CN107655480A - A kind of robot localization air navigation aid, system, storage medium and robot - Google Patents
A kind of robot localization air navigation aid, system, storage medium and robot Download PDFInfo
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- CN107655480A CN107655480A CN201710845086.1A CN201710845086A CN107655480A CN 107655480 A CN107655480 A CN 107655480A CN 201710845086 A CN201710845086 A CN 201710845086A CN 107655480 A CN107655480 A CN 107655480A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The embodiment of the invention discloses a kind of robot localization air navigation aid, system, storage medium and robot, the robot localization air navigation aid arranges multiple Beacon base stations in the default point of scene in advance, and gathers scene cartographic information；Robot receives destination；The robot carries out Bluetooth communication with the multiple Beacon base stations, obtains the signal reception power of the robot and each Beacon base stations, and the distance of the robot and each Beacon base stations is calculated；The current location information of the robot is obtained according to the positional information of the distance and each Beacon base stations of the robot and the multiple Beacon base stations；Course and the navigation of the robot are planned according to the current location information of the robot, the positional information of destination and scene cartographic information；So that the positioning result of robot and route planning are more accurate.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot localization air navigation aid, system, storage medium
And robot.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, can run advance volume again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.The application of robot is more and more wider at present
It is general, industrial robot is for example applied in the industrial production, and venue applies guide to visitors robot etc. indoors.Guide to visitors robot
Guide robot is, mainly using in the scenes such as museum and exhibition, scene relevant knowledge, intelligent selection oneself are introduced to visitor
Course.
Most of indoor guide to visitors robot identifying system uses vision SLAM at present, refers exclusively to use video camera, Kinect
Even depth camera navigated and explores, and it is mainly matched and positioned by the feature for the image for obtaining surrounding objects,
Final programme path.But work as surrounding objects Depth Blur, (such as facing a colourless wall) is easy for out when mark is not clear and definite enough
The phenomenon of existing route confusion, therefore, existing robot localization precision is low, and navigation route planning accuracy rate is low.
The content of the invention
The embodiments of the invention provide a kind of robot localization air navigation aid, system, storage medium and robot, it is intended to solves
The problem of certainly existing robot localization air navigation aid positioning precision is low, and navigation route planning accuracy rate is low.
First aspect of the embodiment of the present invention provides a kind of robot localization air navigation aid, including：
Multiple Beacon base stations are arranged in the default point of scene in advance, and gather scene cartographic information；
Robot receives destination；
The robot carries out Bluetooth communication with the multiple Beacon base stations, obtains the robot and each Beacon
The signal reception power of base station, the machine is calculated according to the signal reception power of the robot and multiple Beacon base stations
Device people and the distance of each Beacon base stations；
Obtained according to the robot and the distance of the multiple Beacon base stations and the positional information of each Beacon base stations
To the current location information of the robot；
The machine is planned according to the current location information of the robot, the positional information of destination and scene cartographic information
The course of device people and navigation.
Optionally, it is described to arrange multiple Beacon base stations in the default point of scene in advance, and scene cartographic information is gathered, wrap
Include：
Multiple Beacon base stations are arranged in the default point of scene；
Gather scene cartographic information；
Position in the scene cartographic information is obtained in the correspondence position of scene according to the multiple Beacon base stations
Information.
Optionally, the scene cartographic information is two-dimensional map information or three-dimensional map information, and the positional information is pair
The two-dimensional coordinate or three-dimensional coordinate answered.
Optionally, it is described to be believed according to the current location information of the robot, the positional information of destination and scene map
Breath plans the course of the robot and navigation, including：
According to the current location information of the robot, the positional information of destination and scene cartographic information, generate from institute
Current location information is stated to the shortest distance route of the positional information of destination, there is multiple continuous sit in the shortest distance route
Punctuate, the robot is controlled to be advanced successively along the multiple continuous coordinate points.
Optionally, before the robot carries out Bluetooth communication with the multiple Beacon base stations, in addition to：
The positional information of each Beacon base stations is stored in the database of the robot in advance.
Optionally, after the robot carries out Bluetooth communication with the multiple Beacon base stations, in addition to：
The robot obtains corresponding positional information according to the Beacon base station names received from the database.
Alternatively, methods described also includes：
The robot is controlled to avoid the barrier in course using slam recognition methods.
