CN108415432A - Localization method of the robot based on straight flange - Google Patents
Localization method of the robot based on straight flange Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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Abstract
The present invention relates to a kind of localization method of robot based on straight flange, in the walking process of robot, it is positioning side by recording the straight flange passed by along the edge of barrier, can be that subsequent robot's walking error is larger, meet and error correction offer amendment data are provided when presetting location condition, the more long-pending the walking error so as to avoid robot the bigger and leads to not accurately be walked and navigated, and improves the accuracy and wheel efficiency of robot localization.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of localization method of the robot based on straight flange.
Background technology
With the mature of gyroscope technology, the robot localization technology based on inertial navigation obtains more and more
Using.Such as indoor cleaning machine people, accurately angle is provided by gyroscope, in addition the data of odometer, may be implemented room
Interior inertial navigation.This kind of airmanship, advantage are only to need cheap gyroscope and odometer, and it is relatively high not need price
The sensors such as laser, vision or wireless location.But robot using inertial navigation principle measure self-view when,
The self poisoning that robot obtains can be caused inaccurate, to influence machine task efficiency because of cumulative errors reason.
Invention content
To solve the above problems, the present invention provides a kind of localization method of robot based on straight flange, it can be to robot
Walking error be modified, improve the accuracy of robot localization.The specific technical solution of the present invention is as follows：
A kind of localization method of the robot based on straight flange, includes the following steps：Step S1：Based on detection during robot ambulation
The data arrived judge whether the path that Robot barrier edge is walked is a straight flange, if it is, entering step
S2, if it is not, then continuing to detect；Step S2：It determines that the straight flange is positioning side, and the direction parameter corresponding to straight flange is recorded
For the positional parameter on the positioning side；Step S3：Judge whether robot meets default location condition, if yes then enter step
Otherwise S4 returns to step S1；Step S4：Search for the positioning side；Step S5：An anchor point row towards in the positioning side
It walks, judges that robot detects whether the location point of barrier is in the first preset range of the anchor point, if it is,
S7 is entered step, otherwise, enters step S6；Step S6：Another positioning side is searched for, and returns to step S5；Step S7：Described in
The edge of barrier is walked, and judge robot direction of travel whether the orientation in the positional parameter on the positioning side
The second preset range in, if it is, enter step S8, otherwise search for another positioning side, and return to step S5；Step
S8：The current location data of robot is modified to the positional parameter corresponding to the positioning side.
Further, the data detected in the process based on robot ambulation described in step S1, judge Robot
Whether the path that barrier edge is walked is a straight flange, is included the following steps：Step S11：It is passed along side based on robot
The data that sensor detects judge that robot whether in along side walking states, if it is, entering step S12, otherwise continues
Detection；Step S12：The angle value detected based on the gyroscope of robot determines direction of travel；Step S13：Analysis robot
Whether the first pre-determined distance is reached along the walking of same direction of travel always, if it is, determining Robot barrier edge institute
The path of walking is a straight flange, otherwise determines that the path that Robot barrier edge is walked is not a straight flange.
Further, the positioning ginseng that the direction parameter corresponding to straight flange is recorded as to the positioning side described in step S2
Number, includes the following steps：Step S21：The both ends of the straight flange are determined based on the travel distance that the odometer of robot detects
With intermediate coordinate position, and the coordinate position is recorded as to the elements of a fix on the positioning side；Step S22：Based on machine
The angle value that the gyroscope of people detects determines the extending direction of the straight flange, and the extending direction is recorded as the positioning
The orientation on side.
Further, the positioning ginseng that the direction parameter corresponding to straight flange is recorded as to the positioning side described in step S2
Number, includes the following steps：Step S21：The both ends of the straight flange are determined based on the travel distance that the odometer of robot detects
With intermediate coordinate position, and the coordinate position is recorded as to the elements of a fix on the positioning side；Step S22：Based on machine
The angle value that the gyroscope of people detects determines the extending direction of the straight flange, and the extending direction is recorded as the positioning
The orientation on side；Step S23：By the vertical straight flange, and it is directed toward the direction on the inside of the straight flange and is recorded as the positioning
The fixed setting on side.
Further, judge whether robot meets default location condition described in step S3, include the following steps：Sentence
The time of disconnected robot ambulation whether reaches preset time or whether the path of robot ambulation reaches the first preset length, such as
Any one judging result of fruit is yes, it is determined that robot meets default location condition, otherwise, it determines robot do not meet it is default
Location condition.
Further, the search positioning side described in step S4, includes the following steps：Based on the grid constructed by robot
Lattice map searches for the grid positions where positioning side described in grating map.
Further, walking towards an anchor point in the positioning side described in step S5, judges that robot detects
Whether the location point of barrier is in the first preset range of the anchor point, includes the following steps：Step S51：Determine institute
The source location set for positioning side or intermediate position points are stated as anchor point；Step S52：Determine the grid where the anchor point
Unit；Step S53：The grid between grid cell where the grid cell to the anchor point that search is currently located from robot
, when robot detects barrier, sentence along the grid cell walking where the raster path to the anchor point in lattice path
Grid cell where disconnected barrier and the distance between the grid cell where the anchor point whether be less than second it is default away from
From, if it is, determine that robot detects that the location point of barrier is in the first preset range of the anchor point, it is no
Then, determine that robot detects that the location point of barrier is not in the first preset range of the anchor point.
