CN108801253A - Robot builds figure positioning system and robot - Google Patents
Robot builds figure positioning system and robot Download PDFInfo
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- CN108801253A CN108801253A CN201710289313.7A CN201710289313A CN108801253A CN 108801253 A CN108801253 A CN 108801253A CN 201710289313 A CN201710289313 A CN 201710289313A CN 108801253 A CN108801253 A CN 108801253A
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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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention proposes that a kind of robot builds figure positioning system and robot, which includes：Detection of obstacles module, the obstacle information for obtaining robot periphery；Inertia measuring module, the acceleration and angular speed data for obtaining robot；Rectification module, for correcting the obstacle information measured；Figure locating module is built, the electronic map for establishing robot local environment according to the obstacle information on robot periphery, and obtain the current pose of robot.The present invention can correct the obstacle information on the robot periphery measured, increase the reliability of obstacle information, to improve accuracy and the robustness of building figure and location algorithm, and then improve Map quality and robot localization precision.
Description
Technical field
The present invention relates to robot navigation's field of locating technology, more particularly to a kind of robot builds figure positioning system and machine
People.
Background technology
Existing mobile robot usually scans ambient enviroment using the sensor being mounted on robot fuselage, utilizes this
A little sensors measure the location information of robot peripheral obstacle, and the mileage information of recorder people itself walking, lead to simultaneously
Cross the location information of the map and robot of method calculating robot's local environment of positioning and map structuring.Common sensor
There are two-dimensional laser radar, depth camera, infrared distance measurement, supersonic sounding, crash sensor, encoder etc..But due to each
The sample rate that sensor mounting location is constant, mutual is different, when ups and downs road surface or car body rise and fall vibrations it is excessive,
Or situations such as machine rotation, collision, when occurring, existing localization method can detect the data of mistake, to make to build figure and positioning
The accuracy of algorithm and robustness decline, and then influence Map quality and positioning accuracy.
Such as shown in Fig. 1, illustrates robot fuselage and tilts the influence caused by two dimensional surface Airborne Lidar measured data,
Body can lead to the barrier error in data measured when tilting, under the accuracy and robustness to make to build figure and location algorithm
Drop, and then influence Map quality and positioning accuracy.Depth camera, infrared distance measurement etc. cause to detect number due to robot fuselage inclination
Influence according to mistake is similar, and details are not described herein again.
Invention content
The present invention is directed at least solve one of above-mentioned technical problem.
For this purpose, an object of the present invention is to provide a kind of robots to build figure positioning system, which can be to measuring
To the obstacle information on robot periphery corrected, increase the reliability of obstacle information, figure and positioning built to improve
The accuracy of algorithm and robustness, and then improve Map quality and robot localization precision.
It is another object of the present invention to propose a kind of robot.
To achieve the goals above, the embodiment of first aspect present invention proposes a kind of robot and builds figure positioning system,
Including：Detection of obstacles module, the obstacle information for obtaining the robot periphery；Inertia measuring module, for obtaining
The acceleration and angular speed data of the robot；Rectification module, for correcting the obstacle information measured；Build figure positioning
Module, the electronic map for establishing the robot local environment according to the obstacle information on the robot periphery, and
To the current pose of robot.
In addition, robot according to the above embodiment of the present invention, which builds figure positioning system, can also have following additional technology
Feature：
In some instances, the rectification module includes：Pose computing module calculates the machine for passing through preset algorithm
The prediction pose of device people；First judgment module, for judging whether the prediction pose is abnormal；Convert module, for when described
When predicting pose exception, by the obstacle information be scaled to it is described build figure locating module, existed with obtaining the obstacle information
Corresponding coordinate system data in the electronic map；Second judgment module, for judge it is described conversion module output the result is that
No exception.
In some instances, first judgment module is used for：By the prediction pose of the robot and the robot
Current pose be compared, obtain pose variable quantity；By the obtained pose variable quantity and preset pose change threshold
It is compared, and when the pose variable quantity pose change threshold greatly, judges that the prediction pose of the robot is abnormal.
In some instances, second judgment module is used for：By the obstacle information obtained after conversion described
Corresponding coordinate system data and the barrier recorded in the electronic map for building the foundation of figure locating module in electronic map
Data are matched；If similarity is less than preset value, the output results abnormity of conversion module, correction failure are judged；If
Similarity is greater than or equal to the preset value, then judges that the result of conversion module is normal, correct successfully.
In some instances, the rectification module is used for：In judgement correction failure, abandon correcting, and build described in notice
Figure locating module abandons present frame barrier data；And when judgement is corrected successfully, the barrier data that will be obtained after conversion
Figure locating module is built described in incoming.
