CN109916411A - A kind of method of the indoor positioning navigation of robot - Google Patents
A kind of method of the indoor positioning navigation of robot Download PDFInfo
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- CN109916411A CN109916411A CN201910252007.5A CN201910252007A CN109916411A CN 109916411 A CN109916411 A CN 109916411A CN 201910252007 A CN201910252007 A CN 201910252007A CN 109916411 A CN109916411 A CN 109916411A
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Abstract
The invention discloses the methods that figure location navigation is built immediately in a kind of interior of robot that fixed range laser technology is combined based on gyro inertial navigation, including robot body, left side drive wheel, right side drive wheel, laser ranging module, laser ranging line, barrier, the robot center of circle, gyro module and MCU control module, the bottom of the robot body and be located at the robot center of circle both ends the left side drive wheel and right side drive wheel being symmetrically distributed are installed, the surface of the robot body is equipped with laser ranging module.The present invention uses a fixed laser ranging module, and mountable any position in robot reaches 360 degree of scannings barrier by the rotation of robot, establishes the purpose of map, and effect is equal to 360 degree of rotary laser range finder module.But it is easier to install, because not needing the rotation of motor control laser ranging module, therefore the service life is longer for laser ranging module, cost is lower without rotating mechanism.
Description
Technical field
The present invention relates to Indoor Robot technical field, the method for the indoor positioning navigation of specially a kind of robot.
Background technique
Robot indoor positioning is built figure and is had based on the navigation of gyroscope indoor positioning at present, and is based on 360 ° of rotary laser radars
The location navigation mode of scanning.Using the indoor positioning mode of gyroscope, advantage is inexpensive, easy to install, the disadvantage is that due to needing
It wants odometer auxiliary to calculate, due to wheel slip and the accumulated error of time, the appearance of map slowly is caused to deviate and can not rectify
Just, positioning failure is eventually led to.360 ° of rotary laser radar scanning modes position figure mode of building, advantage be build figure success rate compared with
Height can correct in real time map according to laser data, the disadvantage is that it is at high cost, and to the more demanding of mold, laser radar is not easy to pacify
Dress, and the movement rotary mechanism as built in laser radar, are easily damaged, and 360 ° of traditional rotary scanning organ modules, due to
It needing motor to drive, ceaselessly rotates, power consumption is high, and is easily damaged, and service life is not grown, it is not easy to install, for this purpose, we
The method for proposing a kind of indoor positioning navigation of robot.
Summary of the invention
The purpose of the present invention is to provide a kind of machines based on fixed laser ranging combination gyro inertial navigation technology
The method of the indoor positioning navigation of people, to solve the problems, such as to propose in background technique.
To achieve the above object, the invention provides the following technical scheme: the method that a kind of indoor positioning of robot is navigated,
Including robot body, left side drive wheel, right side drive wheel, laser ranging module, laser ranging line, barrier, robot circle
The heart, gyro module and MCU control module, the bottom of the robot body and the both ends for being located at the robot center of circle are equipped with phase
Mutually symmetrical left side drive wheel and right side drive wheel, the surface of the robot body are equipped with laser ranging module, swash
Ligh-ranging line, the laser ranging line can be visible light or black light, the laser ranging line that the laser ranging module projects
It can be irradiated in the surface of barrier, the straight line where the beam direction of the laser ranging module ranging is just past robot
The position in the center of circle；
The output end of the laser ranging module and the input terminal of MCU control module are electrically connected, the gyro module
Input terminal and the input terminal of MCU control module be electrically connected, the MCU control module and left side drive wheel and right side drive wheel
Between be electrically connected with each other, the electric connection between the laser ranging module and MCU control module can obtain robot body
The distance between barrier, the electric connection between the gyro module and MCU control module can obtain robot body
Angle, θ can calculate the angle between barrier in conjunction with the angle of ligh-ranging module and robot central axis, it is described
Electric connection between the output end and left side drive wheel of MCU control module and the input terminal of right side drive wheel can drive left side
Wheel and right side drive wheel carry out drive control, the output end and MCU control module of the left side drive wheel and right side drive wheel
The mileage number of left side drive wheel and right side drive wheel can be fed back to MCU control module by the electric connection between input terminal.