Further, walking along the edge of the barrier described in step S7, and judge that the direction of travel of robot is
In second preset range of the no orientation in the positional parameter on the positioning side, include the following steps：Step S71：Machine
Device people, which presses, to walk along edge direction along the edge of the barrier, and the data detected based on gyroscope determine direction of travel；
Step S72：Determine the orientation in the positional parameter on the positioning side recorded；Step S73：Judge the direction of travel
Whether it is less than default error angle angle value with the angle difference of the orientation, if it is, determining the direction of travel of robot
In second preset range of the orientation in the positional parameter on the positioning side, otherwise the direction of travel of robot is determined not
In second preset range of the orientation in the positional parameter on the positioning side.
Further, the location data that robot is current described in step S8 is modified to corresponding to the positioning side and determines
Position parameter, includes the following steps：Step S81：Determine the coordinate value corresponding to the terminal location point on the positioning side recorded；
Step S82：Determine that the edge of Robot barrier runs to the present coordinate values corresponding to the location point of turning point；Step
S83：The present coordinate values are replaced with to the coordinate value corresponding to the terminal location point on the positioning side recorded.
Further, after step s8, further include：Step S9：Based on the current location data of robot with it is described fixed
The difference of positional parameter corresponding to the side of position corrects the cartographic information that robot is stored.
Further, the location data current based on robot described in step S9 and the positioning corresponding to the positioning side
The difference of parameter is corrected the cartographic information that robot is stored, is included the following steps：Step S91：It is described fixed that determination is recorded
The location point institute that the edge of coordinate value and Robot barrier corresponding to the terminal location point on position side runs to turning point is right
Coordinate difference between the present coordinate values answered is（△ X, △ Y）；Step S92：Determine that the length of side of grid cell is L；Step
S93：Determine that grid coordinate difference corresponding to the coordinate difference is R, R=（△ X/L, △ Y/L）；Step S94：By grid
The grid coordinate of grid cell in figure subtracts R, as the grid coordinate redefined, and keeps the status information of grid cell
It is constant.
Beneficial effects of the present invention include：In the walking process of robot, passed by along the edge of barrier by recording
Straight flange be positioning side, can be subsequent robot walk error it is larger, meet preset location condition when carry out error correction carry
For correcting data, the more long-pending the walking error so as to avoid robot the bigger and leads to not accurately be walked and navigated,
Improve the accuracy and wheel efficiency of robot localization.
Description of the drawings
Fig. 1 is the flow diagram of localization method of the robot of the present invention based on straight flange.
Fig. 2 is the schematic diagram of determining fixed setting of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.It should be appreciated that specific embodiment disclosed below is only used for explaining the present invention, it is not intended to limit the present invention.
Robot of the present invention is a kind of Intelligent cleaning robot（Such as sweeping robot or floor-mopping robot）,
The robot mentioned in following embodiments all refers to Intelligent cleaning robot.These robots can rely on certain artificial intelligence
Can, it walks automatically in certain occasions automatically.The body of robot is equipped with various sensors, can detect travel distance, row
Walk angle（That is direction of travel）, fuselage state and barrier etc., such as encounter wall or other barriers, can voluntarily turn, and according to
Different settings, and different routes is walked, it walks with having planning, can also be built according to the various data detected in walking process
Grating map.Robot of the present invention includes such as lower structure：With left driving wheel and right driving wheel being capable of autonomous
Machine human organism, body be equipped with human-computer interaction interface, body be equipped with obstacle detection unit.Internal body is provided with inertia
Sensor, the inertial sensor include accelerometer and gyroscope etc., are designed on two driving wheels for detecting driving wheel
Travel distance odometer（Usually code-disc）, it is additionally provided with the parameter that can handle related sensor, and control can be exported
Control module of the signal to execution unit.