Second aspect of the embodiment of the present invention provides a kind of robot localization navigation system, including：
Setup module, for arranging multiple Beacon base stations in the default point of scene in advance, and gather scene cartographic information；
Receiving module, destination is received for robot；
Range finder module, Bluetooth communication is carried out for the robot and the multiple Beacon base stations, obtains the machine
People and the signal reception power of each Beacon base stations, according to the robot and the signal reception power of multiple Beacon base stations
The distance of the robot and each Beacon base stations is calculated；
Locating module, for the distance according to the robot and the multiple Beacon base stations and each Beacon base stations
Positional information obtain the current location information of the robot；
Navigation module, for the current location information according to the robot, the positional information of destination and scene map
The course of robot described in information planning and navigation.
Third aspect present invention provides a kind of computer-readable recording medium, is stored thereon with computer program, calculates
When machine program is executed by processor, for performing robot localization air navigation aid as described above.
Fourth aspect present invention provides a kind of robot, including memory, processor and is stored on the memory
And the computer program that can be run on the processor, realized as described above during computer program described in the computing device
Robot localization air navigation aid.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
In the present invention, multiple Beacon base stations are arranged in the default point of scene in advance, and gather scene cartographic information；Robot
Receive destination；The robot and the multiple Beacon base stations carry out Bluetooth communication, obtain the robot with it is each
The signal reception power of Beacon base stations, it is calculated according to the robot and the signal reception power of multiple Beacon base stations
The robot and the distance of each Beacon base stations；According to the distance of the robot and the multiple Beacon base stations and respectively
The positional information of individual Beacon base stations obtains the current location information of the robot；According to the present bit confidence of the robot
Breath, the positional information of destination and scene cartographic information plan the course of the robot and navigation；So that robot
Positioning result is more accurate with route planning, and the application scenarios of robot are more abundant, improves the location navigation essence of robot
True rate.
Brief description of the drawings
Fig. 1 is a kind of one embodiment schematic diagram of robot localization air navigation aid in the embodiment of the present invention；
Fig. 2 is a kind of one embodiment schematic diagram of robot localization navigation system in the embodiment of the present invention；
Fig. 3 is one embodiment schematic diagram of robot in the embodiment of the present invention.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of running counter to intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Each technical characteristic of above example can carry out arbitrary group
Close, to make description succinct, combination not all possible to each technical characteristic in above-described embodiment is all described, however,
As long as contradiction is not present in the combination of these technical characteristics, the scope of this specification record is all considered to be..
Referring to Fig. 1, one embodiment of the robot localization air navigation aid in the embodiment of the present invention includes：
101st, multiple Beacon base stations are arranged in the default point of scene in advance, and gathers scene cartographic information.
In the present embodiment, the scene is interior, for example the indoor application environment such as museum, museum, conference and exhibition center, certainly
Also outdoor can be applied the present invention to according to actual conditions.Beacon (Chinese " beacon ", " beacon ") is a kind of " neighbor systems
(Proximity System)”.Within the system, smart mobile phone, tablet personal computer are operated in, on wearable or other computing devices
The signal that " Beacon equipment " can be sent of application respond.Beacon is exactly one kind by low-power Bluetooth technology
(Bluetooth Low Energy) realizes pinpoint equipment, indoor one Beacon signal transmitting base station of placement, this
Base station can create a signal area, and information search is actively carried out without user, when user carries mobile device entering signal
Corresponding program will actively prompt the user whether to need to access this signal network when region, the application in mobile phone afterwards
Program user from being divided into a distance from signal launch installation nearly (near), it is moderate (medium) and remote (far), it is accurately right
User is positioned, and passes on corresponding information to him according to the particular context that user is in.It is existing on Beacon base stations
There is technology, beacon base stations constantly send beacon broadcasting packets, and the message includes transmission power, i.e. signal intensity.This implementation
Example pre-sets multiple Beacon base stations, and each Beacon base stations fixed point is set, and then gathers the cartographic information of scene, including field
Road information, obstacle information and elevation information in scape etc..This is to subsequently position.
102nd, robot receives destination.
In the present embodiment, in the scene during applied robot, robot can pass through phonetic incepting, input through keyboard or and visitor
The modes such as data in mobile phone interaction receive destination, and so as to be navigated, specifically reception destination mode has a variety of, herein no longer
It is described in detail.
103rd, the robot and the multiple Beacon base stations carry out Bluetooth communication, obtain the robot with it is each
The signal reception power of Beacon base stations, it is calculated according to the robot and the signal reception power of multiple Beacon base stations
The robot and the distance of each Beacon base stations.