In some instances, the pose computing module is used for by preset algorithm, according to the acceleration of the robot
The prediction pose of the robot is calculated with angular velocity data.
In some instances, the preset algorithm includes at least time integral algorithm and weighted integral algorithm.
In some instances, the inertia measuring module includes：Accelerometer, the acceleration for obtaining the robot
Data；Gyroscope, the angular velocity data for obtaining the robot.
Robot according to the ... of the embodiment of the present invention builds figure positioning system, can detect ups and downs road surface or robot rises
Situations such as volt vibrations are excessive or machine is rotated, collided, and the obstacle information on the robot periphery of sensor detection is rectified
Just, increase the reliability of obstacle information, to improve accuracy and the robustness of building figure and location algorithm, and then improve map
Quality and robot localization precision.
To achieve the goals above, the embodiment of second aspect of the present invention proposes a kind of robot, including in the present invention
The robot for stating the proposition of first aspect embodiment builds figure positioning system.
Robot according to the ... of the embodiment of the present invention, can detect ups and downs road surface or robot rise and fall vibrations it is excessive or
Situations such as machine rotation, collision, and the obstacle information on the robot periphery of sensor detection is corrected, increase barrier
The reliability of information to improve accuracy and the robustness of building figure and location algorithm, and then improves Map quality and robot
Positioning accuracy.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is robot fuselage inclination influences schematic diagram caused by two dimensional surface Airborne Lidar measured data；
Fig. 2 is the structure diagram that robot according to the ... of the embodiment of the present invention builds figure positioning system；
Fig. 3 is the structural schematic diagram of rectification module according to an embodiment of the invention；And
Fig. 4 is the overall execution flow diagram that robot according to an embodiment of the invention builds figure positioning system.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the present invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Robot according to the ... of the embodiment of the present invention, which is described, below in conjunction with attached drawing builds figure positioning system and robot.
Fig. 2 is the structure diagram that robot according to an embodiment of the invention builds figure positioning system.As shown in Fig. 2, should
Robot builds figure positioning system 100：Detection of obstacles module 110, inertia measuring module 120, rectification module 130 and build figure
Locating module 140.
Wherein, detection of obstacles module 110 is used to obtain the obstacle information on robot periphery；Inertia measuring module 120
Acceleration and angular speed data for obtaining robot；Rectification module 130 is used to correct the obstacle information measured；It is fixed to build figure
Position module 140 is used to establish the electronic map of robot local environment according to the obstacle information on robot periphery, and obtains machine
The current pose of device people.Wherein, the pose and posture of pose, that is, robot.
Further, in one embodiment of the invention, in conjunction with shown in Fig. 3, rectification module 130 for example including：Pose
Computing module 131, the first judgment module 132, conversion module 133 and the second judgment module 134.
Specifically, pose computing module 131 is used for the prediction pose by preset algorithm calculating robot；First judges mould
Block 132 predicts whether pose is abnormal for judging；The module 133 that converts is used for when predicting pose exception, and obstacle information is changed
It calculates to figure locating module 140 is built, to obtain obstacle information corresponding coordinate system data in electronic map；Second judgment module
134 for judging whether the output result of conversion module 133 is abnormal.
In the examples described above, specifically, the first judgment module 131 is used for the prediction pose of robot and working as robot
Preceding pose is compared, and obtains pose variable quantity；Further by obtained pose variable quantity and preset pose change threshold into
Row compares, and when the big pose change threshold of pose variable quantity, judges that the prediction pose of robot is abnormal.
In the examples described above, specifically, the second judgment module 134 is used for：By the obstacle information obtained after conversion in electricity
Corresponding coordinate system data are carried out with the barrier data recorded in the electronic map for building the foundation of figure locating module 140 in sub- map
Matching；If similarity is less than preset value, the output results abnormity of conversion module 133, correction failure are judged；If similarity
More than or equal to preset value, then judges that the output result of conversion module 133 is normal, correct successfully.Based on this, further, rectify
Positive module 130 is used to, when judgement correction failure, abandon correcting, and notify that building figure locating module 140 abandons present frame barrier
Data；And when judgement is corrected successfully, the barrier data obtained after conversion is passed to and build figure locating module 140.
In the examples described above, specifically, pose computing module 131 is used for by preset algorithm, according to inertia measuring module
The 120 acceleration and angular speed data for measuring obtained robot carry out the prediction pose of calculating robot.More specifically, it presets
Algorithm for example, at least includes time integral algorithm and weighting algorithm.