The localization method of robot as shown in Figure 1 based on straight flange, includes the following steps：Step S1：Based on robot row
It walks the data detected in the process, including the distance value that detects of the gyroscope angle value, the odometer that detect and is sensed along side
Device detect along boundary values, to judge whether the path that Robot barrier edge is walked is a straight flange.Judge whether
Along the edge of barrier, walking can be determined by what is detected along side sensor along boundary values, when what is detected along side sensor
Preset value is remained along boundary values, then shows that robot walks along the edge of barrier always, the preset value can be arranged
For any one value in 1 centimetre or 0.5 centimetre to 1.5 centimetres, it is to be understood that in set certain model along boundary values
In enclosing（Such as ± 10%）Variation, it is also assumed that being to maintain as preset value.Judge whether walked path is a straight flange,
The angle value or the distance value that is detected of odometer that can then be detected by gyroscope determine, for example gyroscope detects
Angle value remains constant, then shows that the direction of robot ambulation is constant, always along a direction straight line moving.In for another example
The distance value that journey meter detects regularly is changed by the slope of a certain straight line, then show robot always along the straight line always
Walking.Other than aforesaid way, machine can also be judged by modes such as ultrasonic wave positioning, vision positioning or laser positionings
Whether people is a straight flange along the path that barrier edge is walked.Machine on one side press systems organization path walk, on one side into
The above-mentioned detection of row judges, when the path for determining that Robot barrier edge is walked is a straight flange, then enters step S2,
The straight flange is determined as to position side, and the direction parameter corresponding to straight flange is recorded as to the positional parameter on the positioning side, institute
State the coordinate value for the source location set that the direction parameter corresponding to straight flange includes straight flange, the coordinate value of intermediate position points, terminal position
Set coordinate value a little, along direction that straight flange is walked etc..Then corresponding direction parameter is recorded as determining for the source location set on positioning side
Position coordinate value, the elements of a fix value of intermediate position points, the elements of a fix value of terminal location point, the orientation etc. walked along straight flange
Positional parameter.After the positional parameter for recording positioning side, S3 is entered step, judges whether robot meets default positioning strip
Part, the default location condition can be accordingly arranged according to specific design requirement, such as can be according to the row of robot
Walking the time is configured, when robot ambulation certain time（Such as 20 minutes）, certain walking error can be accumulated, at this time
It is contemplated that carrying out error correction, that is, judge to meet default location condition；It can also be set according to the distance of robot ambulation
It sets, when robot ambulation a certain distance（Such as 50 meters）, certain walking error can be also accumulated, can also judge to meet pre-
If location condition, need to carry out error correction.Further, it is also possible to according to the time of robot ambulation in conjunction with walking distance come into
Row setting.When judging that robot do not meet default location condition, shows that the walking error that robot is accumulated is not big enough, do not need
It is modified, then return to step S1 continues to press planning walking on one side, detects on one side.When judging that robot meets default positioning strip
Part then shows that robot needs to carry out error correction at this time, and enters step S4, the positioning side recorded in search step S2.
The a succession of grid cell being located at when positioning can determined by searching for the form of grating map by searching for the positioning.This
When, search out come positioning side may have it is a plurality of, at this time can according to system be arranged selection wherein one positioning side carry out error
It corrects, for example selects that positioning side determined earliest, or any one in two positioning sides of the selection with intersection point.
After searching for and that positioning side that can carry out error correction being determined, S5 is entered step, it is fixed towards one in the positioning side
Site is walked, due to being to carry out point-by-point position movement based on coordinate position point when robot navigation walks, so robot phase
Positioning side should be gone to, needs first to determine a location point in positioning side as source location（The i.e. described anchor point）, just may be used
To run to the source location from the navigation of current location point, the positioning side can be just reached.The anchor point can basis
Specific design requirement is accordingly arranged, for example is set as the source location set on the positioning side or the location point of centre,
Or any one location point between starting point and intermediate point.Since the current walking data of robot have existed error, when
The map datum of preceding storage and actual landform have existed error, so, when robot walks towards the anchor point, perhaps machine
Device people navigation runs to the anchor point not yet, has just had been detected by barrier, perhaps robot navigation has arrived at
The anchor point, but robot detects barrier not yet, then and robot needs continue to move ahead, until detecting obstacle
Object.After robot detects barrier, in this case it is not apparent that whether the barrier belongs to the barrier corresponding to the positioning side, needs
Location point when robot detects barrier is first judged whether in the first preset range in the anchor point, if the
In one preset range, show the barrier be position side corresponding to barrier possibility it is very big, then enter step S7, make into
One step judges.If not in the first preset range, show that robot ambulation application condition is big, which is that positioning side institute is right
The possibility for the barrier answered is smaller, then enters step S6, searches for another positioning side, and way of search is also using above-mentioned identical
Mode, repeat no more, it is preferred that determine another positioning side when, can select with it is identified it is upper one positioning side it is adjacent
Positioning side, can so shorten robot navigation walking distance, improve location efficiency.After having redefined positioning side,
Step S5 is returned, is worked on by above-mentioned same mode.When entering step S7, since robot can't completely really
Fixed currently detected barrier is exactly the barrier corresponding to the positioning side, so, robot can be along the barrier
The direction of edge towards the terminal location point on the positioning side walk, and current row is determined by the data that gyroscope detects
Into direction, then judge robot direction of travel whether the orientation in the positional parameter on the positioning side it is second pre-
If in range, second preset range can be accordingly arranged according to specific design requirement, it is preferred that can be arranged in institute
It states within the scope of ± 3 ° of orientation, for example the orientation is 45 °, robot detects that current direction of travel is 42 °
To 48 ° within the scope of this, it is believed that current direction of travel is in the second preset range of the orientation.Due to gyro
The drift of instrument or body such as skid at the reasons, though Robot straight line moving its detect direction of travel if can be unstable,
So by the way that the second preset range is arranged, can be caused due to conventional slight error to avoid robot the problem of erroneous judgement.When
When determining that the direction of travel of robot is in the second preset range of the orientation, then show that robot works as the barrier on forward position side
Hinder the barrier corresponding to the positioning side that object is exactly recorded, it may be determined that the institute when being exactly the positioning along robot is right
The straight flange answered can enter step S8 with that, and the current location data of robot is modified to corresponding to the positioning side
Positional parameter, the modified location data of institute includes coordinate value and angle value, i.e., replaces the coordinate value detected by the point of current location
It is changed to the coordinate value recorded when positioning side is put in the position, the angle value detected by the point of current location is replaced with into positioning side
The angle value recorded when putting in the position.If it is determined that the direction of travel of robot is not preset the second of the orientation
In range, then another positioning side is searched for, way of search is also to use above-mentioned identical mode, is repeated no more, it is preferred that determine
When another positioning side, it can select with an identified upper positioning in adjacent positioning, can so shorten robot
The distance of navigation walking, improves location efficiency.After having redefined positioning side, step S5 is returned, by above-mentioned same side
Formula is worked on.Method described in the present embodiment, in the walking process of robot, by recording along the edge of barrier
The straight flange passed by is positioning side, can be that subsequent robot's walking error is larger, error is carried out when satisfaction presets location condition and is repaiied
Positive provide corrects data, and the more long-pending the walking error so as to avoid robot the bigger and leads to not accurately be walked and led
Boat, improves the accuracy and wheel efficiency of robot localization.