Preferably, the inertial navigation in laser combination coordinates computed method the following steps are included:
(1) robot body is during straight line, the obstacle distance in front range finder module measurement front；
(2) for robot body when straight line is walked, front laser ranging module measures the distance of front barrier, leads to
The data of the variation amendment odometer of distance are crossed, algorithm is as follows: the t1 time measures the distance of barrier and measures for s1, mileage
The distance of measurement is d1；The distance that the t2 time measures barrier is s2, and the distance that odometer measures is d2；The then t2 time
Distance be d21=d2* (1-k)+(d1+ (s1-s2)) * k.Wherein k is the degree of belief of laser ranging module calculated value, is worth in 0-
Between 1,1 shows 100% trust laser ranging module, and 0 indicates to distrust range finder module, and the value of k can be filtered according to Kalman
The filtering algorithms combination other sensors data such as wave algorithm or second-order filter algorithm calculate optimal value, k=0, it is meant that 100%
Trust the data of odometer；
(3) angle for combining odometer and gyroscope to calculate can be calculated machine with integrating meter and be existed by inertial navigation algorithm
The coordinate (x, y) of any time.
Preferably, when the robot body rotates in place, laser scanning build the method for figure the following steps are included:
(1) position P1 (x1, y1) rotates in place.The method of rotation is:
A, when left side drive wheel and right side drive wheel move in a reverse direction, if left side drive wheel advances, right side
Driving wheel retreats, if left side drive wheel retreats, right side drive wheel advances；
B, left side drive wheel and right side drive wheel detect code-disc signal during the motion, calculate left side drive wheel and the right side
Rotation wheel speed between side drive wheel, Ji Keshi consistent with the wheel speed of right side drive wheel using PID adjusting adjusting left side drive wheel
Now rotate in place；
(2) robot body turns around in the rotation of P1 (x1, y1) point, every T time (it is recommended that within 10ms, but not limited to this)
The angle-data for acquiring a laser ranging data and gyroscope can calculate the coordinate of barrier according to triangle formula
(xo,oy)；Calculation formula is as follows:
For a certain moment, the distance that laser ranging module measures barrier is dist, is read this moment by gyroscope
Angle angle, θ, the angle immediately ahead of laser ranging module ranging direction and robot is l θ, laser ranging module and machine
The distance in the people center of circle is ld, then the coordinate of barrier are as follows:
Formula 2:
Ox=x1+ (dist+ld) * cos (θ+l θ)
Oy=y1+ (dist+ld) * sin (θ+l θ)
(3) robot body rotates a circle, and every T time (it is recommended that within 10ms, but do not limit the time), acquires one group of barrier
Hinder object distance walk-off angle degree evidence, by formula 2, can be obtained one group of barrier coordinate set A=(ox1, oy1), (ox2,
oy2)….}；
(4) coordinate set for the barrier that A rotates for robot in P1 point in step (3), that is, map
Information.
Preferably, the extracting method for building figure and location navigation the following steps are included:
(1) robot body turn around using starting point P1 as initial point, rotation (can also two circles, three circles do not limit, for just
All it is that expression rotation is turned around below in statement), barrier coordinate set A is scanned, is as scanned in P1 point institute laser
Cartographic information；
(2) robot body moves to P2 point, by laser distance data and inertial navigation algorithm, calculates P2 point
Coordinate；
(3) robot body turns around in the rotation of P2 point, and laser scanning goes out the coordinate set B of barrier；
(4) the set B detected between step (1) and step (3) and set A have certain intersection, are repaired by intersection part
The coordinate of positive P2 point, and set A is merged with set B, it is merged into new set A, as newest map datum；
(5) it is iteratively repeated by the intermediate step of step (1) to step (4), finds P3, P4, P5 ... suitable on map
Point goes out new barrier set in the rotary scanning, and the coordinate correction changing coordinates to break the barriers, and closes with set A
And finally obtain complete indoor map.
