CN109000647A - Robot indoor navigation method, device, system, equipment and medium - Google Patents
Robot indoor navigation method, device, system, equipment and medium Download PDFInfo
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- CN109000647A CN109000647A CN201810387721.0A CN201810387721A CN109000647A CN 109000647 A CN109000647 A CN 109000647A CN 201810387721 A CN201810387721 A CN 201810387721A CN 109000647 A CN109000647 A CN 109000647A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a kind of robot indoor navigation method, device, system, equipment and media.This method comprises: according to preset three or more in indoor scene base stations, start position information of the robot indoors in scene is determined；End point location information of the robot indoors in scene is obtained, and according to the map with position mark of start position information, end point location information and indoor scene gathered in advance, determines the guidance path of robot；Navigation instruction is sent to robot, navigation instruction includes guidance path, so that robot is mobile according to guidance path.Robot indoor navigation method, device, system, equipment and the medium provided according to embodiments of the present invention realizes high-precision navigation of the robot indoors in scene.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of robot indoor navigation method, device, system, set
Standby and computer storage medium.
Background technique
Present Global robot market's scale constantly expands, and Chinese Robot industry is also grown rapidly.For example, state in 2015
Production independent brand industrial robot accounts for Chinese market share and breaks through 30% for the first time.Since robot potential of demand is huge, clothes
Business humanoid robot is also expanded rapidly in Chinese market.With flourishing for Robot industry, the achievable function of robot
It needs constantly to meet the market requirement.Autonomous positioning and navigation in robot chamber are the products for adapting to market, are General Promotion services
Humanoid robot Industry Core Competitive.
Therefore, how to realize that robot carries out high-precision independent navigation indoors, be urgent problem.
Summary of the invention
A kind of robot navigation method of the embodiment of the present invention, device, system, equipment and computer storage medium realize machine
Device people carries out high-precision independent navigation indoors.
One side according to an embodiment of the present invention provides a kind of robot indoor navigation method, this method comprises:
According to preset three or more in indoor scene base stations, start position letter of the robot indoors in scene is determined
Breath；
End point location information of the robot indoors in scene is obtained, and according to start position information, end point location information
And the map with position mark of indoor scene gathered in advance, determine the guidance path of robot；
Navigation instruction is sent to robot, navigation instruction includes guidance path, so that robot is mobile according to guidance path.
In one embodiment, according to preset three or more in indoor scene base stations, determine robot indoors
Before start position information in scene, method further include:
Move is sent to robot, so that robot is moved to different location in indoor scene according to move
Afterwards, it obtains for determining that robot is moved to the first feedback information of the location information of different location in indoor scene；
The first feedback information is received, and according to the base station of the first feedback information and three or more, determines that robot is moved to
The location information of different location in indoor scene；
According to robot be moved to the location information of different location and indoor scene gathered in advance in indoor scene just
Beginning map generates the map with position mark of indoor scene.
In one embodiment, according to preset three or more in indoor scene base stations, robot field indoors is determined
Start position information in scape, comprising:
Starting point positioning instruction is sent to robot；
The second feedback information is received, and according to the base station of the second feedback information and three or more, determines robot indoors
Start position information in scene, the second feedback information are robots according to starting point positioning instruction, and acquisition is used to determine machine
People indoors in scene start position information information.
In one embodiment, robot indoor navigation method further include:
When detecting robot from start position and being moved to that being currently located the distance in place is the integral multiple of default distance,
Obtain the location information that robot is currently located place；
It is currently located the location information in place according to guidance path and robot, path deviation detection is carried out to robot.
In one embodiment, robot indoor navigation method further include:
It determines that robot reaches home position, halt instruction is sent to robot, so that robot stops according to halt instruction
Only move.
In one embodiment, the initial map of indoor scene includes following at least one information, the taboo in indoor scene
Only by passing through area information in the obstacle information and indoor scene in area information, indoor scene.
In one embodiment, the location information of different location and acquisition in advance in indoor scene are moved to according to robot
Indoor scene initial map, generate have position mark indoor scene map, comprising:
By the location information of different location in robot indoors scene, believe as the position for corresponding to place in indoor scene
Breath；
On the initial map of indoor scene gathered in advance, the location information that place is corresponded in indoor scene is marked, with
Generate the map with the indoor scene of position mark.
In one embodiment, according to the base station of the second feedback information and three or more, robot scene indoors is determined
In start position information, comprising:
According to the second feedback information, and in three or more base stations obtaining in advance each base station location information,
Determine start position information of the robot indoors in scene.
According to another aspect of an embodiment of the present invention, a kind of robot indoor navigation method is provided, this method comprises:
Navigation instruction is received, navigation instruction includes guidance path, and guidance path is according in robot indoors scene
The end point location information in scene and indoor scene gathered in advance have position indoors for start position information, robot
The path that the map of label determines, start position information are the letters determined according to preset three or more in indoor scene base stations
Breath；
It is mobile according to guidance path.