In one embodiment of the invention, above-mentioned inertia measuring module 120 for example including：Acceleration machine and gyro
Instrument.Wherein, accelerometer, the acceleration information for obtaining robot；Gyroscope, the angular speed number for obtaining robot
According to.
To sum up, robot according to the ... of the embodiment of the present invention builds figure positioning system, can detect ups and downs road surface or machine
People rise and fall the rotation of vibrations excessive or machine, collision situations such as, and to the obstacle information on the robot periphery of sensor detection into
Row correction, increases the reliability of obstacle information, to improve accuracy and the robustness of building figure and location algorithm, and then improves
Map quality and robot localization precision.
Below in conjunction with Fig. 4, to the robot of the embodiment of the present invention build figure positioning system concrete operating principle and flow into
Row is summarized.
Specifically, for example, installing IMU on robot fuselage, (Inertial measurement unit, inertia are surveyed
Measure module 120) sensor, detect barrier sensor (detection of obstacles module 110) and encoder (such as odometer).Its
In, the sensor of barrier is detected such as including laser radar, depth camera, infrared distance measuring device, supersonic range finder.
First, IMU data are obtained, it is each in carrier coordinate system system to obtain the robot (carrier) that accelerometer detects in IMU sensors
Directional acceleration signal (being 3 directions, i.e. 3 axis in the present embodiment) and the robot of the gyroscope detection in sensor (carry
Body) angular velocity signal relative to navigational coordinate system.In turn, according to robot angular speed in three dimensions and accelerate the number of degrees
According to by time integral, weighted integral scheduling algorithm (preset algorithm), the pose of robot can be calculated.
Then, according to the pose for the robot being calculated, the mileage of encoder calculating can be corrected.Due to movement
Situations such as rotation of robot, collision, wheel slip can caused by odometer error it is big, in other words, when detecting machine human hair
When at least one of situations such as raw rotation, collision, wheel slip, inclination, you can judge that the pose of robot is abnormal.And
When the pose of robot is abnormal, odometer error caused by meeting is big, leads to position inaccurate, it is therefore desirable to robot
Pose corrected, specifically can in conjunction with IMU posture information and build location information that figure and location algorithm process calculate into
Row mileage counts correction.On the other hand, according to the pose for the robot being calculated, also rectifiable obstacle sensor of surveying
Data (obstacle information) to Orientation on map system coordinate system.The process specifically corrected is as follows：
According to the robot pose being calculated, pass through preset attitudes vibration threshold value and original angular speed and acceleration
Data, can determine whether machine has situations such as rotation, inclination, collision, wheel slip.If thering is rotation, inclination, collision, wheel to beat
Situations such as sliding, then first determine whether that can sensing data (obstacle information) be corrected.If can correct, pass through preset correction
The sensing data of present frame is corrected to robot and builds figure and location algorithm process by algorithm according to the posture information of robot
The coordinate system of middle positioning system.Such as according to the difference in sampling time, each sensor installed on computing machine human organism is opposite
In the sampling time of IMU, corresponding time relationship of the sensing data in building figure and location algorithm process is calculated, and according to measuring
Data and machine rotation and drift angle, calculate the sensor built and obtained in figure and location algorithm process relative to world coordinates
It is the data of (map coordinates system).If cannot correct, the sensing data is abandoned.
Further, to verify whether correction result is correct, the sensing data after correction is calculated with figure positioning is built
Map in method process matches, if similarity is less than certain threshold value (preset value), i.e., difference is big, then judges to may be correction
Failure needs prompt to build the data that figure location algorithm process abandons current frame sensor at this time.If similarity is greater than or equal to pre-
If value, then judge to correct successfully, then building figure and location algorithm process can carry out building figure using the data after IMU corrections.It needs
It is bright, if IMU correction failures, other strategy processing sensing datas are also had inside process, such as repositioned or
Subgraph positioning is built in short-term followed by the methods of matching.The cumulative errors of IMU in order to prevent build figure location algorithm process record
Robot pose can also participate in the Attitude Calculation of correction IMU.
That is, the robot of the embodiment of the present invention builds figure positioning system, by the way that IMU sensors are installed to robot
With, the state of detection robot car body in moving process, prediction body movement causes robot localization and map structuring
Influence and correction, such as correct the data that laser radar or depth camera measure, figure location algorithm strategy is built in correction, to reach
The purpose of plot quality and positioning accuracy is built in optimization, that is, improves the accuracy for building figure and location algorithm and robustness.