Preferably, robot body positioning correction sit calibration method the following steps are included:
(1) by robot body difference rotate in place and the extraction of barrier, it is established that final map
Information (the coordinate set A of barrier and the information of laser scanning point), at the robot body (1) any one moment, can pass through
Inertial navigation is (x, y) in the calculated coordinate of method of laser combination coordinates computed；
(2) robot body rotates in place a circle, and the coordinate set K, K of calculated barrier are also a curve
, it is compared, is matched with atlas A by K, fitting can calculate offset of the K relative to A, as map is inclined
It moves；
(3) pass through the offset, i.e., rectifiable changing coordinates；
(4) from set A, the lines of straight line or the lines of right-angle turning can be calculated, it can be characterized by the lines
Point rotates in place a circle when robot returns near characteristic point, and the coordinate set K of acquired disturbance object is counted by K
The straight line for calculating straight line or right-angle turning can calculate the deviation of coordinate compared with characteristic body, reach the mesh of amendment coordinate
's.
Preferably, the left side drive wheel and right side drive wheel are used to control the walking of robot, the left side drive wheel
It is internally provided with odometer circuit with right side drive wheel, the odometer includes but is not limited to code-disc signal, photoelectric encoder
Signal, Hall sensor signal etc..
Preferably, the robot center of circle is the central point of left side drive wheel and right side drive wheel, the robot body
Driving method be Two-wheeled, Two-wheeled be respectively left side drive wheel and right side drive wheel driving.
Preferably, the laser ranging module includes but is not limited to TOF laser ranging module and range of triangle laser ranging
Module, for the ranging distance of the laser ranging module between for 0.5 meter to 100 meters, the laser ranging module is placed in machine
The position on the surface of device human body, the placement of the laser ranging module is unlimited, but optimal, it is proposed that puts laser ranging module
It is placed in the front of robot body.
Preferably, the gyro module is used for the angle of calculating robot's horizontal direction
Compared with prior art, the invention has the following advantages:
(1) it uses single-point laser module, be easily installed, fixed, long service life.
(2) at low cost.
(3) it is counted using laser ranging correction mileage, eliminates the error that road wheel skids.
(4) gyro data is corrected using the information of laser ranging module scanning, eliminates gyroscope integral error.
(5) laser ranging module is used, builds figure in real time, is positioned.
(6) using the coordinate of the characteristic body correction inertial navigation of laser map.
(7) a fixed laser ranging module is used, mountable any position in robot passes through the rotation of robot
Turn, reaches 360 degree of scannings barrier, establish the purpose of map, effect is equal to 360 degree of rotary laser range finder module.But more
It is easily installed, because without rotating mechanism, does not need the rotation of motor control laser ranging module, therefore laser ranging module makes
With longer life expectancy, cost is lower.
Detailed description of the invention
Fig. 1 is that the present invention overlooks figure structure schematic representation；
Fig. 2 is laser ranging module optimal location mounting structure schematic diagram of the present invention；
Fig. 3 is present system schematic illustration；
Fig. 4 is Principal of Fix Calculation schematic diagram of the present invention.