In the present embodiment, bluetooth module is provided with the robot, so, what robot can be set with fixed point in advance
Beacon base stations carry out Bluetooth communication.The robot for carrying bluetooth module receives the beacon broadcasting packets of Beacon base stations transmission
Afterwards, receiving power, that is, signal strength values are measured, are brought into the function of power attenuation and distance relation, can be calculated
Go out distance of the robot apart from the beacon base stations.In practical application, the power attenuation is with distance relation：D=10^
((abs(RSSI)-A)/(10*n))；Wherein, d is distance, and RSSI is that the bluetooth module of robot receives Beacon base stations
The power of Bluetooth signal, n are the environmental attenuation factor, and A is connecing when the bluetooth module distance of Beacon base stations and robot is 1 meter
The power received, in general, A are general constant, and abs is ABS function.There are a variety of meters in the prior art in Beacon
Calculation mode calculates distance between the two by signal reception power, and above-mentioned relation is only a kind of mode therein, amount of calculation
It is small, the high preferred scheme of accuracy.So, can be calculated between robot and each Beacon base stations by above-mentioned relation
Distance.
Preferably, in practical application, because the Beacon base stations that fixed point is set are more, the present invention can preferential selected distance
The nearest at least two Beacon base stations of robot, are calculated current in robot moving process using multipoint positioning algorithm
Position coordinates.In two-dimensional coordinate system, then the current two-dimensional coordinate of robot can be obtained by choosing at least two Beacon base stations；
And in three-dimensional system of coordinate, then need to choose at least three Beacon base stations, according to robot and the signal of this at least three base station
Strength co-mputation distance and then calculate three-dimensional coordinate.
104th, believed according to the position of the distance and each Beacon base stations of the robot and the multiple Beacon base stations
Breath obtains the current location information of the robot.
In the present embodiment, according to the distance between robot and each Beacon base stations being calculated, then further according to
The positional information of each Beacon base stations, the current location information of robot can be drawn by multipoint positioning algorithm.Institute's rheme
Confidence breath can be two-dimensional coordinate or three-dimensional coordinate or latitude and longitude information etc..The present embodiment is using robot apart from each beacon
The distance of base station and the position of each Beacon base stations, you can the function of multipoint positioning is realized, by multipoint positioning algorithm, from
And calculate the current location of robot.There are a variety of implementations on specific location algorithm, in Beacon technologies and iBeacon
Have in technology, be no longer described in detail herein.
105th, institute is planned according to the current location information of the robot, the positional information of destination and scene cartographic information
State the course of robot and navigation.
In the present embodiment, according to the current location information for the robot being calculated, the positional information and scene of destination
Cartographic information plans the course of the robot, and specific principle is beeline.Preferably, according to the robot
Current location information, the positional information of destination and scene cartographic information, are generated from the current location information to destination
The shortest distance route of positional information, have multiple continuous coordinate points in the shortest distance route, control the robot along
The multiple continuous coordinate points are advanced successively.So, the location navigation to robot can be realized, is determined using indoor Beacon
Position technology to robot localization and then navigation, to make the scene of robot application more rich, and positioning result and route planning are more
Accurately.
Further, it is described to arrange multiple Beacon base stations in the default point of scene in advance, and scene cartographic information is gathered, wrap
Include：
Multiple Beacon base stations are arranged in the default point of scene；
Gather scene cartographic information；
Position in the scene cartographic information is obtained in the correspondence position of scene according to the multiple Beacon base stations
Information.
In the present embodiment, because fixed point is provided with multiple Beacon base stations in advance, then in the cartographic information of collection scene
When, it can correspond to and obtain positional information of each Beacon base stations in scene cartographic information.
Preferably, the scene cartographic information is two-dimensional map information or three-dimensional map information, and the positional information is pair
The two-dimensional coordinate or three-dimensional coordinate answered.In the present embodiment, due to being applied in different scenes, some scenes only need two-dimentional seat
Mark, it can meet that robot navigation requires, some scenes need three-dimensional coordinate, and robot navigates.
It is illustrated below with two-dimensional coordinate：In practical application, the present invention can be to the indoor moving scene of robot
Two-dimensional coordinate system is established, administration positions multiple Beacon base stations inside scene, and each Beacon base stations have in two-dimensional coordinate system
Corresponding two-dimensional coordinate.According to the two-dimensional coordinate of multiple Beacon base stations and robot and the distance of these Beacon base stations, just
Changing coordinates of the robot in two-dimensional coordinate system can be calculated, then according to changing coordinates and destination coordinate and two-dimensional map
Information, so as to cook up most short course and navigation.On three-dimensional coordinate similarly, here is omitted.