In one embodiment, before receiving navigation instruction, further includes:
Move is received, and is moved in indoor scene behind different location according to move, is obtained for determining machine
Device people is moved to the first feedback information of the location information of different location in indoor scene；
The first feedback information is sent to controller, so that base station of the controller according to the first feedback information and three or more,
It determines that robot is moved to the location information of different location in indoor scene, and difference in indoor scene is moved to according to robot
The initial map of the location information in place and indoor scene gathered in advance generates the ground with position mark of indoor scene
Figure.
In one embodiment, robot indoor navigation method further include:
Halt instruction is received, and stops moving according to halt instruction.
It is according to an embodiment of the present invention in another aspect, providing navigation device in a kind of robot chamber, which includes:
Start position determining module, for determining that robot exists according to preset three or more in indoor scene base stations
Start position information in indoor scene；
Guidance path determining module, for obtaining end point location information of the robot indoors in scene, and according to starting point
The map with position mark of location information, end point location information and indoor scene gathered in advance, determines robot
Guidance path；
Sending module, for robot send navigation instruction, navigation instruction includes guidance path so that robot according to
Guidance path is mobile.
It is according to an embodiment of the present invention in another aspect, providing navigation device in a kind of robot chamber, which includes:
Receiving module, for receiving navigation instruction, navigation instruction includes guidance path, and guidance path is existed according to robot
Start position information, robot in the indoor scene end point location information in scene and indoor field gathered in advance indoors
The map with position mark of scape, determining path start position information are according to preset three or more in indoor scene
The information that base station determines；
Mobile module, for mobile according to guidance path.
It is according to an embodiment of the present invention in another aspect, provide a kind of robot indoor navigation system, which includes: control
Device and robot；
Controller, for determining robot indoors in scene according to preset three or more in indoor scene base stations
Start position information, obtain end point location information of the robot indoors in scene, and according to start position information, terminal position
The map with position mark of confidence breath and indoor scene gathered in advance, determines the guidance path of robot, to machine
Human hair send navigation instruction, and navigation instruction includes guidance path, so that robot is mobile according to guidance path；
Robot, for receiving navigation instruction, and it is mobile according to guidance path.
It is according to an embodiment of the present invention in another aspect, providing navigation equipment in a kind of robot chamber, which includes: processing
Device and the memory for being stored with computer program instructions；
Processor realizes such as robot indoor navigation method provided in an embodiment of the present invention when executing computer program instructions.
It is according to an embodiment of the present invention in another aspect, provide a kind of computer storage medium, deposited in computer storage medium
Computer program instructions are contained, robot chamber provided in an embodiment of the present invention is realized when computer program instructions are executed by processor
Interior air navigation aid.Robot indoor navigation method, device, system, equipment and computer storage according to embodiments of the present invention
Medium, by realizing the accurate positioning to the start position information of robot using preset three base stations, and according to acquisition
Robot indoors the start position information of scene, end point location information and indoor scene gathered in advance have position mark
Map, can determine the guidance path comprising precise position information so that robot according to guidance path carry out it is high-precision
Independent navigation.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, for those of ordinary skill in the art, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 shows the system architecture schematic diagram of the robot indoor navigation of one embodiment of the invention offer；
Fig. 2 shows another embodiment of the present invention provides robot indoor navigation system architecture schematic diagram；
Fig. 3 shows the flow diagram of the robot indoor navigation method of one embodiment of the invention offer；
Fig. 4 show another embodiment of the present invention provides robot indoor navigation method flow diagram；
Fig. 5 shows the structural schematic diagram of navigation device in the robot chamber of one embodiment of the invention offer；
Fig. 6 show another embodiment of the present invention provides robot chamber in navigation device structural schematic diagram；
Fig. 7 shows the hardware structural diagram of navigation equipment in the robot chamber of one embodiment of invention.
Specific embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below, in order to make mesh of the invention
, technical solution and advantage be more clearly understood, with reference to the accompanying drawings and embodiments, the present invention is further retouched in detail
It states.It should be understood that specific embodiment described herein is only configured to explain the present invention, it is not configured as limiting the present invention.
To those skilled in the art, the present invention can be real in the case where not needing some details in these details
It applies.Below the description of embodiment is used for the purpose of better understanding the present invention to provide by showing example of the invention.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence " including ... ", it is not excluded that including
There is also other identical elements in the process, method, article or equipment of the element.
With reference to the accompanying drawing, be described in detail robot indoor navigation method according to an embodiment of the present invention, device, system,
Equipment and computer storage medium.It should be noted that these embodiments are not for limiting the scope of the present disclosure.
Fig. 1 shows the configuration diagram of the robot indoor navigation system 100 provided according to embodiments of the present invention.Such as Fig. 1
Shown, which includes: preset base station 130, base station 140 and base station in controller 110, robot 120 and indoor scene
150。
In an embodiment of the present invention, indoor scene is the indoor applications environment such as classroom, museum, room.
In an embodiment of the present invention, robot and controller can be independent two devices, robot and controller
It can be attached by modes such as wireless, bluetooths.As an example, controller can be remote controler, smart phone, plate
Computer or other the device of controller function may be implemented.
In an embodiment of the present invention, the number of base station is three or more, and the specific number embodiment of the present invention of base station is not
Do concrete restriction.
