CN110057370A - The localization method and device of robot - Google Patents
The localization method and device of robot Download PDFInfo
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- CN110057370A CN110057370A CN201910508249.6A CN201910508249A CN110057370A CN 110057370 A CN110057370 A CN 110057370A CN 201910508249 A CN201910508249 A CN 201910508249A CN 110057370 A CN110057370 A CN 110057370A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of localization method and devices of robot, this method is in the operational process of robot, if encountering position loses problem, utilize the positioning coordinate (x2 according to the second point map cloud (low resolution point map cloud), y2), the data of corresponding threshold matrix a [x] [y], coordinate of the retrospectively calculate machine people current location in the first point map cloud are inquired, obtain coordinates of targets (x1', y1').Compare current position coordinates (x1 in the first point map cloud again,) and coordinates of targets (x1' y1, y1'), obtain error within the scope of low resolution radar position error, judge the positioning coordinate (x1 of the first point map cloud (High Resolution Ground Map point cloud), y1) effectively, solve the technical issues of position is lost in moving process by robot in the prior art, reached the technical effect for giving position in movement for change in time.
Description
Technical field
The present invention relates to robot fields, in particular to a kind of localization method and device of robot.
Background technique
Only one general high-precision laser radar of robot of storing in a warehouse is used for swept molding method, obtains data run SLAM and calculates
Method generates point map cloud coordinate.But there are problems that two, first is to lose position, warehouse structure excessively regularization, shelf
Size, goods packing is all similar, and figure is sometimes swept by robot will appear misjudgment, and position is caused to be lost.Second is machine
There are problems that interfering for laser between device people.Limited width between shelf, generally can parallel Liang Tai robot, this
When there is no interfering problem.But it is run for occurring a scanning simultaneously in a passageway to opposite Liang Tai robot
When, it will appear some interference problems once in a while, position loses, causes to stagnate, to block.
Currently, there are two types of methods for first problem.One is installation multi-line laser radars, form 3D scanning, 3D SLAM structure
Figure, another kind are to reinstall camera operation VSLAM, carry out position identification.Second Problem, there are two types of method, Yi Zhongfang
Method is that laser installation relative to level has a small inclination,.Second method is from the upper optimization processing of scheduling, so that passageway is most
Only two trolleies.
But above-mentioned solution has disadvantage: multi-line laser radar too expensive, is also not suitable for being applied to more at present
The logistics system of machine scheduling, and to the hardware performance requirements of entire robot system height, need replacing the hard of higher configuration
Part.Although VSLAM can fundamentally avoid the appearance of problem above, develop it is considerably complicated, be equivalent to again into
Row exploitation, period are also very long.The method for installing laser inclination angle, so that laser directly scans ground, map edge data burr increases
Add, improves the difficulty of map datum filtering.The method that optimizing scheduling avoids interference with virtually increases the burden of system, Er Qiesui
The increase of robot scale, reduce the efficiency of whole system.
Summary of the invention
The main purpose of the present invention is to provide a kind of localization method and devices of robot, to solve machine in the prior art
Device people in the process of running position lose the problem of.
To achieve the goals above, according to an aspect of the invention, there is provided the localization method of robot.The machine
People is provided with high-definition laser radar and low resolution laser radar, which comprises robot is according to the first point map
The coordinate motion of cloud obtains robot current location described in the first point map cloud in the case where position is lost by robot
Second coordinate of robot current location described in the first coordinate and the second point map cloud, wherein the first point map cloud
It scans to obtain by the high-resolution radar, the second point map cloud is scanned to obtain by the low resolution radar；According to institute
It states the second coordinate and threshold matrix obtains the robot current location in the coordinates of targets of the first point map cloud；Described
The error of first coordinate and the coordinates of targets within a predetermined range when, then moved according to first coordinate.