In figure: 1 robot body, 2 left side drive wheels, 3 right side drive wheels, 4 laser ranging modules, 5 laser ranging lines, 6
Barrier, the 7 robot centers of circle.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-4 is please referred to, the present invention provides a kind of technical solution: a kind of method of the indoor positioning navigation of robot, packet
Include robot body 1, left side drive wheel 2, right side drive wheel 3, laser ranging module 4, laser ranging line 5, barrier 6, machine
The people center of circle 7, gyro module and MCU control module, it is characterised in that: the bottom of the robot body 1 and be located at robot
The both ends in the center of circle 7 are equipped with the left side drive wheel 2 and right side drive wheel 3 being symmetrically distributed, the surface of the robot body 1
Laser ranging module 4 is installed, the laser ranging module 4 can project laser ranging line 5, which can be can
Light-exposed or black light, the laser ranging line 5 that the laser ranging module 4 projects can be irradiated in the surface of barrier 6, described to swash
The position of straight line where 5 direction of laser beam of 4 ranging of ligh-ranging module just past the robot center of circle 7；
The output end of the laser ranging module 4 and the input terminal of MCU control module are electrically connected, the gyro module
Input terminal and the input terminal of MCU control module be electrically connected, the MCU control module and left side drive wheel 2 and right side drive
It is electrically connected with each other between wheel 3, the electric connection between the laser ranging module 4 and MCU control module can obtain robot
The distance between ontology 1 and barrier 6, the electric connection between the gyro module and MCU control module can obtain machine
The angle, θ of human body 1 can calculate between barrier 6 in conjunction with the angle of ligh-ranging module 4 and robot central axis
Angle, the electric connection between the output end and left side drive wheel 2 and the input terminal of right side drive wheel 3 of the MCU control module
Drive control, the output end of the left side drive wheel 2 and right side drive wheel 3 can be carried out to left side drive wheel 2 and right side drive wheel 3
Electric connection between the input terminal of MCU control module can feed back to the mileage number of left side drive wheel 2 and right side drive wheel 3
MCU control module.
The inertial navigation in laser combination coordinates computed method the following steps are included:
(1) robot body 1 is during straight line, the obstacle distance in front range finder module measurement front；
(2) for robot body 1 when straight line is walked, front laser ranging module 4 measures the distance of front barrier,
By the data of the variation amendment odometer of distance, algorithm is as follows: the distance that the t1 time measures barrier is s1, odometer
The distance of measurement measurement is d1；The distance that the t2 time measures barrier is s2, and the distance that odometer measures is d2；Then when t2
Between distance be d21=d2* (1-k)+(d1+ (s1-s2)) * k.Wherein k is the degree of belief of laser ranging module calculated value, and value exists
Between 0-1,1 shows 100% trust laser ranging module, and 0 indicates to distrust range finder module, and the value of k can be according to Kalman
The filtering algorithms combination other sensors data such as filtering algorithm or second-order filter algorithm calculate optimal value, k=0, it is meant that
100% trusts the data of odometer；
(3) angle for combining odometer and gyroscope to calculate can be calculated machine with integrating meter and be existed by inertial navigation algorithm
The coordinate (x, y) of any time.
When the robot body 1 rotates in place, laser scanning build the method for figure the following steps are included:
(1) position P1 (x1, y1) rotates in place.The method of rotation is:
A, it is right if left side drive wheel 2 advances when left side drive wheel 2 and right side drive wheel 3 move in a reverse direction
Side drive wheel 3 retreats, if left side drive wheel 2 retreats, right side drive wheel 3 advances；
B, left side drive wheel 2 and right side drive wheel 3 detect code-disc signal during the motion, calculate left side drive wheel 2
Rotation wheel speed between right side drive wheel 3 adjusts the wheel speed one of left side drive wheel 2 and right side drive wheel 3 using PID
It causes, can be realized and rotate in place；
(2) robot body 1 turns around in the rotation of P1 (x1, y1) point, (it is recommended that within 10ms, but is not limited to every T time
This) acquisition a laser ranging data and gyroscope angle-data the coordinate of barrier can be calculated according to triangle formula
(xo,oy)；Calculation formula is as follows:
For a certain moment, the distance that laser ranging module measures barrier is dist, is read this moment by gyroscope
Angle angle, θ, the angle immediately ahead of laser ranging module ranging direction and robot is l θ, laser ranging module and machine
The distance in the people center of circle is ld, then the coordinate of barrier are as follows:
Formula 2:
Ox=x1+ (dist+ld) * cos (θ+l θ)
Oy=y1+ (dist+ld) * sin (θ+l θ)
(3) robot body 1 rotates a circle, and every T time (it is recommended that within 10ms, but do not limit the time), acquires one group
Obstacle distance and angle-data, by formula 2, can be obtained one group of barrier coordinate set A=(ox1, oy1),
(ox2,oy2)….}；
(4) coordinate set for the barrier that A rotates for robot in P1 point in step (3), that is, map
Information.