In an embodiment of the present invention, before robot carries out indoor navigation, need to establish indoor scene has position
The map of tagging.The map with position mark of indoor scene can voluntarily be created by controller and robot,
The measurement result of indoor scene can also be created by artificial basis.
In an embodiment of the present invention, the band of position marked in the figure of the ground with position mark of indoor scene can basis
Preset rules are set.As an example, indoor scene is divided into multiple equal-sized grids, then by each
The central point of grid carries out position mark, to form the map with position mark.For preset rules, the embodiment of the present invention is not
Concrete restriction is done, it can be depending on concrete application scene.
In one embodiment of the invention, controller and robot carry out voluntarily creating marking with position for indoor scene
The map of note.To obtain the map with position mark of indoor scene, then need to obtain different location in indoor scene
Location information.And the location information of different location can be obtained by the location information of robot in indoor scene.
Therefore, in this embodiment, controller sends move to robot first, is moved to room to obtain robot
The location information of different location in interior scene.Robot receives move, and is moved in indoor scene according to move
Different location.Also, after robot is moved to different location in indoor scene, robot receives the reference that three base stations are sent
Signal is obtained for determining that robot is moved to the first feedback information of the location information of different location.By base shown in Fig. 1
The dotted line of direction of standing robot represents three base stations and sends reference signal to robot.
As an example, the first feedback information includes robot at a distance from each base station in preset three base stations
Information.Specifically, the distance between robot and each base station are to be sent according to the signal label of robot to each base station
Reference signal received signal strength indicator determine distance.
In one embodiment of the invention, robot sends the first feedback information that robot is moved to different location
To controller, controller can using multipoint positioning method according to the location information of the first feedback information and preset three base stations
Obtain the location information that robot is moved to different location.Location information in the embodiment of the present invention can be two-dimensional coordinate.
In one embodiment of the invention, controller is by the location information of different location in robot indoors scene,
As the location information for corresponding to place in indoor scene.As an example, when in controller acquisition robot indoors scene
After the positioning coordinate information in a certain place, then controller is using the positioning coordinate information in robot indoors scene as the place
Position coordinates.Controller obtains in indoor scene after the location information of different location, in the first of indoor scene gathered in advance
On beginning map, the location information of different location in indoor scene is marked, to generate the map of the indoor scene with position mark.
Specifically, after controller, which obtains robot, is moved to the positioning coordinate of place A in indoor scene, then by the machine
Positioning coordinate (x, y) of the people in place A, position coordinates (x, y) as place A.Then controller scene indoors is initial
The corresponding position coordinates (x, y) in the place are marked on map at the A of place.
In an embodiment of the present invention, the initial map of indoor scene can be by installing laser sensor in robot
It is created.In order to further increase indoor scene initial map accuracy, also can use people to indoor scene
Measurement result carries out the initial map of creation indoor scene.
Wherein, the initial map of indoor scene includes following at least one information, no thoroughfare in indoor scene region
Pass through area information in obstacle information and indoor scene in information, indoor scene.
In one embodiment of the invention, controller is according to the initial map of indoor scene, and control robot is indoors
The continuous movement of scene, final traversal indoor scene can have the entire indoor scene of position mark with generation by region
Map.
In an embodiment of the present invention, the map with position mark of indoor scene can then be used always once obtaining
It is not only simple and convenient in the indoor navigation of robot, but also improve the speed of robot indoor navigation.
In an embodiment of the present invention, if desired robot from start position B independent navigation is moved to final position C, then
Controller needs first to obtain the location information of start position B locating for robot.
In one embodiment of the invention, controller determines robot according to three base stations preset in indoor scene
Start position information in scene indoors.
In one example, controller sends starting point positioning instruction to robot, after robot reception starting point positioning instruction,
And the reference signal that three base stations are sent is received according to the starting point positioning instruction, it obtains for determining robot indoors in scene
Second feedback information of the location information of position B.
As an example, the second feedback information includes each base in robot and preset three base stations of indoor scene
The range information stood.Similarly, the distance between robot and each base station are bases, and the signal label of robot receives every
The distance that the received signal strength indicator for the reference signal that a base station is sent is determined.
In one embodiment of the invention, robot obtain for determine robot indoors in scene position B position
After second feedback information of confidence breath, which is sent to controller.Controller according to the second feedback information and
The base station of room three or more determines start position information of the robot indoors in scene.
As an example, controller is according to the second feedback information, and the position letter of each base station obtained in advance
Breath determines the coordinate information of start position of the robot indoors in the preset coordinate system of scene.Wherein, preset coordinate system is as schemed
Shown in 1, which includes X-axis, Y-axis and Z axis.
Wherein, the second feedback information include in robot and indoor scene in preset three base stations each base station away from
From.Then controller utilizes multipoint positioning algorithm according to the location information of each base station in three base stations obtained in advance
Obtain the current position of robot, i.e. the start position coordinate of robot.
In one embodiment of the invention, it after the coordinate information of the start position B of controller acquisition robot, needs to obtain
It takes end point location information of the robot indoors in scene, and adopts according to start position information, end point location information and in advance
The map with position mark of the indoor scene of collection, determines the guidance path of robot.Wherein, the final position C of robot
Location information can be inputted in the input panel of controller by user, can also be set in advance by preset algorithm
It is fixed.
