number of floor levels based on elevator enter line search in floor parameter model, if there is consistent data in the floor parameter model, destination number corresponding to reading；If it is not, reading the destination number that radio communication is surveyed, and the acceleration information recorded, transformation period and corresponding initial number of floor levels and destination number are saved in floor model.The present invention can accurately, easily carry out floor measurement and complete across the floor navigation of robot.
Description
Technical field
The present invention relates to navigator fix field, more specifically, is related to a kind of floor measuring method and one based on IMU
Robot across floor air navigation aid of the kind based on IMU.
Background technology
Autonomous elevator of taking is that the indoor application scenes such as wheeled mobile robot expansion multilayer hotel, office building are required
Function, therefore across the floor navigation of robot is the autonomous basis for taking elevator.
Across the floor navigation scheme that robot uses at present is based on the radio communication between robot and elevator device, machine
After people controls elevator switch door and up-downgoing, robot to enter elevator by radio communication, current floor is switched into target building
Layer map simultaneously carries out Coordinate Conversion according to the relation between two map coordinates systems, while measures elevator place by wireless signal
Floor, so as to learn floor where robot, robot can navigate after arrival destination is learnt in new floor, so as to
Complete across floor navigation.
The program robot control elevator in terms of be difficult substituted, but its shortcoming be measure floor when：Wirelessly
Be present situations such as inaccurate communication, mistake, interrupt in signal, now very likely malfunction, because map between floor and coordinate system are past
Toward different, it is switched to wrong floor and can navigates substantially and fail.Therefore, floor measurement turns into the key that robot navigates across floor.
Therefore, it is necessary to propose a kind of accurate, easily floor measuring method.
The information for being disclosed in background of invention part is merely intended to deepen the reason of the general background technology to the present invention
Solution, and be not construed as recognizing or imply known to those skilled in the art existing of the information structure in any form
Technology.
The content of the invention
In order to solve above mentioned problem of the prior art, the present invention proposes a kind of accurate, floor measuring method on border
To aid in completing across the floor navigation of robot.
A kind of according to an aspect of the invention, it is proposed that floor measuring method based on IMU.This method includes：
The data for the IMU Inertial Measurement Units being arranged in elevator are read with setting time interval, to obtain elevator perpendicular
The upward acceleration of Nogata；
When detecting that change takes place in acceleration, then recording acceleration data and transformation period；
The running status of elevator is judged according to the initial variation tendency of acceleration；
When detect recorded acceleration experienced elevator from initial floor open to purpose floor stop complete change
Change process, then the running status based on elevator, acceleration information, transformation period and initial number of floor levels are in floor parameter model
Enter line search, if there is consistent data in the floor parameter model, destination number corresponding to reading；If not yet
Have, then read the destination number surveyed of radio communication, and by the acceleration information recorded, transformation period and it is corresponding just
Beginning number of floor levels and destination number are saved in floor model.
Preferably, judge that the running status of elevator includes according to the initial variation tendency of acceleration：
When acceleration is initially increased upwards, then elevator is run up；
When acceleration is initially increased downwards, then elevator is run downwards.
Preferably, when elevator is run up, elevator opens the complete change stopped to purpose floor from initial floor
Process includes：Increase is reduced to zero to acceleration afterwards upwards, is then reduced to zero after acceleration increase downwards.
Preferably, when elevator is run downwards, elevator opens the complete change stopped to purpose floor from initial floor
Process includes：It is reduced to zero after acceleration increase downwards, then acceleration is reduced to zero after increasing upwards.
According to another aspect of the invention, it is proposed that a kind of across the floor air navigation aid of robot based on IMU, including：
Robot is navigated based on current floor map, and is read and be arranged in robot with setting time interval
The data of IMU Inertial Measurement Units, to obtain the acceleration of robot in the vertical direction；
When detecting that change takes place in acceleration, then judge robot have been enter into elevator and recording acceleration data and
Transformation period；
The running status of elevator is judged according to the initial variation tendency of acceleration；
When detect recorded acceleration experienced elevator from initial floor open to purpose floor stop complete change
Change process, then the running status based on elevator, acceleration information, transformation period and initial number of floor levels are in floor parameter model
Enter line search, if there is consistent data in the floor parameter model, destination number corresponding to reading, if do not had
Have, then read the destination number surveyed of radio communication, and by the acceleration information recorded, transformation period and it is corresponding just
Beginning number of floor levels and destination number are saved in floor model；
Current floor is switched into destination, and according between initial floor maps and destination map coordinates system
Relation carries out Coordinate Conversion so that robot is navigated based on destination map.