The extracting method for building figure and location navigation the following steps are included:
(1) robot body 1 turn around using starting point P1 as initial point, rotation (can also two circles, three circles do not limit, for just
All it is that expression rotation is turned around below in statement), barrier coordinate set A is scanned, is as scanned in P1 point institute laser
Cartographic information；
(2) robot body 1 moves to P2 point and calculates P2 by laser distance data and inertial navigation algorithm
The coordinate of point；
(3) robot body 1 turns around in the rotation of P2 point, and laser scanning goes out the coordinate set B of barrier；
(4) the set B detected between step (1) and step (3) and set A have certain intersection, are repaired by intersection part
The coordinate of positive P2 point, and set A is merged with set B, it is merged into new set A, as newest map datum；
(5) it is iteratively repeated by the intermediate step of step (1) to step (4), finds P3, P4, P5 ... suitable on map
Point goes out new barrier set in rotary scanning of changing the time, and the coordinate correction changing coordinates to break the barriers, and closes with set A
And finally obtain complete indoor map.
The robot body 1 positioning correction sit calibration method the following steps are included:
(1) by robot body 1 difference rotate in place and the extraction of barrier 6, it is established that final ground
Figure information (the coordinate set A of barrier), the robot body 1 any one moment can be combined by inertial navigation in laser
The calculated coordinate of the method for coordinates computed is (x, y)；
(2) robot body 1 rotates in place a circle, and the coordinate set K, K of calculated barrier are also a song
Line, it is compared, is matched with atlas A by K, fitting can calculate offset of the K relative to A, as map
Offset；
(3) pass through the offset, i.e., rectifiable changing coordinates；
(4) from set A, the lines of straight line or the lines of right-angle turning can be calculated, it can be characterized by the lines
Point rotates in place a circle when robot returns near characteristic point, and the coordinate set K of acquired disturbance object is counted by K
The straight line for calculating straight line or right-angle turning can calculate the deviation of coordinate compared with characteristic body, reach the mesh of amendment coordinate
's.
The left side drive wheel 2 and right side drive wheel 3 are used to control the walking of robot, the left side drive wheel 2 and the right side
Side drive wheel 3 is internally provided with odometer circuit, and the odometer includes but is not limited to code-disc signal, photoelectric encoder letter
Number, Hall sensor signal etc..
The robot center of circle 7 is the central point of left side drive wheel 2 and right side drive wheel 3, the drive of the robot body 1
Flowing mode is Two-wheeled, and Two-wheeled is respectively that left side drive wheel 2 and right side drive wheel 3 drive.
The laser ranging module 4 includes but is not limited to TOF laser ranging module and range of triangle laser ranging module, institute
The ranging distance of laser ranging module 4 is stated between for 0.5 meter to 100 meters, the laser ranging module 4 is placed in robot sheet
The position on the surface of body 1, the placement of the laser ranging module 4 is unlimited but optimal, it is proposed that places laser ranging module 4
In the front of robot body 1.
The gyro module is used for the angle of calculating robot's horizontal direction.