As one of which embodiment, the data detected in the process based on robot ambulation described in step S1,
Judge whether the path that Robot barrier edge is walked is a straight flange, is included the following steps：Step S11：Based on machine
The data of device people detected along side sensor, it is described that infrared sensor or ultrasonic sensor may be used along side sensor
Deng being used to detect the distance between the body of robot and the barrier of side.When detecting that robot exists along side sensor
In walking process, there is always barrier in body side, then shows that robot is walked along the edge of barrier, it may be determined that machine
Device people is in along side walking states, and enters step S12, otherwise continues to detect while walking, until determining at robot
In after the walking states of side, step S12 is entered back into.After entering step S12, angle value that the gyroscope based on robot detects
Determine direction of travel, i.e., the data detected by gyroscope, it can be deduced that robot currently walks along the edge of barrier
Direction.After direction of travel is determined, then S13, the path that analysis robot is walked along barrier edge are entered step
Whether a straight flange.If robot walks along the edge of barrier towards same direction of travel always, and the distance walked
Reach the first pre-determined distance, then may indicate that robot is walked along straight line, you can to determine Robot barrier
The path that edge is walked is a straight flange.Wherein, first pre-determined distance can carry out phase according to specific design requirement
It should be arranged, it is preferred that could be provided as 2 meters or the numerical value more than 2 meters, if the value of setting is too small, robot is not easy to seek
The side is found, simultaneously because the influence of the factors such as walking error, shorter straight flange are also unsuitable for as positioning side.So if
Robot is not that the edge along barrier is walked towards same direction of travel always or robot is always along the edge court of barrier
The distance of same direction of travel walking does not reach the first pre-determined distance, it may be considered that robot is not along straight line row
It walks, you can to determine that the path that Robot barrier edge is walked is not a straight flange.Method described in the present embodiment is led to
Cross detection along while state and along while direction of travel come judge Robot side walking path be a straight flange, detect and sentence
Disconnected method is simple, easy to operate, so that robot is quickly and accurately determined walking states, is more efficiently positioned subsequently to determine
The step of side, provides reference data.
As one of which embodiment, being recorded as the direction parameter corresponding to straight flange described in step S2 is described fixed
The positional parameter on position side, includes the following steps：Step S21：Due to robot be by install odometer on the drive wheel come
Travel distance is calculated, also, in the XY axis coordinate systems constructed by robot, the travel distance and top detected by odometer
The direction of travel of spiral shell instrument detection, it can be deduced that the path of robot ambulation and specific location.So the odometer for passing through robot
The travel distance detected can determine each coordinate position when straight flange described in Robot is walked, including be located at the straight flange
Both ends and intermediate coordinate position, and the coordinate position is recorded as the elements of a fix for positioning side.It is determined that positioning is sat
After mark, step S22 is entered back into, the angle value detected by the gyroscope of robot can determine the extension side of the straight flange
To, i.e., direction of travel when Robot straight flange is walked, and the extending direction is recorded as the orientation for positioning side.
Sequencing between the step S21 and step S22 can be exchanged, you can with first record location direction, it is fixed to re-record
Position coordinate.In addition it is also possible to record location coordinate and orientation simultaneously, without point of sequencing.Side described in the present embodiment
Method, the data walked by the Robot straight flange that odometer and gyroscope are detected are as the positional parameter on positioning side, number
It is easy according to obtaining, processing is convenient, more efficiently obtains the positional parameter on positioning side, is conducive to subsequent error correction.
As one of which embodiment, being recorded as the direction parameter corresponding to straight flange described in step S2 is described fixed
The positional parameter on position side, includes the following steps：Step S21：Institute is determined based on the travel distance that the odometer of robot detects
The both ends of straight flange and intermediate coordinate position are stated, and the coordinate position is recorded as to the elements of a fix on the positioning side；Step
S22：The extending direction of the straight flange is determined based on the angle value that the gyroscope of robot detects, and the extending direction is remembered
Record is the orientation on the positioning side；Step S23：By the vertical straight flange, and it is directed toward the note of the direction on the inside of the straight flange
Record is the fixed setting on the positioning side, refers to that robot detects straight flange from which side on the inside of the straight flange, which is exactly straight
The inside on side.Difference lies in increase step S23, as shown in Fig. 2, having hatching to the present embodiment with a upper embodiment
Rectangle indicates that a wall body, robot can walk along the straight flange of the wall both sides, and walking is in different sides, even if advancing
Direction is identical, and coordinate position is also different, and is just not belonging to same positioning side.So be only by direction of travel can not
Judge that robot is the which side walked in wall, it is necessary to be judged in conjunction with along side sensor.And the side described in the present embodiment
Method passes through the fixed setting described in recording step S23, so that it may with without by the judgement along side sensor, direct basis mark
Direction is determined it may determine that robot is the which side walking positioned at wall.Due in Fig. 2, fixed setting（The arrow side of a marks
To）It is perpendicular to wall（The i.e. described straight flange）, and it is directed toward the inside of wall, so, machine can be immediately arrived at by parameter a
People is walked along the right side of wall, i.e., robot is against the right side of wall, from A（X1, y1）Point is along wall side to B（X2, y2）Point
It walks in direction.The present embodiment the method records fixed setting by increase, and positioning side is accurately found and determined to robot more
Favorably, locating effect is more notable.