Preferably, judge that the running status of elevator includes according to the initial variation tendency of acceleration：
When acceleration is initially increased upwards, then elevator is run up；
When acceleration is initially increased downwards, then elevator is run downwards.
Preferably, when elevator is run up, elevator opens the complete change stopped to purpose floor from initial floor
Process includes：Increase is reduced to zero to acceleration afterwards upwards, is then reduced to zero after acceleration increase downwards.
Preferably, when elevator is run downwards, elevator opens the complete change stopped to purpose floor from initial floor
Process includes：It is reduced to zero after acceleration increase downwards, then acceleration is reduced to zero after increasing upwards.
Floor measuring method based on the present invention carries out robot and is across the advantage that floor navigates：
1) robot carries out automatic Calibration during elevator is taken to floor parameter, in the enough feelings of statistics
Automatically calibrating function is closed under condition, programming automation operation, avoids and manually demarcates each elevator；
2) by robot perception elevator up-down state, be advantageous in the case where robot does not go out elevator for a long time pair
Robot carries out breakdown judge；
3) compensate for, based on the not high deficiency of floor accuracy is surveyed in radio communication system, improving across the floor navigation of robot
Reliability；
4) the IMU Inertial Measurement Units for being used to navigate carried using robot, it is not necessary to which robot increases extra portion
Part.
Methods and apparatus of the present invention has other characteristics and advantage, and these characteristics and advantage are attached from what is be incorporated herein
It will be apparent in figure and subsequent specific embodiment, or by the accompanying drawing and subsequent specific implementation being incorporated herein
Stated in detail in example, these the drawings and specific embodiments are provided commonly for explaining the certain principles of the present invention.
Brief description of the drawings
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein, in exemplary embodiments of the present invention, identical reference number is usual
Represent same parts.
Fig. 1 shows the flow chart of the floor measuring method according to an embodiment of the invention based on IMU；
Fig. 2 show it is according to an embodiment of the invention based on IMU robot across floor air navigation aid flow
Figure.
Embodiment
The present invention is more fully described below with reference to accompanying drawings.Although showing the preferred embodiments of the present invention in accompanying drawing,
However, it is to be appreciated that the present invention is may be realized in various forms without should be limited by embodiments set forth here.Conversely, there is provided
These embodiments are in order that the present invention is more thorough and complete, and can will fully convey the scope of the invention to ability
The technical staff in domain.
Below with reference to the floor measuring method based on IMU of Fig. 1 detailed descriptions in accordance with an exemplary embodiment of the invention.
This method mainly includes the following steps that：
Step 1：The data for the IMU Inertial Measurement Units being arranged in elevator are read with setting time interval, to obtain electricity
The acceleration of terraced in the vertical direction.
IMU Inertial Measurement Units are based on Newton classic mechanics, are made up of, are fixed on three-axis gyroscope and three axis accelerometer
Motion carrier, for measuring the angular speed and linear acceleration of carrier, not by environmental disturbances during work.
Step 2：When detecting that change takes place in acceleration, then recording acceleration data and transformation period.
When change takes place in the acceleration measured by IMU, illustrate that at this moment elevator brings into operation, then start recording elevator is transported
Capable acceleration information and transformation period.
Step 3：The running status of elevator is judged according to the initial variation tendency of acceleration.
The normal motion state of elevator is more regular：Undergone successively when up " beginning ", " overweight ", " at the uniform velocity rise ",
" weightlessness ", " stopping "；" beginning ", " weightlessness ", " uniform descent ", " overweight ", " stopping " being undergone when descending successively.It is overweight and weightless
The acceleration of gravity that acceleration is larger and smaller than 1 times is represented respectively.