In one example, controller according to the start position information of robot, the end point location information of robot and
The map with position mark of indoor scene, can determine the guidance path comprising position mark.Specifically, guidance path is
It is made of a series of continuous coordinate points, since guidance path contains specific path location information, to improve machine
The precision of people's indoor navigation.
In one embodiment of the invention, according to the start position information of robot, the end point location information of robot
And the map with position mark of indoor scene, available a plurality of movement routine.In order to avoid resource waste and
The speed for improving robot indoor navigation, using short line principle, using the shortest movement routine of distance leading as robot
Bit path.
In one embodiment of the invention, it after controller determines the guidance path of robot, sends and wraps to robot
Navigation instruction containing the location coordinate information in guidance path.Robot receives navigation instruction, and according to one in guidance path
The continuous coordinate points of series are successively advanced, to realize that the indoor high-precision of robot is navigated.
In one embodiment of the invention, when controller determines that robot reaches home position, controller is to robot
Send halt instruction.Robot receives halt instruction, and stops moving according to halt instruction.
In one example, controller obtains the positioning coordinate that robot is currently located place according to prefixed time interval,
And judge whether the fixed point coordinate is identical as the final position coordinate of robot.If they are the same, then robot is represented to reach home position
It sets, then sends halt instruction to robot, so that robot stops moving according to halt instruction.If not identical, machine is represented
People does not reach home position, then robot continues mobile according to guidance path.
For prefixed time interval, the embodiment of the present invention is not particularly limited, and the final position that can obtain robot is sat
Mark.
When in some embodiments of the invention, in order to avoid the walking of Robot guidance path, robot deviates navigation
Path.When controller detect robot be moved to from start position be currently located place distance be default distance integral multiple
When, controller obtains the location information that robot is currently located place.That is, in order to guarantee Robot guidance path row
It walks, during the walking of Robot guidance path, when robot ambulation presets distance, then controller is needed to machine
People does a deviation detection.
As an example, presetting distance is 0.5 meter, then whenever 0.5 meter of robot ambulation, then needs to make robot
Deviation detection.That is, when the integral multiple that robot is 0.5 to the distance for being currently located place from start position,
Then controller does path deviation detection to robot.
If controller will do path deviation detection to robot, need to obtain the positioning letter that robot is currently located place
Breath.Controller obtains the mode that robot is currently located the location information on ground, and details are not described herein.
In one embodiment of the invention, controller is believed according to the positioning that guidance path and robot are currently located place
Breath carries out path deviation detection to robot.
As an example, due to including a series of continuous coordinate points in guidance path, then controller can be according to above-mentioned
Continuous coordinate points obtain the function expression of guidance path.When controller obtains the positioning coordinate points that robot is currently located place
Afterwards, judge whether the positioning coordinate points meet the function expression of guidance path.
If the judging result of controller meets the function of guidance path for the positioning coordinate points that robot is currently located place
Expression formula then represents robot without departing from guidance path, and robot continues mobile according to guidance path.Otherwise, then machine is represented
Device people deviates guidance path, then the positioning coordinate for robot being currently located place redefines robot as start position
Guidance path.
In some embodiments of the invention, due to that may have the barrier newly increased in indoor scene, in order to keep away
Exempt from robot collision to be damaged, it is therefore desirable to which robot can independently carry out detection of obstacles.Specifically, robot passes through peace
Mounted in itself camera or laser radar, disturbance of perception object information.
If detecting there is barrier in front of moving direction during Robot guidance path is mobile, then will test
Barrier dimension information be sent to controller.Height, width equidimension information of the controller according to barrier, judge robot
Whether can clear the jumps.If the judging result of controller is that can cross the barrier, robot continues according to leading
Bit path is mobile.
But if the judging result of controller is that robot cannot clear the jumps, rotation instruction is sent to robot,
So that robot instructs rotation predetermined angle according to rotation, and robot is made to detect the obstacle information in front of mobile again, directly
To determining robot avoiding obstacles.When controller determines robot avoiding obstacles, obtains robot and be currently located place
Location information plan guidance path again and to be currently located place as start position.
Optionally, controller can be placed in robot body, i.e. controller a part for belonging to robot, controller and machine
People is an entirety.As an example, as shown in Fig. 2, the controller 220 of robot 210 is located at the inside of robot, wherein
Arrow in Fig. 2 it is signified be located at the controller 220 that the intracorporal box of robot is robot 210.
The robot indoor navigation system provided through the embodiment of the present invention plays robot by being realized using base station
The accurate positioning of point position, and according to the start position information of the robot of acquisition, end point location information and room gathered in advance
The map with position mark of interior scene, can determine the guidance path comprising precise position information, to realize robot
High-precision independent navigation.
Based on the above process, the robot indoor navigation method provided in an embodiment of the present invention applied to controller side can
To be summarized as step as shown in Figure 3.Fig. 3 shows the robot chamber applied to controller side provided according to embodiments of the present invention
The flow diagram of interior air navigation aid 300.As shown in figure 3, the robot indoor navigation method in the embodiment of the present invention include with
Lower step:
S310 determines starting point of the robot indoors in scene according to preset three or more in indoor scene base stations
Location information.