As one of which embodiment, in the process of walking due to robot, walking error be with travel distance or
The increase of person's travel time and constantly slowly accumulate, if constantly carrying out error correction, the wheel efficiency of robot can be non-
It is often low, so, robot needs to meet default location condition when walking, just carries out first-order error amendment, can protect in this way
While demonstrate,proving wheel efficiency, walking error is corrected to meet the requirement of walking precision.So the judgement machine described in step S3
Whether people meets default location condition, specifically comprises the following steps：Judge whether the time of robot ambulation reaches preset time,
Reach preset time when the time of Robot side walking, shows that robot has walked for a long time, the walking error of accumulation is
It through bigger, needs to carry out error correction, it is possible to determine that robot has met default location condition, need to enter step
Rapid S4 carries out subsequent amendment operation.Wherein, the preset time can be accordingly arranged according to specific design requirement,
Preferably, it is set as in the range of 10 minutes to 20 minutes, the present embodiment could be provided as 15 minutes.If robot ambulation
Time does not reach preset time, and still, the path of walking has had reached the first preset length, may also indicate that robot row
The distance walked is long, and the walking error of accumulation is also bigger, can carry out error correction.Such situation is suitable for robot
It skids when along crack approach than smoothly or along side fewer situation, in this case, as long as the time that robot is less,
Can walk very long distance along side, but walk over long distances, and error accumulation bit by bit is got up, also be will produce larger
Walking error.So when the path of robot ambulation reaches the first preset length, it is default can also to determine that robot has met
Location condition needs to enter step S4, carries out subsequent amendment operation.First preset length can also be according to specifically setting
Meter demand is accordingly arranged, be preferable to provide be 30 meters to 50 meters in the range of, the present embodiment is set as 40 meters.In addition,
Can by travel time combination walking path length to determine whether need carry out error correction, in this way can more accurately really
Whether the walking error for determining robot accumulation has reached the degree for needing to be modified.Method described in the present embodiment, passes through row
It walks time and/or travel distance and carries out the condition of error correction to judge whether robot suits the requirements, judgment mode is simpler
Just, data processing is also easier, and judging result is also relatively more accurate, suitable for generally using.
As one of which embodiment, the search positioning side described in step S4 includes the following steps：Based on machine
Grating map constructed by people searches for the grid positions where positioning side described in grating map.Constructed by robot
Map is grating map, the state of the data update detected to corresponding grid cell can be believed in specific walking process
In breath, for example barrier is detected in walking process, then the status information of the grid cell corresponding to the location point is denoted as
Obstacle unit indicates the status information of the grid cell corresponding to the location point if detecting steep cliff in walking process
For steep cliff unit, the grid cell that normal walking is crossed then is denoted as walking unit, etc..So robot searches position side
When, the grid cell corresponding to the positioning side can be searched out, you can to know by the form of search grating map
Grid positions where the positioning side.When subsequent robot needs to run to the position where the positioning side, it is only necessary to logical
It crosses in search grating map, the grid position where the connection robot current grid position be made of walking unit and positioning side
The raster path set, so that it may with the position where running to the positioning side of navigating along the raster path.If institute of robot
The positioning side searched has a plurality of, then robot can select wherein any one positioning side to be modified, for example select adjacent
Positioning side or former sections of positioning sides, it is preferred that the present embodiment selection is determining earliest positioning side, i.e. robot opens
Identified first positioning side when beginning away, because this corresponding location information in positioning side is most accurate, based on earliest
Determining positioning side carries out positioning amendment, and correction result is more acurrate.Search positioning side described in the present embodiment includes that search is all
Positioning side, and selection and determination can carry out the positioning side of error correction.Method described in the present embodiment is by searching for grid
The form of lattice map come determine it is described positioning side position, can rapidly and accurately find positioning side, be conducive to improve robot
Carry out the efficiency of error correction.