To achieve the goals above, according to an aspect of the invention, there is provided the positioning device of robot.The machine
People is provided with high-definition laser radar and low resolution laser radar, and described device includes: first acquisition unit, in machine
Device people according to the first point map cloud coordinate motion when, robot lose position in the case where, obtain the first point map cloud in
Second coordinate of robot current location described in the first coordinate of the robot current location and the second point map cloud,
Wherein, the first point map cloud is scanned to obtain by the high-resolution radar, and the second point map cloud is by the low resolution
Rate radar scanning obtains；Coordinate unit, for obtaining the robot current location according to second coordinate and threshold matrix
In the coordinates of targets of the first point map cloud；Moving cell, for the error in first coordinate and the coordinates of targets
When within a predetermined range, then moved according to first coordinate.
It applies the technical scheme of the present invention, in the operational process of robot, if encountering position loses problem, utilizes basis
The positioning coordinate (x2, y2) of second point map cloud (low resolution point map cloud) inquires the number of corresponding threshold matrix a [x] [y]
According to coordinate of the retrospectively calculate machine people current location in the first point map cloud obtains coordinates of targets (x1', y1').Compare again
Current position coordinates (x1, y1) and coordinates of targets (x1', y1') in first point map cloud show that error is fixed in low resolution radar
In the error range of position, the positioning coordinate (x1, y1) for judging the first point map cloud (High Resolution Ground Map point cloud) effectively, is solved existing
There is the technical issues of position is lost in moving process by robot in technology, has reached the technology effect for giving position in movement for change in time
Fruit.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The Figure of description for constituting a part of the invention is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the schematic diagram of laser radar installation site according to the present invention；And
Fig. 2 shows the flow charts of the localization method of robot according to an embodiment of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Term be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
The embodiment of the invention discloses a kind of localization methods of robot.The localization method of the robot can pass through setting
High-definition laser radar and low resolution laser radar in robot are positioned, to overcome robot to hold in warehouse etc.
Easily there is the problem of position is lost under the scene of positioning mistake.Specifically, the present embodiment consider limited increase economic cost and
In the case where CPU load, proposes and omnidirectional's low resolution laser radar, bottom front peace are installed in storage transportation machines head part
It fills high-resolution radar (as shown in Figure 1), carries out two SLAM algorithms, show that two Orientation on map point clouds carry out difference comparsion and obtain
Characteristic value out to solve the problems, such as that position is lost, while can also solve the interference problem between robot.
The localization method of the robot includes:
S202, robot obtain the first ground in the case where position is lost by robot according to the coordinate motion of the first point map cloud
The of robot current location described in the first coordinate and the second point map cloud of robot current location described in figure point cloud
Two coordinates, wherein the first point map cloud is scanned to obtain by the high-resolution radar, and the second point map cloud is by described
Low resolution radar scans to obtain；
Before the coordinate motion according to the first point map cloud, robot first constructs map for robot.Specific steps include obtaining
Target position is in the high-resolution position coordinate of the first point map cloud and the target position in second point map
The low resolution position coordinates of cloud；Obtain the absolute of the difference of the high-resolution position coordinate and the low resolution position coordinates
Value；When the difference of the threshold value coordinate of the target position described in the absolute value and threshold matrix meets preset condition, institute is determined
It is accurate for stating the high-resolution position coordinate of the first point map cloud；The target position described in the absolute value and threshold matrix
The difference of threshold value coordinate when being unsatisfactory for preset condition, mark the high-resolution position coordinate of the first point map cloud.
For example,
S1, under storage environment, robot uses high-definition laser radar swept molding method, and high-definition laser radar will be to goods
Frame lower part is scanned composition, and carries out SLAM algorithm, obtains High Resolution Ground Map point cloud 1, i.e. the first point map cloud.
S2, robot use low resolution laser radar scanning map, low resolution laser radar will to shelf top into
Row scanning composition, and SLAM algorithm is carried out, obtain low resolution point map cloud 2, i.e. second point cloud map.
S3, target position are location A.Coordinate of the location A in the first point map cloud is (x1, y1), in the second point map
Coordinate is (x2, y2) in cloud, calculates the absolute value (x3, y3) of two differences.