Preferably, for convenience of calculation, and floor is simultaneously inconvenient above and below robot during practical application, robot of the invention
Positioning navigation method can typically establish the coordinate system of two dimension according to scene, then be assigned according to the position of each base station in the scene
Coordinate, and then the coordinate of follow-up calculating robot is carried out so that the step such as location navigation.
Further, before the robot carries out Bluetooth communication with the multiple Beacon base stations, in addition to：
The positional information of each Beacon base stations is stored in the database of the robot in advance.
In the present embodiment, the information data that Beacon base stations are sent has the limitation of certain length, for later maintenance side
Just, general indoor positioning technologies, main information can be stored in the database of robot, then according to the base station received
Title (title has uniqueness) compared with database, and then obtain the other informations such as the Beacon base station coordinates.
Further, after the robot carries out Bluetooth communication with the multiple Beacon base stations, in addition to：
The robot obtains corresponding positional information according to the Beacon base station names received from the database.
Further, the robot localization air navigation aid also includes：
The robot is controlled to avoid the barrier in course using slam recognition methods.
In the present embodiment, because guide to visitors robot in the market is mainly moved using vision SLAM identifying systems
Dynamic navigation, when surrounding objects Depth Blur, mark (such as faces a colourless wall) when not clear and definite enough and is easy for route confusion occur
Phenomenon.In order to make up indoor guide to visitors robot vision SLAM identifying systems positioning limitation, the present embodiment is using in bluetooth room
The advantages of location technology, mixed positioning is carried out, while the route planning function to daily guide to visitors optimizes.Identified on slam
Method, it is prior art, is no longer described in detail herein.In practical application, used in the present embodiment based on bluetooth indoor locating system,
Positioning method supplemented by vision SLAM identifying systems；When it is determined that behind destination, robot selects according to visitor in coordinate system
The coordinate of destination, with reference to the road in map, the continuous coordinate points in shortest distance route are generated, are positioned using indoor bluetooth
System determines that robot self-position moves to destination while adjusts route, and slam identifying systems are utilized during movement
Avoid barrier on route.In practical application, robot obtains the feature of the image of surrounding objects by camera, work as machine
In the picture frame that people's camera captures, when characteristic point and lines less (for example more than given threshold), that is, think that depth shows
It is fuzzy, for example there is white wall etc. in face of robot, then corresponding control machine people detours.
It should be noted that the citing simply explanation to operating procedure in the present embodiment, not to operating procedure
Form any restrictions.
The robot localization air navigation aid in the embodiment of the present invention is described above is, will be described below in the embodiment of the present invention
Robot localization navigation system, referring to Fig. 2, one embodiment of the robot localization navigation system in the embodiment of the present invention
Including：
Setup module 201, for arranging multiple Beacon base stations in the default point of scene in advance, and gather scene map letter
Breath；
Receiving module 202, destination is received for robot；
Range finder module 203, Bluetooth communication is carried out for the robot and the multiple Beacon base stations, obtains the machine
Device people and the signal reception power of each Beacon base stations, work(is received according to the robot and the signal of multiple Beacon base stations
The distance of the robot and each Beacon base stations is calculated in rate；
Locating module 204, for the distance according to the robot and the multiple Beacon base stations and each Beacon
The positional information of base station obtains the current location information of the robot；
Navigation module 205, for current location information, the positional information of destination and the scene according to the robot
The course of robot and navigation described in figure information planning.
It should be noted that robot localization is led in embodiment described in the effect of each module and Fig. 1 in the embodiment of the present invention
The effect of each step of boat method is similar, and here is omitted.
The angle of slave module is described in detail to the robot localization navigation system in the present invention above, below from hard
Robot in the embodiment of the present invention is described the angle of part processing.
Further, present invention also offers a kind of robot, the robot includes memory, processor and is stored in
Realize that above-mentioned robot determines on reservoir and the computer program that can run on a processor, during computing device computer program
The step of position air navigation aid.