Therefore, according to the initial variation tendency of acceleration it may determine that the running status of elevator, i.e. elevator are up
It is or descending.
Specifically, when acceleration be initially upwards it is increased, then judge that elevator is run up；When acceleration is initial
It is increased downwards, then judges that elevator is run downwards.
Step 4：When detect recorded acceleration experienced elevator from initial floor open to purpose floor stop
Complete change procedure, then the running status based on elevator, acceleration information, transformation period and initial number of floor levels are in floor parameter
Enter line search in model, if there is consistent data in the floor parameter model, destination number corresponding to reading；Such as
Fruit does not have, then reads the destination number surveyed of radio communication, and by the acceleration information recorded, transformation period and correspondingly
Initial number of floor levels and destination number be saved in floor model.
When elevator is run up, elevator opens the complete change procedure bag stopped to purpose floor from initial floor
Include：Increase is reduced to zero to acceleration afterwards upwards, is then reduced to zero after acceleration increase downwards.Increase upwards in acceleration
When being reduced to zero afterwards, it can be continuously for zero a period of time, can also increase downwards immediately.Elevator is represented if being continuously zero
At the uniform velocity rise, do not continue if nought state, represent that the stage that elevator at the uniform velocity rises without experience just has begun to slow down
.
Run downwards when elevator, elevator opens the complete change procedure bag stopped to purpose floor from initial floor
Include：It is reduced to zero after acceleration increase downwards, then acceleration is reduced to zero after increasing upwards.Increase downwards in acceleration
When being reduced to zero afterwards, it can be continuously for zero a period of time, can also increase upwards immediately.Elevator is represented if being continuously zero
Uniform descent, do not continue if nought state, represent that elevator does not undergo stage of uniform descent and just has begun to slow down
.
When detect recorded acceleration experienced elevator from initial floor open to purpose floor stop complete change
Change process, then show that elevator is had gone through from initial floor and open, stop after arrival purpose floor.If the operation shape of elevator
State (up or descending), acceleration information, transformation period (being corresponding with acceleration information) and initial number of floor levels and building
A certain initial floor is matching to the parameter value between purpose floor in layer parameter model, then it is the initial floor to illustrate elevator
The purpose floor is run to, then read the purpose floor number and be then currently located floor for elevator.Those skilled in the art should
Work as understanding, foregoing matching is to allow certain deviation, can be with sets itself.
If on the contrary, in floor parameter model, do not find the parameter to match, then read radio communication (or its
His mode) the destination number surveyed, and by the acceleration information recorded, transformation period and corresponding initial number of floor levels and
Destination number is saved in floor model.
Method more than, when elevator has run enough numbers, then it can establish complete floor parameter model.This
When do not need other metering systems to aid in, the measurement of floor can then be completed by only relying on IMU Inertial Measurement Units.
The invention also provides a kind of across floor air navigation aid of the robot based on IMU.With reference to figure 2, this method is mainly wrapped
Include following steps：
Step 1：Robot is navigated based on current floor map, and is read with setting time interval and be arranged on robot
In IMU Inertial Measurement Units data, to obtain the acceleration of robot in the vertical direction.
Generally, the robot with navigation function is both provided with IMU Inertial Measurement Units, and this method utilizes and is arranged on machine
IMU in people, it is not necessary to which robot increases extra part.
Step 2：When detecting that change takes place in acceleration, then judge that robot has been enter into elevator and records the acceleration number of degrees
According to this and transformation period.
When change takes place in the acceleration of robot in the vertical direction, then illustrate that robot enters elevator, and
Elevator brings into operation, then start recording acceleration information and transformation period.
Step 3：The running status of elevator is judged according to the initial variation tendency of acceleration.
The normal motion state of elevator is more regular：Undergone successively when up " beginning ", " overweight ", " at the uniform velocity rise ",
" weightlessness ", " stopping "；" beginning ", " weightlessness ", " uniform descent ", " overweight ", " stopping " being undergone when descending successively.Therefore, according to
The initial variation tendency of acceleration is it may determine that the running status of elevator, i.e. elevator are up or descending.