S320 obtains end point location information of the robot indoors in scene, and according to start position information, final position
The map with position mark of information and indoor scene gathered in advance, determines the guidance path of robot.
S330 sends navigation instruction to robot, and navigation instruction includes guidance path, so that robot is according to guidance path
It is mobile.
In the embodiment of the present invention, by being determined using start position of the base station to robot, and using with position
The map of the indoor scene of tagging determines the guidance path of robot, improves the precision of robot indoor positioning and navigation.
Before robot carries out indoor navigation for the first time, in order to obtain the map of the indoor scene with position mark,
Before step S310, robot indoor navigation method provided in an embodiment of the present invention is further comprising the steps of:
S303 sends move to robot, so that robot is moved to difference in indoor scene according to move
Behind place, obtain for determining that robot is moved to the first feedback information of the location information of different location in indoor scene；
S306 receives the first feedback information, and according to the base station of the first feedback information and three or more, determines that robot moves
The location information of different location is moved into indoor scene；
S309 is moved to the location information of different location and indoor scene gathered in advance in indoor scene according to robot
Initial map, generate the map with position mark of indoor scene.
In an embodiment of the present invention, the initial map of indoor scene includes following at least one information, in indoor scene
Pass through area information in obstacle information and indoor scene in no thoroughfare area information, indoor scene.
In one embodiment of the invention, according to robot be moved in indoor scene the location information of different location and
The initial map of indoor scene gathered in advance generates the map with the indoor scene of position mark, comprising:
By the location information of different location in robot indoors scene, believe as the position for corresponding to place in indoor scene
Breath；
On the initial map of indoor scene gathered in advance, the location information of different location in indoor scene is marked, with
Generate the map with the indoor scene of position mark
In one embodiment of the invention, according to preset three or more in indoor scene base stations, robot is determined
Start position information in scene indoors, specifically includes:
Starting point positioning instruction is sent to robot；
The second feedback information is received, and according to the base station of the second feedback information and three or more, determines robot indoors
Start position information in scene, the second feedback information are robots according to starting point positioning instruction, and acquisition is used to determine machine
People indoors in scene start position information information.
In one embodiment of the invention, according to the base station of the second feedback information and three or more, determine that robot exists
Start position information in indoor scene, comprising:
According to the second feedback information, and in three or more base stations obtaining in advance each base station location information,
Determine start position information of the robot indoors in scene.
In some embodiments of the invention, deviate guidance path, machine when walking in order to avoid Robot guidance path
Device people's indoor navigation method is further comprising the steps of:
S340, when detecting robot from start position and be moved to that the distance for being currently located place is the integer of default distance
Times when, obtain robot and be currently located the location information in place；
S350 is currently located the location information in place according to guidance path and robot, carries out path deviation to robot
Detection.
In an embodiment of the present invention, robot indoor navigation method is further comprising the steps of:
It determines that robot reaches home position, halt instruction is sent to robot, so that robot stops according to halt instruction
Only move.
Based on the above process, the robot indoor navigation method provided in an embodiment of the present invention applied to robot side can
To be summarized as step as shown in Figure 4.Fig. 4 shows the robot chamber applied to robot side provided according to embodiments of the present invention
The flow diagram of interior air navigation aid 400.As shown in figure 4, the robot indoor navigation method in the embodiment of the present invention include with
Lower step:
S410 receives navigation instruction, and navigation instruction includes guidance path, and guidance path is according to robot scene indoors
In start position information, the end point location information in scene and indoor scene gathered in advance have indoors for robot
The path that the map of position mark determines, start position information are determined according to preset three or more in indoor scene base stations
Information.
S420, it is mobile according to guidance path.
The method of robot indoor navigation provided in an embodiment of the present invention, by the way that there is position mark using indoor scene
Map, determine accurate guidance path, realize robot indoor high-precision navigation.
In an embodiment of the present invention, before carrying out the first indoor navigation, before step S410, further includes:
Move is received, and is moved in indoor scene behind different location according to move, is obtained for determining machine
Device people is moved to the first feedback information of the location information of different location in indoor scene.
The first feedback information is sent to controller, so that base station of the controller according to the first feedback information and three or more,
It determines that robot is moved to the location information of different location in indoor scene, and difference in indoor scene is moved to according to robot
The initial map of the location information in place and indoor scene gathered in advance generates the ground with position mark of indoor scene
Figure.
The method of robot indoor navigation provided in an embodiment of the present invention passes through the room with position mark once obtained
Multiple navigation may be implemented in the map of interior scene, convenient and rapid.
In an embodiment of the present invention, further comprising the steps of after step S420:
Halt instruction is received, and stops moving according to halt instruction.
The method of robot indoor navigation provided in an embodiment of the present invention is realized to the high-precision of robot and is quickly led
Boat, and may be implemented independently to detect barrier and path deviation detection, the damage of robot is not only reduced, and further mention
The high accuracy of navigation.
Fig. 5 shows the structural schematic diagram of navigation device 500 in the robot chamber of one embodiment of the invention offer, the device packet
It includes:
Start position determining module 510, for determining robot according to preset three or more in indoor scene base stations
Start position information in scene indoors.
Guidance path determining module 520, for obtaining end point location information of the robot indoors in scene, and according to rising
The map with position mark of dot position information, end point location information and indoor scene gathered in advance, determines robot
Guidance path.
Sending module 530, for sending navigation instruction to robot, navigation instruction includes guidance path, so that robot
It is mobile according to guidance path.
Navigation device in robot chamber provided in an embodiment of the present invention, by the way that base station location is combined interior gathered in advance
The map with position mark of scene, has obtained the guidance path comprising location information, improves robot indoor navigation
Precision.
In some embodiments of the invention, navigation device in robot chamber, further includes:
Move sending module 501, for sending move to robot, so that robot is moved according to move
It moves into indoor scene behind different location, obtains for determining that robot is moved to the location information of different location in indoor scene
The first feedback information.
Location information determining module 503, for receiving the first feedback information, and according to the first feedback information and three or more
Base station, determine that robot is moved to the location information of different location in indoor scene.
Map generation module 505, for being moved in indoor scene the location information of different location and pre- according to robot
The initial map of the indoor scene first acquired generates the map with position mark of indoor scene.
Navigation device in robot chamber provided in an embodiment of the present invention is determined by the combination using robot and base station
The map with position mark of indoor scene improves the precision of map, and quickly can be positioned and be navigated.
In an embodiment of the present invention, start position determining module 510, specifically can be used for:
Starting point positioning instruction is sent to robot；
The second feedback information is received, and according to the base station of the second feedback information and three or more, determines robot indoors
Start position information in scene, the second feedback information are robots according to starting point positioning instruction, and acquisition is used to determine machine
People indoors in scene start position information information.
In an embodiment of the present invention, start position determining module 510, specifically can be also used for:
According to the second feedback information, and in three or more base stations obtaining in advance each base station location information,
Determine start position information of the robot indoors in scene.
In some embodiments of the invention, navigation device in robot chamber, further includes:
Deviation detection module 540, for being currently located the distance in place when detecting that robot is moved to from start position
When integral multiple to preset distance, obtains robot and be currently located the location information in place；Worked as according to guidance path and robot
The location information of preceding site carries out path deviation detection to robot.
Navigation device in robot chamber provided in an embodiment of the present invention avoids robot and deviates guidance path, improves
Navigation accuracy and accuracy.
In some embodiments of the invention, navigation device in robot chamber, further includes:
Stopping modular 550 generates halt instruction and sends to robot and stop referring to for determining that robot reaches home position
It enables, so that robot stops moving according to halt instruction.
In an embodiment of the present invention, the initial map of indoor scene includes following at least one information, in indoor scene
Pass through area information in obstacle information and indoor scene in no thoroughfare area information, indoor scene.
In an embodiment of the present invention, map generation module 505, specifically can be used for:
By the location information of different location in robot indoors scene, believe as the position for corresponding to place in indoor scene
Breath；
On the initial map of indoor scene gathered in advance, the location information that place is corresponded in indoor scene is marked, with
Generate the map with the indoor scene of position mark.
High-precision navigation not only may be implemented in device provided in an embodiment of the present invention, but also fast and easy of navigating.
Fig. 6 shows the structural schematic diagram of navigation device 600 in the robot chamber that another embodiment provides according to the present invention,
The device includes:
Receiving module 610, for receiving navigation instruction, navigation instruction includes guidance path, and guidance path is according to machine
The people start position information in scene, the robot end point location information in scene and room gathered in advance indoors indoors
The map with position mark of interior scene, determining path start position information be according to preset three in indoor scene with
On base station determine information.
Mobile module 620, for mobile according to guidance path.
Navigation device in robot chamber provided in an embodiment of the present invention, by using base station to the start position of robot into
Row determines, and using the map of the indoor scene with position mark, determines the guidance path of robot, improve robot chamber
The precision of interior positioning and navigation.
The other details of navigation device combine Fig. 3 to Fig. 4 to describe with more than in robot chamber according to an embodiment of the present invention
Robot indoor navigation method according to an embodiment of the present invention it is similar, details are not described herein.
It can be by machine in conjunction with Fig. 3 to Fig. 6 robot indoor navigation method according to an embodiment of the present invention described and device
Device people's indoor navigation equipment is realized.Fig. 7 is the hardware configuration for showing navigation equipment in the robot chamber according to inventive embodiments
700 schematic diagrames.
As shown in fig. 7, in robot chamber in the present embodiment navigation equipment 700 include: processor 701, memory 702,
Communication interface 703 and bus 710, wherein processor 701, memory 702, communication interface 703 are connected and complete by bus 710
At mutual communication.
Specifically, above-mentioned processor 701 may include central processing unit (CPU) or specific integrated circuit (ASIC), or
Person may be configured to implement one or more integrated circuits of the embodiment of the present invention.
Memory 702 may include the mass storage for data or instruction.For example it rather than limits, memory
702 may include HDD, floppy disk drive, flash memory, CD, magneto-optic disk, tape or universal serial bus (USB) driver or two
The combination of a or more the above.In a suitable case, memory 702 may include that can be removed or non-removable (or solid
Medium calmly).In a suitable case, memory 702 can be in robot chamber inside or outside navigation equipment 700.In spy
Determine in embodiment, memory 702 is non-volatile solid state memory.In a particular embodiment, memory 702 includes read-only storage
Device (ROM).In a suitable case, which can be the ROM of masked edit program, programming ROM (PROM), erasable PROM
(EPROM), electric erasable PROM (EEPROM), electrically-alterable ROM (EAROM) or flash memory or two or more the above
Combination.
Communication interface 703 is mainly used for realizing in the embodiment of the present invention between each module, device, unit and/or equipment
Communication.
Bus 710 includes hardware, software or both, and the component of navigation equipment 700 in robot chamber is coupled to each other one
It rises.For example it rather than limits, bus may include accelerated graphics port (AGP) or other graphics bus, enhancing industrial standard frame
Structure (EISA) bus, front side bus (FSB), super transmission (HT) interconnection, Industry Standard Architecture (ISA) bus, infinite bandwidth interconnection,
Low pin count (LPC) bus, memory bus, micro- channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-
Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association part (VLB) bus or
The combination of other suitable buses or two or more the above.In a suitable case, bus 710 may include one
Or multiple buses.Although specific bus has been described and illustrated in the embodiment of the present invention, the present invention considers any suitable bus
Or interconnection.
That is, navigation equipment 700 may be implemented as in robot chamber shown in Fig. 7 includes: processor 701, deposit
Reservoir 702, communication interface 703 and bus 710.Processor 701, memory 702 and communication interface 703 are connected by bus 710
And complete mutual communication.Memory 702 is for storing program code；Processor 701 is stored by reading in memory 702
Executable program code run program corresponding with executable program code, for executing in any embodiment of the present invention
Robot indoor navigation method, to realize in conjunction with Fig. 3 to Fig. 6 robot indoor navigation method described and device.
The embodiment of the present invention also provides a kind of computer storage medium, and computer journey is stored in the computer storage medium
Sequence instruction；The computer program instructions realize indoor navigation side of robot provided in an embodiment of the present invention when being executed by processor
Method.
It should be clear that the invention is not limited to specific configuration described above and shown in figure and processing.
For brevity, it is omitted here the detailed description to known method.In the above-described embodiments, several tools have been described and illustrated
The step of body, is as example.But method process of the invention is not limited to described and illustrated specific steps, this field
Technical staff can be variously modified, modification and addition after understanding spirit of the invention, or suitable between changing the step
Sequence.
Functional block shown in structures described above block diagram can be implemented as hardware, software, firmware or their group
It closes.When realizing in hardware, it may, for example, be electronic circuit, specific integrated circuit (ASIC), firmware appropriate, insert
Part, function card etc..When being realized with software mode, element of the invention is used to execute program or the generation of required task
Code section.Perhaps code segment can store in machine readable media program or the data-signal by carrying in carrier wave is passing
Defeated medium or communication links are sent." machine readable media " may include any medium for capableing of storage or transmission information.
The example of machine readable media includes electronic circuit, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), soft
Disk, CD-ROM, CD, hard disk, fiber medium, radio frequency (RF) link, etc..Code segment can be via such as internet, inline
The computer network of net etc. is downloaded.
It should also be noted that, the exemplary embodiment referred in the present invention, is retouched based on a series of step or device
State certain methods or system.But the present invention is not limited to the sequence of above-mentioned steps, that is to say, that can be according in embodiment
The sequence referred to executes step, may also be distinct from that the sequence in embodiment or several steps are performed simultaneously.
The above description is merely a specific embodiment, it is apparent to those skilled in the art that,
For convenience of description and succinctly, the system, module of foregoing description and the specific work process of unit can refer to preceding method
Corresponding process in embodiment, details are not described herein.It should be understood that scope of protection of the present invention is not limited thereto, it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or substitutions,
These modifications or substitutions should be covered by the protection scope of the present invention.
Claims (16)
1. a kind of robot indoor navigation method, which is characterized in that the described method includes:
According to preset three or more in indoor scene base stations, determine that the robot plays point in the indoor scene
Confidence breath；
Obtain end point location information of the robot in the indoor scene, and according to the start position information, described
The map with position mark of end point location information and the indoor scene gathered in advance, determines leading for the robot
Bit path；
To the robot send navigation instruction, the navigation instruction includes the guidance path so that the robot according to
The guidance path is mobile.
2. the method according to claim 1, wherein described according to preset three or more in indoor scene
Base station, before determining start position information of the robot indoors in scene, the method also includes:
Move is sent to the robot, so that the robot is moved to the indoor scene according to the move
Behind middle different location, obtain for determining that the robot is moved to the of the location information of different location in the indoor scene
One feedback information；
Receive first feedback information, and according to the base station of first feedback information and described three or more, determine described in
Robot is moved to the location information of different location in the indoor scene；
The location information of different location and the interior gathered in advance in the indoor scene are moved to according to the robot
The initial map of scene generates the map with position mark of the indoor scene.
3. method according to claim 1 or 2, which is characterized in that described according to preset three or more in indoor scene
Base station, determine start position information of the robot in the indoor scene, comprising:
Starting point positioning instruction is sent to the robot；
The second feedback information is received, and according to the base station of second feedback information and described three or more, determines the machine
Start position information of the people in the indoor scene, second feedback information are the robots according to described point location
Instruction, the information for being used to determine robot start position information in the indoor scene of acquisition.
4. the method according to claim 1, wherein the method also includes:
When detecting the robot from the start position and be moved to that the distance for being currently located place is the integer of default distance
Times when, obtain the location information that the robot is currently located place；
The location information in place is currently located according to the guidance path and the robot, it is inclined to carry out path to the robot
From detection.
5. the method according to claim 1, wherein the method also includes:
It determines that the robot reaches the final position, halt instruction is sent to the robot, so that the robot root
Stop moving according to the halt instruction.
6. according to the method described in claim 2, it is characterized in that, the initial map of the indoor scene includes following at least one
Kind of information, no thoroughfare in indoor scene area information, the obstacle information in the indoor scene and the interior
Pass through area information in scene.
7. according to the method described in claim 2, it is characterized in that, described be moved to the indoor scene according to the robot
The initial map of the location information of middle different location and the indoor scene gathered in advance generates described with position mark
The map of indoor scene, comprising:
By the location information of robot different location in the indoor scene, as corresponding to place in the indoor scene
Location information；
On the initial map of the indoor scene gathered in advance, the position letter that place is corresponded in the indoor scene is marked
Breath, to generate the map of the indoor scene with position mark.
8. according to the method described in claim 3, it is characterized in that, described according to the second feedback information and described three or more
Base station determines start position information of the robot in the indoor scene, comprising:
According to second feedback information, and in described three or more base stations obtaining in advance each base station position letter
Breath, determines start position information of the robot in the indoor scene.
9. a kind of robot indoor navigation method, which is characterized in that the described method includes:
Navigation instruction is received, the navigation instruction includes guidance path, and the guidance path is according to robot scene indoors
In end point location information and the room gathered in advance in the indoor scene of start position information, the robot
The path that the map with position mark of interior scene determines, the start position information are preset according in the indoor scene
Three or more base stations determine information；
It is mobile according to the guidance path.
10. according to the method described in claim 9, it is characterized in that, before the reception navigation instruction, further includes:
Move is received, and is moved in the indoor scene behind different location according to the move, is obtained for true
The fixed robot is moved to the first feedback information of the location information of different location in the indoor scene；
First feedback information is sent to controller, so that the controller is according to first feedback information and three described
Above base station determines that the robot is moved to the location information of different location in the indoor scene, and according to the machine
Device people is moved to the initial map of the location information of different location and the indoor scene gathered in advance in the indoor scene,
Generate the map with position mark of the indoor scene.
11. according to the method described in claim 9, it is characterized in that, the method also includes:
Halt instruction is received, and stops moving according to the halt instruction.
12. navigation device in a kind of robot chamber, which is characterized in that described device includes:
Start position determining module, for determining that the robot exists according to preset three or more in indoor scene base stations
Start position information in the indoor scene；
Guidance path determining module, for obtaining end point location information of the robot in the indoor scene, and according to
The ground with position mark of the start position information, the end point location information and the indoor scene gathered in advance
Figure, determines the guidance path of the robot；
Sending module, for sending navigation instruction to the robot, the navigation instruction includes the guidance path, so that institute
It is mobile according to the guidance path to state robot.
13. navigation device in a kind of robot chamber, which is characterized in that described device includes:
Receiving module, for receiving navigation instruction, the navigation instruction includes guidance path, and the guidance path is according to machine
People's end point location information of the start position information, the robot in scene in the indoor scene and in advance indoors
The map with position mark of the indoor scene of acquisition, start position information described in determining path is according to the room
The information that preset three or more base stations determine in interior scene；
Mobile module, for mobile according to the guidance path.
14. a kind of robot indoor navigation system, which is characterized in that the system comprises: controller and robot；
The controller, for determining the robot in the room according to preset three or more in indoor scene base stations
Start position information in interior scene obtains end point location information of the robot in the indoor scene, and according to institute
State the ground with position mark of start position information, the end point location information and the indoor scene gathered in advance
Figure, determines the guidance path of the robot, sends navigation instruction to the robot, the navigation instruction includes the navigation
Path, so that the robot is mobile according to the guidance path；
The robot, for receiving the navigation instruction, and it is mobile according to the guidance path.
15. navigation equipment in a kind of robot chamber, which is characterized in that the equipment includes: processor and is stored with computer
The memory of program instruction；
The processor realizes the robot as described in claim 1-11 any one when executing the computer program instructions
Indoor navigation method.
16. a kind of computer storage medium, which is characterized in that be stored with computer program in the computer storage medium and refer to
It enables, is realized when the computer program instructions are executed by processor in the robot chamber as described in claim 1-11 any one
Air navigation aid.
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