The correlation module being related in this system is hardware system module or for computer software journey in the prior art
The functional module that sequence or agreement are combined with hardware, computer software programs or agreement involved by the functional module itself
The technology being well known to those skilled in the art is not the improvements of this system；This system is improved between each module
Interaction relationship or connection relationship, as the whole construction of system is improved, to be solved with solving this system
Relevant art problem.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. the method that a kind of indoor positioning of robot is navigated, including robot body (1), left side drive wheel (2), right side driving
Take turns (3), laser ranging module (4), laser ranging line (5), barrier (6), the robot center of circle (7), gyro module and MCU control
Molding block, it is characterised in that: the bottom of the robot body (1) and be located at the robot center of circle (7) both ends be equipped with mutually
Symmetrical left side drive wheel (2) and right side drive wheel (3), the surface of the robot body (1) are equipped with laser ranging
Module (4), the laser ranging module (4) can project laser ranging line (5), the laser ranging line (5) can for visible light or
Black light, the laser ranging line (5) that the laser ranging module (4) is projected can be irradiated in the surface of barrier (6), described to swash
The position of straight line where laser beam (5) direction of ligh-ranging module (4) ranging just past the robot center of circle (7)；
The output end of the laser ranging module (4) and the input terminal of MCU control module are electrically connected, the gyro module
Input terminal and the input terminal of MCU control module are electrically connected, and the MCU control module and left side drive wheel (2) and right side drive
It is electrically connected with each other between wheel (3), the electric connection between the laser ranging module (4) and MCU control module can obtain machine
The distance between device human body (1) and barrier (6), the electric connection between the gyro module and MCU control module can
The angle, θ for obtaining robot body (1) can calculate and hinder in conjunction with the angle of ligh-ranging module (4) and robot central axis
Hinder the angle between object (6), the output end of the MCU control module and the input of left side drive wheel (2) and right side drive wheel (3)
Electric connection between end can carry out drive control, the left side drive wheel to left side drive wheel (2) and right side drive wheel (3)
(2) electric connection between the output end of right side drive wheel (3) and the input terminal of MCU control module can be by left side drive wheel
(2) and the mileage number of right side drive wheel (3) feeds back to MCU control module.
2. the method that a kind of indoor positioning of robot according to claim 1 is navigated, it is characterised in that: the inertia is led
Navigate in laser combination coordinates computed method the following steps are included:
(1) robot body (1) is during straight line, the obstacle distance in front range finder module measurement front；
(2) for robot body (1) when straight line is walked, front laser ranging module (4) measures the distance of front barrier,
By the data of the variation amendment odometer of distance, algorithm is as follows: the distance that the t1 time measures barrier is s1, odometer
The distance of measurement measurement is d1；The distance that the t2 time measures barrier is s2, and the distance that odometer measures is d2；Then when t2
Between distance be d21=d2* (1-k)+(d1+ (s1-s2)) * k.Wherein k is the degree of belief of laser ranging module calculated value, and value exists
Between 0-1,1 shows 100% trust laser ranging module, and 0 indicates to distrust range finder module, and the value of k can be according to Kalman
The filtering algorithms combination other sensors data such as filtering algorithm or second-order filter algorithm calculate optimal value, k=0, it is meant that
100% trusts the data of odometer；
(3) angle for combining odometer and gyroscope to calculate can calculate machine any by inertial navigation algorithm with integrating meter
The coordinate (x, y) at moment.
3. the method that a kind of indoor positioning of robot according to claim 1 is navigated, it is characterised in that: the robot
When ontology (1) rotates in place, laser scanning build the method for figure the following steps are included:
(1) position P1 (x1, y1) rotates in place.The method of rotation is:
A, when left side drive wheel (2) and right side drive wheel (3) move in a reverse direction, if left side drive wheel (2) advances,
Right side drive wheel (3) retreats, if left side drive wheel (2) retreats, right side drive wheel (3) advances；
B, left side drive wheel (2) and right side drive wheel (3) detect code-disc signal during the motion, calculate left side drive wheel
(2) the rotation wheel speed between right side drive wheel (3) adjusts left side drive wheel (2) and right side drive wheel (3) using PID
Wheel speed it is consistent, can be realized and rotate in place；
(2) robot body (1) turns around in the rotation of P1 (x1, y1) point, every T time (it is recommended that within 10ms, but not limited to this)
The angle-data for acquiring a laser ranging data and gyroscope can calculate the coordinate of barrier according to triangle formula
(xo, oy), calculation formula is as follows:
For a certain moment, the distance that laser ranging module measures barrier is dist, the angle read this moment by gyroscope
Angle immediately ahead of the angle, θ of degree, laser ranging module ranging direction and robot is l θ, laser ranging module and robot circle
The distance of the heart is ld, then the coordinate of barrier are as follows:
Formula 2:
Ox=x1+ (dist+ld) * cos (θ+l θ)
Oy=y1+ (dist+ld) * sin (θ+l θ)
(3) robot body (1) rotates a circle, and every T time (it is recommended that within 10ms, but do not limit the time), acquires one group of barrier
Hinder object distance walk-off angle degree evidence, by formula 2, can be obtained one group of barrier coordinate set A=(ox1, oy1), (ox2,
oy2)….}；
(4) coordinate set for the barrier that A rotates for robot in P1 point in step (3), that is, the information of map.