S4 is compared with absolute value (x3, y3) with the threshold value coordinate of location A in threshold matrix, if meeting preset condition,
The coordinate for thinking location A in the first point map cloud is accurately, to be retained in the first point map cloud；If being unsatisfactory for preset condition,
Then think the coordinate of location A in the first point map cloud may be it is devious, make marks to it, so as to the calibrating coordinates.
In the present embodiment, threshold matrix can be the matrix of an empirical value, can be two-dimensional matrix a [x] [y],
The threshold matrix can be stored in advance in ROM, be transferred from ROM when needing.The position region A is mentioned from threshold matrix
Threshold point (x4, y4), compare absolute value (x3, y3) and threshold point (x4, y4), if the difference of the two be less than or equal to threshold value model
It encloses, does not then handle data, if being more than threshold range, (x1, y1) is stored in error maps point cloud, i.e. deposit third point map
Cloud.That is, the difference that preset condition can be between absolute value (x3, y3) and threshold point (x4, y4) is small in the present embodiment
In equal to threshold range.
Optionally, after the high-resolution position coordinate for marking the first point map cloud, the method also includes: it will
The high-resolution position coordinate is stored in third point map cloud；To high-resolution position coordinate described in the third point map cloud
It is corrected；If correcting successfully, the target position is updated described the using successful high-resolution position coordinate is corrected
Coordinate in one point map cloud；If correction failure, adjusting high-resolution position coordinate described in the third point map cloud makes it
Meet the target position that the coordinate for being greater than the target position that the first point map cloud is recorded and the third point map cloud are recorded
Coordinate absolute difference, and update the target position in first map with high-resolution position coordinate adjusted
Coordinate in point cloud.
The data for being stored in third point map cloud are to be likely to occur the data of error, need to carry out data processing.The first
The coordinate marked in figure point cloud, is simultaneously displayed in visualized graphs.Again the coordinate in third point map cloud is corrected,
The process of correction is exactly the position that multiple scanning marks in the first point map cloud, repeats above-mentioned S1-S4, for sweeping again
The point for meeting above-mentioned preset condition after retouching is deleted from third point map cloud, and updates corresponding coordinate in the first point map cloud.
In order to reduce the possibility that correction course persistent loop carries out, the number for repeating S1-S4 can be limited, for example, 2
Secondary, 3 times, 4 times.When limited number of times is 2 times, the coordinate after repeating correction 3 times in third point map cloud is still unable to satisfy pre-
If condition, then the threshold value in threshold matrix a [x] [y] is changed, meets the threshold value and be greater than third point map cloud and the second point map
The absolute difference of cloud is updated in the first point map cloud after coordinate from third point map cloud with the third point map cloud coordinate value
It removes.After all data dumps of third point map cloud, the first point map cloud is constructed successfully.
S204 obtains the robot current location in first point map according to second coordinate and threshold matrix
The coordinates of targets of cloud；
It is fixed according to the positioning coordinate (x1, y1) of the first point map cloud (High Resolution Ground Map point cloud) in robot running fix
Displacement is dynamic.Encounter the problem of position is lost, according to the positioning coordinate of the second point map cloud (low resolution point map cloud) (x2,
Y2), the data of corresponding threshold matrix a [x] [y], seat of the retrospectively calculate machine people current location in the first point map cloud are inquired
Mark, obtains coordinates of targets (x1', y1').
S206, the error of first coordinate and the coordinates of targets within a predetermined range when, then according to described first
Coordinate is moved.
The preset range can be low resolution radar position error range.Compare current location in the first point map cloud to sit
(x1, y1) and coordinates of targets (x1', y1') are marked, show that error within the scope of low resolution radar position error, judges the first ground
The positioning coordinate (x1, y1) of figure point cloud (High Resolution Ground Map point cloud) is effective.It can continue to move according to positioning coordinate (x1, y1)
It is dynamic.If exceeding low resolution radar position error range, the positioning of the first point map cloud (High Resolution Ground Map point cloud) is judged
In vain, the positioning of reporting scheduling system fails coordinate (x1, y1).That is, obtaining the machine according to second coordinate and threshold matrix
Device people current location is in the mistake that the coordinates of targets of the first point map cloud includes: in first coordinate and the coordinates of targets
When difference is beyond in preset range, positioning failure information is reported.