As one of which embodiment, walking towards an anchor point in the positioning side described in step S5 judges
Robot detects whether the location point of barrier is in the first preset range of the anchor point, includes the following steps：Step
Rapid S51：After searching in step s 4 and choosing and position modified positioning side, the start bit on the positioning side is determined
It sets a little or intermediate position points is as anchor point, when selecting intermediate position points, even if walking is there are error, robot can also compare
It is easier to find corresponding positioning side, and selects source location set as anchor point, be then conducive to when positioning side is shorter, it is accurate
Really judge currently to walk when being selected positioning.After determining anchor point, then S52 is entered step, determined
Grid cell where the anchor point, grid cell that can be corresponding to the coordinate value by anchor point in XY axis coordinate systems
Grid coordinate value determines.Then step S53, the grid cell that search is currently located from robot to the anchor point are entered back into
Raster path between the grid cell at place, the raster path refer to the path connected and composed by walking unit, machine
People walks along the grid cell where the raster path to the anchor point.When robot detects barrier, judge to hinder
Whether the grid cell where hindering object is less than the second pre-determined distance with the distance between the grid cell where the anchor point, such as
Fruit is then to show that the position of the positioning side on map differs smaller with the position in actual landform, can so determine machine
People detects that the location point of barrier is in the first preset range of the anchor point, it may be considered that currently detected barrier
Hinder object to be probably the barrier corresponding to selected positioning side, needs to enter step the subsequent confirmation of S7 progress.If
Grid cell where barrier is not less than the second pre-determined distance with the distance between the grid cell where the anchor point, then
Show that the position of the positioning side on map differs larger with the position in actual landform, it may be determined that robot detects obstacle
The location point of object is not in the first preset range of the anchor point, it may be considered that currently detected barrier is likely to
It is not the barrier corresponding to selected positioning side, so needing to enter step S6, re-searching for and determining that other one is determined
Position side carries out error correction.Wherein, second pre-determined distance can be accordingly arranged according to specific design requirement, preferably
, it could be provided as the distance of two or three grid cells.Method described in the present embodiment, by way of raster path
Carry out navigation walking towards anchor point, at the same the grid cell where breaking the barriers and the grid cell where the anchor point it
Between distance judge that currently detected barrier is the barrier corresponding to the positioning side, system operatio is simpler
Easily, data analysis and process is also faster, is conducive to robot and quickly determines the positioning side, more efficiently carries out error and repair
Just.
As one of which embodiment, walking along the edge of the barrier described in step S7, and judge robot
Direction of travel whether in the second preset range of the orientation in the positional parameter on the positioning side, including walk as follows
Suddenly：Step S71：Robot, which is pressed, walks along edge direction along the edge of the barrier, and the angle detected based on gyroscope
Data determine the current direction of travel of robot, wherein described along edge direction is edge of the robot along barrier, towards end
End position point is walked, and direction is exactly along edge direction.If the edge of Robot barrier, walk towards source location set,
Direction is exactly inverse along edge direction.After direction of travel is determined, S72 is entered step, determines the positioning side recorded
Orientation in positional parameter supplies that is, needing the orientation for carrying out the positioning side corresponding to error correction to take out
Subsequent data comparison uses.After orientation is determined, step S73 is entered back into, judges the direction of travel and the positioning
Whether the angle difference in direction is less than default error angle angle value, if so, it is considered that the current direction of travel and institute of robot
The orientation of record is identical, then can determine positioning side of the direction of travel of robot in the positional parameter on the positioning side
To the second preset range in, you can with think robot it is current along while barrier be exactly recorded positioning while corresponding to
Barrier.Otherwise it is assumed that the current direction of travel of robot and the orientation recorded differ, the row of robot is determined
Into in direction not the second preset range of the orientation in the positional parameter on the positioning side, that is, think current institute of robot
Along while barrier be not recorded positioning while corresponding to barrier.Wherein, the default error angle angle value can basis
Specific design requirement is accordingly arranged, it is preferred that can be arranged 5 °.The originals such as drift or body skidding due to gyroscope
Cause, though Robot straight line moving its detect direction of travel if can be unstable, so pass through setting preset error angle
Value can be caused to avoid robot due to conventional slight error the problem of erroneous judgement.Method described in the present embodiment, the side of passing through
To comparison come judge along robot when being same, judgment mode simple and efficient, improve robot determination
The efficiency on side is positioned, and then improves the efficiency that robot carries out error correction.
As one of which embodiment, the location data that robot is current described in step S8 is modified to the positioning
Positional parameter corresponding to side, includes the following steps：Step S81：Determine the terminal location point institute on the positioning side recorded
Corresponding coordinate value, since positioning side is straight flange, the endpoint at both ends corresponds to source location set and terminal location point respectively, positioning
Direction be from source location set be directed toward terminal location point, so, in the method described in above-described embodiment, robot detects
After positioning the barrier corresponding to side, it is thus necessary to determine that the reference data being modified, the present embodiment are just to determine terminal location point
Corresponding coordinate value, which is used as, refers to data.Because terminal location point is all to be located at the changed turning point in direction, than
Preferably carry out the confirmation of position.After determining reference data, S82 is entered step, determines the edge lines of Robot barrier
Walk the present coordinate values corresponding to the location point to turning point, it is larger that the turning point refers to that the direction of travel of robot occurs
Variation, variable quantity are not that may indicate that robot is not continued to along positioning at this time in the range of the default error angle angle value
Side walk, and corresponding to the turning point be exactly it is described position side terminal location point, so, determine the location point at turning point
Coordinate value after, so that it may to enter step S83, carry out subsequent error correction.S83 is entered step, by the present coordinate values
The coordinate value corresponding to the terminal location point on the positioning side recorded is replaced with, can will thus have occurred and that walking misses
The present coordinate values of difference are modified to the coordinate value corresponding to the more accurately terminal location point recorded, to realize machine
The repositioning of people.Method described in the present embodiment refers to data, robot ratio by taking the terminal location point on positioning side to be used as
It is easier to and correctly finds corresponding location point, to carry out effective error correction, correction effect is more notable.