4. the method that a kind of indoor positioning of robot according to claim 1 is navigated, it is characterised in that: it is described build figure with
The extracting method of location navigation the following steps are included:
(1) robot body (1) using starting point P1 as initial point, rotation turn around (can also two circle, three circle, do not limit, for convenient for
Statement is all that expression rotation is turned around below), barrier coordinate set A is scanned, as on the ground that P1 point institute laser scans
Figure information；
(2) robot body (1) moves to P2 point, by laser distance data and inertial navigation algorithm, calculates P2 point
Coordinate；
(3) robot body (1) is turned around in the rotation of P2 point, and laser scanning goes out the coordinate set B of barrier；
(4) the set B detected between step (1) and step (3) and set A have certain intersection, correct P2 by intersection part
The coordinate of point, and set A is merged with set B, it is merged into new set A, as newest map datum；
(5) it is iteratively repeated by the intermediate step of step (1) to step (4), finds P3, P4, P5 ... point suitable on map,
The rotary scanning goes out new barrier set, and the coordinate correction changing coordinates to break the barriers, and merges with set A, most
Complete indoor map is obtained eventually, realizes that figure function is built in interior.
5. the method that a kind of indoor positioning of robot according to claim 1 or 4 is navigated, it is characterised in that: the machine
Device human body (1) position correction sit calibration method the following steps are included:
(1) by robot body (1) difference rotate in place and the extraction of barrier (6), it is established that final ground
Figure information (the coordinate set A of barrier and the coordinate information of all laser scanning points), the robot body (1) is any one
Moment, can by inertial navigation in laser combination coordinates computed the calculated coordinate of method be (x, y)；
(2) robot body (1) rotates in place a circle, and the coordinate set K, K of calculated barrier are also a curve
, it is compared, is matched with atlas A by K, fitting can calculate offset of the K relative to A, as map is inclined
It moves；
(3) pass through the offset, i.e., rectifiable changing coordinates；
(4) from set A, the lines of straight line or the lines of right-angle turning can be calculated, can characterized by the lines point, when
When robot returns near characteristic point, a circle is rotated in place, the coordinate set K of acquired disturbance object is calculated directly by K
The straight line of line or right-angle turning can calculate the deviation of coordinate compared with characteristic body, achieve the purpose that correct coordinate.
6. the method that a kind of indoor positioning of robot according to claim 1 is navigated, it is characterised in that: drive in the left side
Driving wheel (2) and right side drive wheel (3) are used to control the walking of robot, the left side drive wheel (2) and right side drive wheel (3)
It is internally provided with odometer circuit, the odometer includes but is not limited to code-disc signal, photoelectric encoder signal, Hall sensor
Signal etc..
7. the method that a kind of indoor positioning of robot according to claim 1 is navigated, it is characterised in that: the robot
The center of circle (7) is the central point of left side drive wheel (2) and right side drive wheel (3), and the driving method of the robot body (1) is double
Wheel drive, Two-wheeled are respectively left side drive wheel (2) and right side drive wheel (3) driving.
8. the method that a kind of indoor positioning of robot according to claim 1 is navigated, it is characterised in that: the Laser Measuring
It include but is not limited to TOF laser ranging module and range of triangle laser ranging module, the laser ranging module away from module (4)
(4) for ranging distance between for 0.5 meter to 100 meters, the laser ranging module (4) is placed in the table of robot body (1)
The position in face, the placement of the laser ranging module (4) is unlimited but optimal, it is proposed that laser ranging module (4) is placed in machine
The front of device human body (1).
9. the method that a kind of indoor positioning of robot according to claim 1 is navigated, it is characterised in that: the gyroscope
Module is used for the angle of calculating robot's horizontal direction.
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