The present embodiment is in the operational process of robot, if encountering position loses problem, using according to the second point map cloud
The positioning coordinate (x2, y2) of (low resolution point map cloud) inquires the data of corresponding threshold matrix a [x] [y], counter machine
Coordinate of the device people current location in the first point map cloud, obtains coordinates of targets (x1', y1').Compare the first point map cloud again
Middle current position coordinates (x1, y1) and coordinates of targets (x1', y1') obtain error in low resolution radar position error range
Interior, the positioning coordinate (x1, y1) for judging the first point map cloud (High Resolution Ground Map point cloud) effectively, solves machine in the prior art
Device people loses the technical issues of position in moving process, has reached the technical effect for giving position in movement for change in time.
Optionally, the technical program can also solve the problems, such as the laser interference between robot.This method comprises:
In coordinate motion of the robot according to the first point map cloud, if encountering laser interference, second ground is read
At least three location points of the backward 180 degree of figure point cloud are positioned；If successfully positioned, continued according to the second point map cloud
Movement；If can not position, a distance is retreated, until the difference of the first point map cloud and the second point map cloud in current location
It is worth in threshold range, completes confirmation current location.
There is laser interference in robot real time scan, and it is abnormal map difference occur.At this moment (low point of the second point map cloud is read
Resolution point map cloud) three location points (x1, y1) (x2, y2) (x3, y3) of backward 180 degree carry out judgement positioning (x, y).If
The step may determine that current position (x, y), be continued according to the coordinate of the second point map cloud (low resolution point map cloud) current
Task.If can not position, need to send interference message in passageway to scheduling system.Meanwhile a distance is retreated, until that can lead to
Cross the difference for recalculating the first point map cloud (High Resolution Ground Map point cloud) and the second point map cloud (low resolution point map cloud)
Value, difference is assured that current position (x, y) in threshold range, after determining current location, scheduling system is waited to return
It is multiple.
After scheduling system determines passageway interference problem, allocation schedule holding fix, order other robot is stepped back to other
Region.Again order current robot continues task, after waiting current robot to complete task, reach designated position, scheduling system
System arranges other robot to continue task.
It can be seen from the above description that the above embodiments of the present invention further include following advantages:.
1. at low cost.Increase the cheap of 6 meters of laser radars of a low resolution omnidirectional, the newly-increased burden of system is light.
2. the development time is fast.There are many exploiting natural resources for the plane SLAM of low resolution radar.
3. easy for installation.Only need on the machine crown install fixation, but be to ensure that low resolution radar and
High resolution radar all sweeps to shelf.
4. anti-interference effect is good.Due to the limitation of installation site, often volume is big for high-resolution radar, and power height can only pacify
Mounted in robot front end, angle of visibility only has 180 degree.And low side radar volume is small, and power is low, it can be directly installed on head, 360
Omnidirectional's scanning is spent, rear end auxiliary positioning can be used, interference problem is not present.
5. scheduling burden is low.Scheduling only need to rearrange holding fix issues can.
The embodiment of the invention also provides a kind of positioning devices of robot.Described device includes:
First acquisition unit, for losing position in robot in coordinate motion of the robot according to the first point map cloud
In the case of, described in the first coordinate and the second point map cloud of robot current location described in the first point map cloud of acquisition
Second coordinate of robot current location, wherein the first point map cloud is scanned to obtain by the high-resolution radar, described
Second point map cloud is scanned to obtain by the low resolution radar；
Before the coordinate motion according to the first point map cloud, robot first constructs map for robot.Optionally, described device is also
It include: second acquisition unit, for obtaining target position before the robot is according to the coordinate motion of the first point map cloud
In the high-resolution position coordinate of the first point map cloud and the target position at low point of the second point map cloud
Resolution position coordinates；Third acquiring unit, for obtaining the high-resolution position coordinate and the low resolution position coordinates
Absolute value of the difference；Determination unit, the difference of the threshold value coordinate for the target position described in the absolute value and threshold matrix
When value meets preset condition, determine that the high-resolution position coordinate of the first point map cloud is accurate；Marking unit is used for
When the difference of the threshold value coordinate of the target position described in the absolute value and threshold matrix is unsatisfactory for preset condition, described in label
The high-resolution position coordinate of first point map cloud.