Specifically, when acceleration be initially upwards it is increased, then judge that elevator is run up；When acceleration is initial
It is increased downwards, then judges that elevator is run downwards.
Step 4：When detect recorded acceleration experienced elevator from initial floor open to purpose floor stop
Complete change procedure, then the running status based on elevator, acceleration information, transformation period and initial number of floor levels are in floor parameter
Enter line search in model, if there is consistent data in the floor parameter model, destination number corresponding to reading, such as
Fruit does not have, then reads the destination number surveyed of radio communication, and by the acceleration information recorded, transformation period and correspondingly
Initial number of floor levels and destination number be saved in floor model.
When elevator is run up, elevator opens the complete change procedure bag stopped to purpose floor from initial floor
Include：Increase is reduced to zero to acceleration afterwards upwards, is then reduced to zero after acceleration increase downwards.
Run downwards when elevator, elevator opens the complete change procedure bag stopped to purpose floor from initial floor
Include：It is reduced to zero after acceleration increase downwards, then acceleration is reduced to zero after increasing upwards.
Step 5：Current floor is switched into destination, and according to initial floor maps and destination map coordinates system
Between relation carry out Coordinate Conversion so that robot is navigated based on destination map.
Robot is after arrival destination is learnt, you can navigated in map of the new floor based on the floor, from
And complete across floor navigation.
It will be understood by those skilled in the art that the purpose of the description to embodiments of the invention is only for exemplarily saying above
The beneficial effect of bright embodiments of the invention, it is not intended to limit embodiments of the invention to given any example.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.
Claims (8)
- A kind of 1. floor measuring method based on IMU, it is characterised in that including：The data for the IMU Inertial Measurement Units being arranged in elevator are read with setting time interval, to obtain elevator in vertical side Upward acceleration；When detecting that change takes place in acceleration, then recording acceleration data and transformation period；The running status of elevator is judged according to the initial variation tendency of acceleration；Completely changed when detecting that recorded acceleration experienced elevator and be opened from initial floor to what purpose floor stopped Journey, then the running status based on elevator, acceleration information, transformation period and initial number of floor levels are carried out in floor parameter model Search, if there is consistent data in the floor parameter model, destination number corresponding to reading；If it is not, Read the destination number surveyed of radio communication, and by the acceleration information recorded, transformation period and corresponding initial building The number of plies and destination number are saved in floor model.
- 2. the floor measuring method according to claim 1 based on IMU, it is characterised in that according to the initial change of acceleration Changing the running status of Trend judgement elevator includes：When acceleration is initially increased upwards, then elevator is run up；When acceleration is initially increased downwards, then elevator is run downwards.
- 3. the floor measuring method according to claim 2 based on IMU, it is characterised in that when elevator is run up, Elevator, which opens the complete change procedure stopped to purpose floor from initial floor, to be included：Increase is reduced to acceleration afterwards upwards Zero, then it is reduced to zero after acceleration increase downwards.
- 4. the floor measuring method according to claim 2 based on IMU, it is characterised in that when elevator is run downwards, Elevator, which opens the complete change procedure stopped to purpose floor from initial floor, to be included：It is reduced to after acceleration increase downwards Zero, then increase is reduced to zero to acceleration afterwards upwards.
- A kind of 5. across the floor air navigation aid of robot based on IMU, it is characterised in that including：Robot is navigated based on current floor map, and is read the IMU being arranged in robot with setting time interval and be used to The data of property measuring unit, to obtain the acceleration of robot in the vertical direction；When detecting that change takes place in acceleration, then judge that robot has been enter into elevator and recording acceleration data and change Time；The running status of elevator is judged according to the initial variation tendency of acceleration；Completely changed when detecting that recorded acceleration experienced elevator and be opened from initial floor to what purpose floor stopped Journey, then the running status based on elevator, acceleration information, transformation period and initial number of floor levels are carried out in floor parameter model Search, if there is consistent data in the floor parameter model, destination number corresponding to reading, if it is not, Read the destination number surveyed of radio communication, and by the acceleration information recorded, transformation period and corresponding initial building The number of plies and destination number are saved in floor model；Current floor is switched into destination, and according to the relation between initial floor maps and destination map coordinates system Carry out Coordinate Conversion so that robot is navigated based on destination map.
- 6. across the floor air navigation aid of the robot according to claim 5 based on IMU, it is characterised in that according to acceleration Initial variation tendency judges that the running status of elevator includes：When acceleration is initially increased upwards, then elevator is run up；When acceleration is initially increased downwards, then elevator is run downwards.
- 7. across the floor air navigation aid of the robot according to claim 6 based on IMU, it is characterised in that when elevator be to Upper operation, elevator, which opens the complete change procedure stopped to purpose floor from initial floor, to be included：Acceleration increases it upwards After be reduced to zero, then acceleration downwards increase after is reduced to zero.
- 8. across the floor air navigation aid of the robot according to claim 6 based on IMU, it is characterised in that when elevator be to Lower operation, elevator, which opens the complete change procedure stopped to purpose floor from initial floor, to be included：Acceleration increases downwards it After be reduced to zero, then acceleration upwards increase after is reduced to zero.
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| CN201710653155.9A CN107655471A (en) | 2017-08-02 | 2017-08-02 | Across the floor air navigation aid of floor measuring method and robot based on IMU |
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|---|---|---|---|
| CN201710653155.9A CN107655471A (en) | 2017-08-02 | 2017-08-02 | Across the floor air navigation aid of floor measuring method and robot based on IMU |
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Cited By (10)
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|---|---|---|---|---|
| CN110376934A (en) * | 2019-06-12 | 2019-10-25 | 深圳飞科机器人有限公司 | Clean robot, clean robot control method and terminal control method |
| CN111678517A (en) * | 2020-05-26 | 2020-09-18 | 天津市微卡科技有限公司 | Intelligent robot cross-floor autonomous navigation method |
| CN111750851A (en) * | 2019-09-10 | 2020-10-09 | 广东小天才科技有限公司 | Method and device for identifying inter-floor movement mode and intelligent equipment |
| CN111847142A (en) * | 2019-04-29 | 2020-10-30 | 深圳市优必选科技有限公司 | Robot navigation method and device, computer readable storage medium and robot |
| CN111999721A (en) * | 2020-08-21 | 2020-11-27 | 深圳优地科技有限公司 | Floor recognition method, device, system and computer readable storage medium |
| CN112209190A (en) * | 2020-10-09 | 2021-01-12 | 北京声智科技有限公司 | Elevator floor determining method and device and electronic equipment |
| CN112947420A (en) * | 2021-01-27 | 2021-06-11 | 上海高仙自动化科技发展有限公司 | Equipment running state identification method and device, robot and storage medium |
| CN114234966A (en) * | 2021-12-01 | 2022-03-25 | 北京云迹科技股份有限公司 | Detection method, device, storage medium and equipment for elevator taking state of mobile robot |
| CN114655797A (en) * | 2021-12-30 | 2022-06-24 | 深圳十一空间机器人有限公司 | Robot elevator-taking floor calculation method based on IMU |
| CN114834986A (en) * | 2022-05-12 | 2022-08-02 | 上海景吾酷租科技发展有限公司 | System, method, device and medium for measuring floor based on IMU and photoelectric sensor |
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| CN111847142A (en) * | 2019-04-29 | 2020-10-30 | 深圳市优必选科技有限公司 | Robot navigation method and device, computer readable storage medium and robot |
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| CN114234966A (en) * | 2021-12-01 | 2022-03-25 | 北京云迹科技股份有限公司 | Detection method, device, storage medium and equipment for elevator taking state of mobile robot |
| CN114234966B (en) * | 2021-12-01 | 2024-06-04 | 北京云迹科技股份有限公司 | Method and device for detecting elevator taking state of mobile robot, storage medium and equipment |
| CN114655797A (en) * | 2021-12-30 | 2022-06-24 | 深圳十一空间机器人有限公司 | Robot elevator-taking floor calculation method based on IMU |
| CN114834986A (en) * | 2022-05-12 | 2022-08-02 | 上海景吾酷租科技发展有限公司 | System, method, device and medium for measuring floor based on IMU and photoelectric sensor |
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