As one of which embodiment, after step s8, further include：Step S9：Based on the current positioning of robot
The difference of data and the positional parameter corresponding to the positioning side, corrects the cartographic information that robot is stored.Due to robot
It repositions, modified institute is current coordinate position, and the grating map stored originally still can have error, or even meeting
More serious error is caused after robot repositioning, so, after robot is repositioned, it is also necessary to grid
The relevant map information of lattice map is modified.Modified mode, which may be used, keeps the status information of grid cell constant, only
The corresponding grid coordinate value for correcting grid cell.So accurate navigation can be carried out using revised grating map, improved
The wheel efficiency of robot.
As one of which embodiment, the location data current based on robot described in step S9 and the positioning side
The difference of corresponding positional parameter is corrected the cartographic information that robot is stored, is included the following steps：Step S91：Determine institute
The edge of coordinate value and Robot barrier corresponding to the terminal location point on the positioning side of record runs to turning point
Location point corresponding to present coordinate values between coordinate difference be（△ X, △ Y）；Step S92：Determine the side of grid cell
A length of L；Step S93：Determine that grid coordinate difference corresponding to the coordinate difference is R, R=（△ X/L, △ Y/L）, step
S94：The grid coordinate of grid cell in grating map is subtracted into R, as the grid coordinate redefined, and keeps grid list
The status information of member is constant.For example, present coordinate values of the robot detected by the location point of turning point are（46,58）, institute
The coordinate value of the terminal location point on the positioning side of record is（26,38）, then coordinate difference be（46-26,58-38）.Due to each
The length of side of grid cell is 20, so, the grid coordinate difference R obtained=（（46-26）/20,（58-38）/20）=（1,1）.Most
Afterwards, the grid coordinate of the grid cell in grating map is subtracted（1,1）, you can using as the grid coordinate redefined.This
When, the status information of the front and back grid cell of grid coordinate value variation remains unchanged.The present embodiment is changed by location point coordinate value
The mode of calculation can fast and effeciently be adjusted the information of grating map, newest most accurate to rapidly redefine
True grating map provides more accurate data for the subsequent navigation of robot.
In these embodiments as described above, the grating map is combined by many grid cells and is constituted, the grid
Lattice unit is the square grid that a virtual length of side is 20 centimetres.Many grid cells, which continuously splice composition one, to be had
The grid region of certain length and width, the corresponding map of the grid region is exactly grating map.When moving due to robot,
Be cleaned while walking, so, these above-mentioned embodiments describe robot and walk in certain path or region, that is, indicate machine
People carries out walking cleaning along the path.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.These programs can be stored in computer read/write memory medium（Such as ROM,
The various media that can store program code such as RAM, magnetic disc or CD）In.When being executed, execution includes above-mentioned each to the program
The step of embodiment of the method.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations, respectively
Technical solution between embodiment can be combined with each other；Although having been carried out to the present invention with reference to foregoing embodiments detailed
Illustrate, it will be understood by those of ordinary skill in the art that：Its still can to the technical solution recorded in foregoing embodiments into
Row modification, either carries out equivalent replacement to which part or all technical features；And these modifications or replacements, do not make
The essence of corresponding technical solution departs from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. a kind of localization method of robot based on straight flange, which is characterized in that include the following steps：
Step S1：Based on the data detected during robot ambulation, the road that Robot barrier edge is walked is judged
Whether diameter is a straight flange, if it is, S2 is entered step, if it is not, then continuing to detect；
Step S2：It determines that the straight flange is positioning side, and the direction parameter corresponding to straight flange is recorded as determining for the positioning side
Position parameter；
Step S3：Judge whether robot meets default location condition, if yes then enter step S4, otherwise returns to step S1；
Step S4：Search for the positioning side；
Step S5：Towards it is described positioning side in an anchor point walking, judge robot detect barrier location point whether
In the first preset range in the anchor point, if it is, entering step S7, otherwise, S6 is entered step；
Step S6：Another positioning side is searched for, and returns to step S5；
Step S7：It walks along the edge of the barrier, and judges whether the direction of travel of robot is determined on the positioning side
In second preset range of the orientation in the parameter of position, if it is, entering step S8, another positioning side is otherwise searched for,
And return to step S5；
Step S8：The current location data of robot is modified to the positional parameter corresponding to the positioning side.
2. according to the method described in claim 1, it is characterized in that：Being examined in the process based on robot ambulation described in step S1
The data measured judge whether the path that Robot barrier edge is walked is a straight flange, is included the following steps：
Step S11：Whether the data detected along side sensor based on robot judge robot in along side walking shape
Otherwise state continues to detect if it is, entering step S12；
Step S12：The angle value detected based on the gyroscope of robot determines direction of travel；
Step S13：Whether analysis robot reaches the first pre-determined distance along the walking of same direction of travel always, if it is, really
It is a straight flange to determine the path that Robot barrier edge is walked, and otherwise determines what Robot barrier edge was walked
Path is not a straight flange.
3. according to the method described in claim 1, it is characterized in that：Described in step S2 by the direction parameter corresponding to straight flange
It is recorded as the positional parameter on the positioning side, is included the following steps：
Step S21：The both ends of the straight flange and intermediate coordinate are determined based on the travel distance that the odometer of robot detects
Position, and the coordinate position is recorded as the elements of a fix for positioning side；
Step S22：The extending direction of the straight flange is determined based on the angle value that the gyroscope of robot detects, and is prolonged described
Stretch the orientation that direction is recorded as the positioning side.
4. according to the method described in claim 1, it is characterized in that：Described in step S2 by the direction parameter corresponding to straight flange
It is recorded as the positional parameter on the positioning side, is included the following steps：
Step S21：The both ends of the straight flange and intermediate coordinate are determined based on the travel distance that the odometer of robot detects
Position, and the coordinate position is recorded as the elements of a fix for positioning side；
Step S22：The extending direction of the straight flange is determined based on the angle value that the gyroscope of robot detects, and is prolonged described
Stretch the orientation that direction is recorded as the positioning side；
Step S23：By the vertical straight flange, and it is directed toward the calibration side that the direction on the inside of the straight flange is recorded as the positioning side
To.
5. according to the method described in claim 1, it is characterized in that：Described in step S3 to judge whether robot meets default
Location condition includes the following steps：
Judge the time of robot ambulation whether to reach the path of preset time or robot ambulation whether to reach first default
Length, if any one judging result is yes, it is determined that robot meets default location condition, otherwise, it determines robot is not
Meet default location condition.
6. according to the method described in claim 1, it is characterized in that：The search positioning side described in step S4, including it is as follows
Step：
Based on the grating map constructed by robot, the grid positions where positioning side described in grating map are searched for.
7. according to the method described in claim 6, it is characterized in that：Being positioned towards one in the positioning side described in step S5
Point walking judges that robot detects whether the location point of barrier is in the first preset range of the anchor point, including
Following steps：
Step S51：Determine the source location set for positioning side or intermediate position points as anchor point；
Step S52：Determine the grid cell where the anchor point；
Step S53：The grid between grid cell where the grid cell to the anchor point that search is currently located from robot
, when robot detects barrier, sentence along the grid cell walking where the raster path to the anchor point in lattice path
Grid cell where disconnected barrier and the distance between the grid cell where the anchor point whether be less than second it is default away from
From, if it is, determine that robot detects that the location point of barrier is in the first preset range of the anchor point, it is no
Then, determine that robot detects that the location point of barrier is not in the first preset range of the anchor point.
8. according to the method described in claim 6, it is characterized in that：Walking along the edge of the barrier described in step S7,
And judge robot direction of travel whether it is described positioning side positional parameter in orientation the second preset range in,
Include the following steps：
Step S71：Robot, which is pressed, walks along edge direction along the edge of the barrier, and the data detected based on gyroscope
Determine direction of travel；
Step S72：Determine the orientation in the positional parameter on the positioning side recorded；
Step S73：Judge whether the direction of travel and the angle difference of the orientation are less than default error angle angle value, such as
Fruit is, it is determined that the second preset range of orientation of the direction of travel of robot in the positional parameter on the positioning side
It is interior, otherwise determine robot direction of travel not it is described positioning side positional parameter in orientation the second preset range
It is interior.
9. according to the method described in claim 6, it is characterized in that：The location data that robot is current described in step S8 is repaiied
Just it is being the positional parameter corresponding to the positioning side, is including the following steps：
Step S81：Determine the coordinate value corresponding to the terminal location point on the positioning side recorded；
Step S82：Determine that the edge of Robot barrier runs to the present coordinate values corresponding to the location point of turning point；
Step S83：The present coordinate values are replaced with to the coordinate corresponding to the terminal location point on the positioning side recorded
Value.
10. according to the method described in claim 9, it is characterized in that：After step s8, further include：
Step S9：Difference based on the current location data of robot with the positional parameter corresponding to the positioning side, straightener
The cartographic information that device people is stored.
11. according to the method described in claim 10, it is characterized in that：The positioning number current based on robot described in step S9
According to the difference with the positional parameter corresponding to the positioning side, the cartographic information that robot is stored is corrected, is included the following steps：
Step S91：Determine the coordinate value and Robot barrier corresponding to the terminal location point on the positioning side recorded
The coordinate difference that runs between the present coordinate values corresponding to the location point of turning point of edge be（△ X, △ Y）；
Step S92：Determine that the length of side of grid cell is L；
Step S93：Determine that grid coordinate difference corresponding to the coordinate difference is R, R=（△ X/L, △ Y/L）；
Step S94：The grid coordinate of grid cell in grating map is subtracted into R, as the grid coordinate redefined, and is protected
The status information for holding grid cell is constant.
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| CN111427362A (en) * | 2020-04-22 | 2020-07-17 | 珠海市一微半导体有限公司 | Abnormal detection method for robot walking along straight edge and processing method for card release |
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| CN111427362B (en) * | 2020-04-22 | 2023-08-11 | 珠海一微半导体股份有限公司 | Abnormality detection method for robot walking along straight edge and card removal processing method |
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| CN113156949A (en) * | 2021-04-19 | 2021-07-23 | 深圳市云鼠科技开发有限公司 | Robot course angle deviation rectifying method and device, computer equipment and storage medium |
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