Referring to Fig. 3, the robot includes the processor 301, built-in storage 302, bluetooth mould connected by system bus
Block and 303 non-volatile memory mediums.Wherein, the processor 301 of robot is used to provide calculating and control ability.The robot
Memory include non-volatile memory medium 304, built-in storage 302.The non-volatile memory medium 304 of the robot stores
There are operating system and computer-readable instruction, the built-in storage 302 of the robot is the operation system in non-volatile memory medium
The operation of system and computer-readable instruction provides environment.To realize one kind when the computer-readable instruction is performed by processor 301
Robot localization air navigation aid.Bluetooth module 302 is used to carry out Bluetooth communication with multiple Beacon base stations, so as to obtain bluetooth letter
Number signal reception power.Robot can also have display screen, and display screen can be that LCDs or electric ink are shown
Screen etc., display screen can also possess input unit, and input unit can be the touch layer or robot covered on display screen
Button, trace ball or Trackpad or the external keyboard of upper setting, Trackpad or mouse etc..Computing device calculates
Following steps can be performed during machine readable instruction：Receive destination；The robot carries out blue with the multiple Beacon base stations
Tooth communicates, and obtains the signal reception power of the robot and each Beacon base stations, according to the robot with it is multiple
The distance of the robot and each Beacon base stations is calculated in the signal reception power of Beacon base stations；According to the machine
People obtains the present bit of the robot with the distance of the multiple Beacon base stations and the positional information of each Beacon base stations
Confidence ceases；The machine is planned according to the current location information of the robot, the positional information of destination and scene cartographic information
The course of device people and navigation.
It will be understood by those skilled in the art that the structure shown in Fig. 3, the only part related to application scheme knot
The block diagram of structure, does not form the restriction for the robot being applied thereon to application scheme, and specific robot can include
Than more or less parts shown in figure, either combine some parts or arranged with different parts.The processor
It can be CPU (Central Processing Unit, CPU), can also be other general processors, numeral letter
Number processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific
Integrated Circuit, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA)
Either other PLDs, discrete gate or transistor logic, discrete hardware components etc..General processor can be with
It is microprocessor or the processor can also be any conventional processor etc., the processor is the control of the robot
Center, utilize the various pieces of various interfaces and the whole robot of connection.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, program can be stored in a non-volatile computer-readable storage
In medium, in the embodiment of the present invention, the program can be stored in the storage medium of robot, and by the robot at least
One computing device, to realize the flow for including the embodiment such as above-mentioned each method.Wherein, storage medium can be magnetic disc, light
Disk, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory,
RAM) etc..
If it is understood that the integrated unit is realized in the form of SFU software functional unit and is used as independent production
Product are sold or in use, can be stored in a corresponding computer read/write memory medium.Based on such understanding, this hair
The bright all or part of flow realized in above-mentioned corresponding embodiment method, correlation can also be instructed by computer program
Hardware is completed, and described computer program can be stored in a computer-readable recording medium, the computer program is being located
Manage device perform when, can be achieved above-mentioned each embodiment of the method the step of.Wherein, the computer program includes computer program generation
Code, the computer program code can be source code form, object identification code form, executable file or some intermediate forms
Deng.The computer-readable medium can include：Any entity or device, the record of the computer program code can be carried
Medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), with
Machine access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..
It should be noted that the content that the computer-readable medium includes can be according to legislation in jurisdiction and patent practice
It is required that carry out appropriate increase and decrease, such as in some jurisdictions, do not wrapped according to legislation and patent practice, computer-readable medium
Include electric carrier signal and telecommunication signal.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Division, only a kind of division of logic function, can there is other dividing mode, such as multiple units or component when actually realizing
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The mutual coupling discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit 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 robot
(can be personal computer, server, or network equipment etc.) perform each embodiment methods described of the present invention whole 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 be with store program codes
Medium.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that：It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic；And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
- A kind of 1. robot localization air navigation aid, it is characterised in that including：Multiple Beacon base stations are arranged in the default point of scene in advance, and gather scene cartographic information；Robot receives destination；The robot carries out Bluetooth communication with the multiple Beacon base stations, obtains the robot and each Beacon base stations Signal reception power, the robot is calculated according to the signal reception power of the robot and multiple Beacon base stations With the distance of each Beacon base stations；Institute is obtained according to the positional information of the distance and each Beacon base stations of the robot and the multiple Beacon base stations State the current location information of robot；The robot is planned according to the current location information of the robot, the positional information of destination and scene cartographic information Course and navigation.
- 2. according to the method for claim 1, it is characterised in that described to arrange multiple Beacon bases in the default point of scene in advance Stand, and gather scene cartographic information, including：Multiple Beacon base stations are arranged in the default point of scene；Gather scene cartographic information；Positional information in the scene cartographic information is obtained in the correspondence position of scene according to the multiple Beacon base stations.
- 3. method according to claim 1 or 2, it is characterised in that the scene cartographic information be two-dimensional map information or Three-dimensional map information, the positional information are corresponding two-dimensional coordinate or three-dimensional coordinate.