Further embodiment of the present invention proposes a kind of robot.The robot includes any one above-mentioned reality of the present invention
It applies robot described in example and builds figure positioning system.
The robot of specific implementation and the embodiment of the present invention accordingly, with respect to the robot of the embodiment of the present invention builds figure
The specific implementation of positioning system is similar, specifically refers to the description of components of system as directed, no longer superfluous herein in order to reduce redundancy
It states.
To sum up, robot according to the ... of the embodiment of the present invention, can detect ups and downs road surface or robot fluctuating shook
Situations such as greatly or machine is rotated, collided, and the obstacle information on the robot periphery of sensor detection is corrected, increase
The reliability of obstacle information builds accuracy and the robustness of figure and location algorithm to improve, so improve Map quality and
Robot localization precision.
In addition, robot about the embodiment of the present invention other compositions and effect for this field ordinary skill people
All it is known for member, in order to reduce redundancy, does not repeat.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is by claim and its equivalent limits.
Claims (9)
1. a kind of robot builds figure positioning system, which is characterized in that including：
Detection of obstacles module, the obstacle information for obtaining the robot periphery；
Inertia measuring module, the acceleration and angular speed data for obtaining the robot；
Rectification module, for correcting the obstacle information measured；
Figure locating module is built, the electricity for establishing the robot local environment according to the obstacle information on the robot periphery
Sub- map, and obtain the current pose of robot.
2. robot according to claim 1 builds figure positioning system, which is characterized in that the rectification module includes：
Pose computing module, the prediction pose for calculating the robot by preset algorithm；
First judgment module, for judging whether the prediction pose is abnormal；
Convert module, for when the prediction pose exception, by the obstacle information be scaled to described in build figure locating module,
To obtain the obstacle information corresponding coordinate system data in the electronic map；
Whether the second judgment module, the output result for judging the conversion module are abnormal.
3. robot according to claim 2 builds figure positioning system, which is characterized in that first judgment module is used for：
The prediction pose of the robot is compared with the current pose of the robot, obtains pose variable quantity；
The obtained pose variable quantity is compared with preset pose change threshold, and works as the big institute of the pose variable quantity
When rheme appearance change threshold, judge that the prediction pose of the robot is abnormal.
4. robot according to claim 2 builds figure positioning system, which is characterized in that second judgment module is used for：
By the obstacle information obtained after conversion, corresponding coordinate system data are determined with the figure of building in the electronic map
The barrier data recorded in the electronic map that position module is established are matched；
If similarity is less than preset value, the output results abnormity of conversion module, correction failure are judged；
If similarity is greater than or equal to the preset value, judges that the output result of conversion module is normal, correct successfully.
5. robot according to claim 4 builds figure positioning system, which is characterized in that the rectification module is used for：
When judgement correction failure, abandon correcting, and build figure locating module described in notice and abandon present frame barrier data；And
When judgement correct successfully when, by the barrier data obtained after conversion be passed to described in build figure locating module.
6. robot according to claim 1 builds figure positioning system, which is characterized in that the pose computing module is for leading to
Preset algorithm is crossed, the prediction pose of the robot is calculated according to the acceleration and angular speed data of the robot.
7. robot according to claim 6 builds figure positioning system, which is characterized in that when the preset algorithm includes at least
Between integral algorithm and weighted integral algorithm.
8. robot according to claim 1 builds figure positioning system, which is characterized in that the inertia measuring module includes：
Accelerometer, the acceleration information for obtaining the robot；
Gyroscope, the angular velocity data for obtaining the robot.
9. a kind of robot, which is characterized in that build figure positioning system including such as claim 1-8 any one of them robot.
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| CN110502011A (en) * | 2019-08-16 | 2019-11-26 | 湖南格兰博智能科技有限责任公司 | A kind of sweeper obstacles borders detection method |
| CN111750873A (en) * | 2019-03-26 | 2020-10-09 | 东元电机股份有限公司 | Mobile platform picture data correction system |
| CN112291701A (en) * | 2019-07-25 | 2021-01-29 | 科沃斯商用机器人有限公司 | Positioning verification method, positioning verification device, robot, external equipment and storage medium |
| EP3958086A1 (en) | 2020-08-19 | 2022-02-23 | Carnegie Robotics, LLC | A method and a system of improving a map for a robot |
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| CN108801253B (en) | 2021-03-09 |
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| CP03 | Change of name, title or address |
Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Patentee after: Shenzhen Ledong robot Co.,Ltd. Address before: 518055, 16, B1 building, Nanshan Zhiyuan 1001, Taoyuan Road, Nanshan District, Shenzhen, Guangdong. Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |