CN107797095A - A kind of space navigation method applied to robot motion - Google Patents
A kind of space navigation method applied to robot motion Download PDFInfo
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- CN107797095A CN107797095A CN201710935571.8A CN201710935571A CN107797095A CN 107797095 A CN107797095 A CN 107797095A CN 201710935571 A CN201710935571 A CN 201710935571A CN 107797095 A CN107797095 A CN 107797095A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to monitoring equipment field, and in particular to a kind of space navigation method applied to robot motion.The present invention above-mentioned technical purpose technical scheme is that：A kind of space navigation method applied to robot motion, comprising light tower and robot, the robot is provided with least four inductors, during the inductor is used for the optical signal for receiving light tower, and four inductors are not generally aligned in the same plane.It is an object of the invention to provide a kind of space navigation method applied to robot motion, positioned and navigated using the optical inductor of the beacon of arrangement transmitting laser signal and reception beacon optical signal in space, flexibility is high, and positioning precision is high, algorithm is simple, and cost is controllable.
Description
Technical field
The present invention relates to monitoring equipment field, and in particular to a kind of space navigation method applied to robot motion.
Background technology
With the development of information technology and the maturation of mechanical technique, in recent years, space automatic navigation technology has obtained extensively
Application and quickly progressive.Space automatic navigation technology can be industrial vehicle such as AGV, or robot, in designated space
It is interior that positioning and route guiding are provided.The autonomous space navigation mode being currently used in robot has a variety of, and application is wider
It is：Magnetic stripe navigation, laser navigation, inertial navigation and vision guided navigation etc..
Wherein, magnetic stripe navigation mode is the paving magnetic stripe on fixed path, and hall sensing is installed below in robot chassis
Device, the path of robot motion is judged by detection magnetic induced signal, realize autonomous guiding.Laser navigation mode is
The laser of internal loopback is installed in robot, is achieved in that around driving path the accurate laser of installation site is anti-
Penetrate plate.If not installing laser reflection plate, reflected by the barrier in laser scanning space, swashed by launching
The laser beam that light beam and collection reflect, to determine its current position and direction, and passes through continuous triangle geometric operation
To realize autonomous guiding.
Inertial navigation mode is that gyroscope is installed in robot, and locating piece is installed on moving region, passes through gyroscope
The COMPREHENSIVE CALCULATING of deviation signal and move distance code device signal, and the correction of terrestrial positioning block signal determine the position of itself
And direction, realize autonomous guiding.And vision guided navigation mode is that earnest is labelled on the motion path of robot, adopted by video camera
Collect reference object image, carry out match cognization scheduling algorithm, calculate the positional information of robot, realize autonomous guiding.
But these four modes suffer from certain limitation and defect, be concentrated mainly on precision problem and cost it is too high lack
On falling into.Although specifically, magnetic stripe navigation early stage laying it is simple, cost is low, be easily contaminated in use and
Damage, the maintenance cost in later stage are higher.And laser navigation mode reaches permissible accuracy to realize, it is necessary to which installation accuracy is higher
Reflecting plate, whole construction cost is of a relatively high.Inertial navigation mode and vision guided navigation mode are due to that will pass through the image of complexity
Algorithm and by such as Quick Response Code correction identify, possess certain requirement to hardware, also cause whole vision navigation system into
This is further up.
The content of the invention
It is an object of the invention to provide a kind of space navigation method applied to robot motion, using arranging in space
Launch the beacon of laser signal and the optical inductor of reception beacon optical signal to be positioned and be navigated, flexibility is high, positioning accurate
Degree is high, and algorithm is simple, and cost is controllable.
The present invention above-mentioned technical purpose technical scheme is that：One kind is applied to robot motion
Space navigation method, comprising light tower and robot, the robot is provided with least four inductors, and the inductor is used for
The optical signal of light tower is received, and during four inductors are not generally aligned in the same plane；
S01, optical synchronous signal receiving step：
The smooth tower transmitting optical synchronous signal, each inductor are recorded the time for receiving the optical synchronous signal, marked
It is designated as initial time；
S02, strafe optical signal receiving step：
The smooth tower then enters traveling optical signal in specified angle and strafed, each inductor record by optical signal strafe to
Time, labeled as receive the time；
S03, angle calculating step：
The reception time of itself is subtracted initial time by each inductor, obtains time difference, according to real-time time difference,
The beacon strafes the angle of circumference angle value of optical signal, the beacon strafes the periodic signal of optical signal, calculates each sense
Answer the angle deviating value of device；
S04, positioning step：According to the angle deviating value and fixed position relative data of each inductor, machine is calculated
The position coordinates of people in space；
S05, navigation step：Default destination locations coordinate is compared with current position coordinates, compares post-equalization row
Enter route.
As a preference of the present invention, S01 optical synchronous signals receiving step and S02 are strafed in optical signal receiving step, respectively
Horizontal direction and vertical direction are operated：
The smooth tower emission level optical synchronous signal,
The smooth tower emission level laser fire signal,
The smooth tower launches vertical optical synchronous signal,
The smooth tower transmitting vertical laser strafes signal.
As a preference of the present invention, the smooth tower is four, respectively positioned at the corner location of working region.
As a preference of the present invention, in S04, positioning step, according to the angle deviating value and phase of each inductor
To fixed position data, using Posit or PnP algorithms and coordinate system transformation mode, the position of robot in space is calculated
Coordinate.
As a preference of the present invention, in S05 navigation steps, pre-set the robot target location coordinate to be reached and deposit
Storage, by the way that compared with current position coordinates, control machine people moves along a certain reference axis, is supervised in real time in moving process
Robot location's coordinate is surveyed to be compared with target location coordinate again.
As a preference of the present invention, real-time target position coordinates is three-dimensional coordinate, the number of coordinates of tri- reference axis of XYZ is included
According to.
As a preference of the present invention, the default target location coordinate is（X0, Y0, Z0）, the changing coordinates position of positioning
(X, Y, Z) is set to, compares current position coordinates X and X0 first, if differing, operation robot moves along X-direction, until
X is identical with X0, and then, identical operates Y-axis and Z axis orientation one by one.
As a preference of the present invention, when the smooth tower is multiple, the smooth tower work is carried out one by one, the previous light
Tower completes strafe the transmitting of signal after, next smooth tower just proceeds by the transmitting of optical synchronous signal.
As a preference of the present invention, in S02, strafe in optical signal receiving step, light tower launches the angle for strafing optical signal
For 360 °.
In summary, the present invention has the advantages that：
1st, without using traditional location and navigation technology, but light tower and matching optical inductor being used, location arrangements are flexible,
Positioning precision is high, and cost is controllable.
2nd, in the zone, positioning can be achieved using a light tower, multiple smooth towers can be set to improve accuracy, it is fixed to remove
Position dead angle.
3rd, minimum that positioning can be achieved using four optical inductors, it is fixed to be lifted that multiple inductors can be set in robot
Position accuracy.
Brief description of the drawings
Fig. 1 is the schematic diagram of embodiment 1；
Fig. 2 is the schematic diagram of the optical inductor module in robot；
Fig. 3 is the schematic diagram of light tower and on robot；
Fig. 4 is the sequential schematic that multiple smooth towers carry out optical signal launch；
Fig. 5 is the method schematic diagram that embodiment 1 is navigated based on positioning.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
This specific embodiment is only explanation of the invention, and it is not limitation of the present invention, people in the art
Member can make the modification of no creative contribution to the present embodiment as needed after this specification is read, but as long as at this
All protected in the right of invention by Patent Law.
Embodiment 1, as shown in Figure 1：A kind of space navigation method applied to robot motion, wrapped in this navigation system
Robot and Guang Ta are contained.Light tower is used to launch optical signal, and robot is provided with the inductor for being used for receiving optical signal.Machine
The other structures of people can include running gear, control device, transfer, brake apparatus etc. with same as the prior art.Light
The quantity of tower can be one, or two or more.In the present embodiment, light tower has four, and is arranged in machine
Four corners of people working region, such arrangement mode are to realize orientation range all standing without dead angle area, and can be led to
The quantity for crossing increase light tower carries out the extension of located space.
As shown in Fig. 2 Fig. 2 is mounted in the optical inductor module in robot, can pacify in the module in diverse location
Fill inductor.The quantity of inductor is necessary for more than four, and four inductors are necessarily mounted at non-same plane, so can be with
Obtain the different calculating data on tri- directions of XYZ.Ring part in figure is the position for installing inductor.
The specific positioning method of work of the system is as shown in Figure 3 and Figure 4.First, light tower 1 is started working, emission level light
Synchronizing signal.The radiation pattern of horizontal optical synchronous signal is that to all the winds synchronized transmissions, transmitting understand the very first time by machine afterwards
Inductor on device people captures, and records the time T0 captured, and T0 is marked as initial time.Then, robot
Normal walking, the now emission level laser fire signal of light tower 1, the synchronized transmissions mode from all directions with horizontal optical synchronous signal
Difference, laser fire are orientations, specifically, light tower 1 can carry out laser fire according to specified range specified angle, in robot
Each inductor can equally capture corresponding to each inductor laser arrival time, during labeled as each self-corresponding reception
Between, as shown in Figure 3, the time that two inductors are respectively received is T1 and T2.And according to T1-T0, T2-T0, it is this
Time difference corresponding to two inductors, and the periodic signal of laser fire and the angular range strafed all are default, it is known that
, these three are vertical according to time difference, periodic signal, sweep angle scope for system, you can it is corresponding to calculate each inductor
Deflection angle angle value.In corresponding diagram 3, the angle deviating value θ 1 and θ 2 of two inductors respectively.
Explanation is needed exist for, preferably, sweep angle scope is typically all set to 360 °, i.e., circumference is strafed.Although one
As four light towers be all located at the corner location of working region, many times strafe scope and covered for 90 ° -120 ° i.e. achievable scopes
Lid, but in operation, it is very important at the uniform velocity with stability to strafe, and is set as that 360 ° of circumference is strafed, can cause electricity
The driving parts such as machine are directly connected with strafing part, are not paused during rotation, stable, beneficial to the accurate of data
Property.
It is invariable during due to relative position between each inductor, in Fig. 3, the distance between two inductors
For d, then the distance between the angle deviating value θ according to corresponding to each inductor, each inductor d, pass through Posit or PnP
Algorithm calculates the position coordinates of robot in space.It should be noted that this kind of algorithm, for the quantitative requirement of inductor
It is to need 4, in practical operation, and using 4 inductors as one group, calculates corresponding robot location's coordinate.If deposit
The inductor more than 4, such as 5, then 5 inductor permutation and combination form 5 groups of inductor groups, 5 coordinates are calculated
5 coordinate informations can be carried out coupling processing by information, then, system further according to default algorithm, obtain number of coordinates to the end
According to lifting positioning precision.
Unlike partial navigation technology, this technology can not only realize two-dimensional localization, can also realize 3 D stereo
Positioning.As shown in figure 4, it is same also to launch vertical light after transmitting horizontal optical synchronous signal and horizontal laser light strafes signal for light tower
Step signal and vertical laser strafe signal, and processing mode is identical with horizontal processing mode above.
Fig. 4 is shown when working region is provided with four light towers, respectively light tower 1, light tower 2, the and of light tower 3 in corner location
Light tower 4.The emission level optical synchronous signal first of light tower 1, then emission level laser fire signal, then launch vertical phototiming letter
Number, then launch vertical laser and strafe signal.After light tower 1 completes the action of the above four, the transmission signal again of light tower 2, transmitting
The species and order of signal are same as above.The battery has fired of light tower 2 and then the signal transmitting for carrying out light tower 3 and light tower 4 successively.So
The signal interference that the mode that carries out successively primarily to avoid is not shared the same light between tower, beneficial to the accuracy of result.
As shown in figure 5, Fig. 5 is the air navigation aid for having used the location technology.It is local or soft from the background by robot first
Part pre-sets the robot target location coordinate to be reached (X0, Y0, Z0) and is stored in robot, and robot passes through light tower again
Laser positioning determine current position coordinates (x, y, z), robot is compared to the position in X-direction, if current location x
It is different with the coordinate X0 of setting, moved in Robot X-direction until identical with setting；The position carried out again in Y-direction is entered
Row compares, if current location y is different with the coordinate Y0 set, is moved in Robot Y-direction until identical with setting；Most
The position carried out afterwards in Z-direction is compared, if current location z is different with the coordinate Z0 set, Robot X-direction moves up
Move until identical with setting.The final robot autonomous mesh for being moved to presetting target location coordinate, reaching independent navigation
's.
Claims (9)
- A kind of 1. space navigation method applied to robot motion, it is characterised in that；Comprising light tower and robot, the machine People is provided with least four inductors, and the inductor is used for the optical signal for receiving light tower, and four inductors are not located at In same plane；S01, optical synchronous signal receiving step：The smooth tower transmitting optical synchronous signal, each inductor are recorded the time for receiving the optical synchronous signal, marked It is designated as initial time；S02, strafe optical signal receiving step：The smooth tower then enters traveling optical signal in specified angle and strafed, each inductor record by optical signal strafe to Time, labeled as receive the time；S03, angle calculating step：The reception time of itself is subtracted initial time by each inductor, obtains time difference, according to real-time time difference, The beacon strafes the angle of circumference angle value of optical signal, the beacon strafes the periodic signal of optical signal, calculates each sense Answer the angle deviating value of device；S04, positioning step：According to the angle deviating value and fixed position relative data of each inductor, machine is calculated The position coordinates of people in space；S05, navigation step：Default destination locations coordinate is compared with current position coordinates, compares post-equalization row Enter route.
- A kind of 2. space navigation method applied to robot motion according to claim 1, it is characterised in that：S01 light Synchronous signal receiver step and S02 are strafed in optical signal receiving step, and horizontal direction and vertical direction are operated respectively：The smooth tower emission level optical synchronous signal,The smooth tower emission level laser fire signal,The smooth tower launches vertical optical synchronous signal,The smooth tower transmitting vertical laser strafes signal.
- A kind of 3. space navigation method applied to robot motion according to claim 1, it is characterised in that：The light Tower is four, respectively positioned at the corner location of working region.
- A kind of 4. space navigation method applied to robot motion according to claim 1, it is characterised in that：In S04, In positioning step, according to the angle deviating value and fixed position relative data of each inductor, calculated using Posit or PnP Method and coordinate system transformation mode, calculate the position coordinates of robot in space.
- A kind of 5. space navigation method applied to robot motion according to claim 1, it is characterised in that：In S05 Navigation step, the robot target location coordinate to be reached and storage are pre-set, by compared with current position coordinates, Control machine people is moved along a certain reference axis, and real-time monitoring robot position coordinates is sat with target location again in moving process Mark is compared.
- A kind of 6. space navigation method applied to robot motion according to claim 5, it is characterised in that：Real-time mesh Cursor position coordinate is three-dimensional coordinate, includes the coordinate data of tri- reference axis of XYZ.
- A kind of 7. space navigation method applied to robot motion according to claim 6, it is characterised in that：It is default The target location coordinate is（X0, Y0, Z0）, the present co-ordinate position of positioning is (X, Y, Z), compares current position coordinates first X and X0, if differing, operation robot moves along X-direction, until X identical with X0, then, identical operates Y-axis one by one With Z axis orientation.
- A kind of 8. space navigation method applied to robot motion according to claim 1, it is characterised in that：When described Light tower for it is multiple when, the smooth tower work is carried out one by one, the previous smooth tower completes strafe the transmitting of signal after, it is next The smooth tower just proceeds by the transmitting of optical synchronous signal.
- A kind of 9. space navigation method applied to robot motion according to claim 1, it is characterised in that：In S02, Strafe in optical signal receiving step, the angle that optical signal is strafed in the transmitting of light tower is 360 °.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111044011A (en) * | 2018-10-15 | 2020-04-21 | 深圳班翟机器人有限公司 | Mobile auxiliary system, engineering machinery and mobile method |
| CN111179632A (en) * | 2020-01-06 | 2020-05-19 | 珠海丽亭智能科技有限公司 | Parking robot positioning and navigation method |
| CN116125382A (en) * | 2023-01-14 | 2023-05-16 | 北京国安广传网络科技有限公司 | Positioning device and method for health management robot |
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| CN105629200A (en) * | 2016-03-16 | 2016-06-01 | 北京国承万通信息科技有限公司 | Positioning light beam emission system and method and indoor positioning system |
| CN206248821U (en) * | 2016-11-25 | 2017-06-13 | 北京凌宇智控科技有限公司 | A kind of locating base station and alignment system |
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Patent Citations (3)
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| CN102207543A (en) * | 2011-03-17 | 2011-10-05 | 昆山塔米机器人有限公司 | Positioning navigation system and method for independent mobile equipment |
| CN105629200A (en) * | 2016-03-16 | 2016-06-01 | 北京国承万通信息科技有限公司 | Positioning light beam emission system and method and indoor positioning system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111044011A (en) * | 2018-10-15 | 2020-04-21 | 深圳班翟机器人有限公司 | Mobile auxiliary system, engineering machinery and mobile method |
| CN111179632A (en) * | 2020-01-06 | 2020-05-19 | 珠海丽亭智能科技有限公司 | Parking robot positioning and navigation method |
| CN111179632B (en) * | 2020-01-06 | 2021-08-20 | 珠海丽亭智能科技有限公司 | Parking robot positioning and navigation method |
| CN116125382A (en) * | 2023-01-14 | 2023-05-16 | 北京国安广传网络科技有限公司 | Positioning device and method for health management robot |
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