- 4. according to the method for claim 1, it is characterised in that current location information, the mesh according to the robot Ground positional information and scene cartographic information plan course and the navigation of the robot, including：According to the current location information of the robot, the positional information of destination and scene cartographic information, generate and work as from described Front position information has multiple continuous coordinates in the shortest distance route to the shortest distance route of the positional information of destination Point, the robot is controlled to be advanced successively along the multiple continuous coordinate points.
- 5. according to the method for claim 1, it is characterised in that the robot carries out blue with the multiple Beacon base stations Before tooth communication, in addition to：The positional information of each Beacon base stations is stored in the database of the robot in advance.
- 6. according to the method for claim 5, it is characterised in that the robot carries out blue with the multiple Beacon base stations After tooth communication, in addition to：The robot obtains corresponding positional information according to the Beacon base station names received from the database.
- 7. according to the method for claim 1, it is characterised in that methods described also includes：The robot is controlled to avoid the barrier in course using slam recognition methods.
- A kind of 8. robot localization navigation system, it is characterised in that including：Setup module, for arranging multiple Beacon base stations in the default point of scene in advance, and gather scene cartographic information；Receiving module, destination is received for robot；Range finder module, Bluetooth communication is carried out for the robot and the multiple Beacon base stations, obtain the robot with The signal reception power of each Beacon base stations, calculated according to the signal reception power of the robot and multiple Beacon base stations Obtain the distance of the robot and each Beacon base stations；Locating module, for according to the robot and the distance of the multiple Beacon base stations and the position of each Beacon base stations Confidence ceases to obtain the current location information of the robot；Navigation module, for the current location information according to the robot, the positional information of destination and scene cartographic information Plan the course of the robot and navigation.
- 9. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the computer program quilt The robot localization air navigation aid as any one of claim 1 to 7 is realized during computing device.
- 10. a kind of robot, it is characterised in that including memory, processor and be stored on the memory and can be described The computer program run on processor, realized described in the computing device during computer program as appointed in claim 1 to 7 Robot localization air navigation aid described in one.
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| CN108731663A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Correspondence method for building up, device, medium and electronic equipment |
| CN108789420A (en) * | 2018-08-15 | 2018-11-13 | 深圳市烽焌信息科技有限公司 | It is a kind of when causing danger for evacuating the robot and storage medium that guide |
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| CN108415436A (en) * | 2018-04-09 | 2018-08-17 | 重庆鲁班机器人技术研究院有限公司 | Robot bootstrap technique, device and robot |
| CN109000647A (en) * | 2018-04-26 | 2018-12-14 | 北京精琢机器人技术有限公司 | Robot indoor navigation method, device, system, equipment and medium |
| CN108789420A (en) * | 2018-08-15 | 2018-11-13 | 深圳市烽焌信息科技有限公司 | It is a kind of when causing danger for evacuating the robot and storage medium that guide |
| CN108801269A (en) * | 2018-08-29 | 2018-11-13 | 山东大学 | A kind of interior cloud Algorithms of Robots Navigation System and method |
| CN108801269B (en) * | 2018-08-29 | 2021-11-12 | 山东大学 | Indoor cloud robot navigation system and method |
| CN109084779A (en) * | 2018-09-29 | 2018-12-25 | 上海思依暄机器人科技股份有限公司 | A kind of robot navigation method and system |
| CN109613917A (en) * | 2018-11-02 | 2019-04-12 | 广州城市职业学院 | A kind of question and answer robot and its implementation |
| CN111381586A (en) * | 2018-12-11 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot and movement control method and device thereof |
| CN109556624A (en) * | 2018-12-21 | 2019-04-02 | 青岛科技大学 | AGV trolley Position Fixing Navigation System and method based on Bluetooth technology |
| CN112578334A (en) * | 2019-09-27 | 2021-03-30 | 中光电智能机器人股份有限公司 | Unmanned aerial vehicle and positioning method thereof, unmanned aerial vehicle communication system and operation method thereof |
| CN111983559A (en) * | 2020-08-14 | 2020-11-24 | Oppo广东移动通信有限公司 | Indoor positioning navigation method and device |
| CN114007189A (en) * | 2021-10-25 | 2022-02-01 | 北京和点文化科技有限公司 | Intelligent air purification robot, interaction method thereof and computer-readable storage medium |
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| CN117119585A (en) * | 2023-08-26 | 2023-11-24 | 江苏蓝策电子科技有限公司 | Bluetooth positioning navigation system and method |
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