For example,
S1, under storage environment, robot uses high-definition laser radar swept molding method, and high-definition laser radar will be to goods
Frame lower part is scanned composition, and carries out SLAM algorithm, obtains High Resolution Ground Map point cloud 1, i.e. the first point map cloud.
S2, robot use low resolution laser radar scanning map, low resolution laser radar will to shelf top into
Row scanning composition, and SLAM algorithm is carried out, obtain low resolution point map cloud 2, i.e. second point cloud map.
S3, target position are location A.Coordinate of the location A in the first point map cloud is (x1, y1), in the second point map
Coordinate is (x2, y2) in cloud, calculates the absolute value (x3, y3) of two differences.
S4 is compared with absolute value (x3, y3) with the threshold value coordinate of location A in threshold matrix, if meeting preset condition,
The coordinate for thinking location A in the first point map cloud is accurately, to be retained in the first point map cloud；If being unsatisfactory for preset condition,
Then think the coordinate of location A in the first point map cloud may be it is devious, make marks to it, so as to the calibrating coordinates.
In the present embodiment, threshold matrix can be the matrix of an empirical value, can be two-dimensional matrix a [x] [y],
The threshold matrix can be stored in advance in ROM, be transferred from ROM when needing.The position region A is mentioned from threshold matrix
Threshold point (x4, y4), compare absolute value (x3, y3) and threshold point (x4, y4), if the difference of the two be less than or equal to threshold value model
It encloses, does not then handle data, if being more than threshold range, (x1, y1) is stored in error maps point cloud, i.e. deposit third point map
Cloud.That is, the difference that preset condition can be between absolute value (x3, y3) and threshold point (x4, y4) is small in the present embodiment
In equal to threshold range.
Optionally, described device further include: storage unit, in the high-resolution position for marking the first point map cloud
After setting coordinate, the high-resolution position coordinate is stored in third point map cloud；Unit is corrected, for the third map
High-resolution position coordinate described in point cloud is corrected；If correcting successfully, sat using successful high-resolution position is corrected
Mark updates target position coordinate in the first point map cloud；If correction failure, adjusts the respective value in threshold matrix,
So that respective value is greater than the absolute difference of third point map cloud and the second point map cloud, and with high-resolution position adjusted
Coordinate updates target position coordinate in the first point map cloud.
The data for being stored in third point map cloud are to be likely to occur the data of error, need to carry out data processing.The first
The coordinate marked in figure point cloud, is simultaneously displayed in visualized graphs.Again the coordinate in third point map cloud is corrected,
The process of correction is exactly the position that multiple scanning marks in the first point map cloud, repeats above-mentioned S1-S4, for sweeping again
The point for meeting above-mentioned preset condition after retouching is deleted from third point map cloud, and updates corresponding coordinate in the first point map cloud.
In order to reduce the possibility that correction course persistent loop carries out, the number for repeating S1-S4 can be limited, for example, 2
Secondary, 3 times, 4 times.When limited number of times is 2 times, the coordinate after repeating correction 3 times in third point map cloud is still unable to satisfy pre-
If condition, then the threshold value in threshold matrix a [x] [y] is changed, meets the threshold value and be greater than third point map cloud and the second point map
The absolute difference of cloud is updated in the first point map cloud after coordinate from third point map cloud with the third point map cloud coordinate value
It removes.After all data dumps of third point map cloud, the first point map cloud is constructed successfully.
Coordinate unit, for obtaining the robot current location described according to second coordinate and threshold matrix
The coordinates of targets of one point map cloud；
It is fixed according to the positioning coordinate (x1, y1) of the first point map cloud (High Resolution Ground Map point cloud) in robot running fix
Displacement is dynamic.Encounter the problem of position is lost, according to the positioning coordinate of the second point map cloud (low resolution point map cloud) (x2,
Y2), the data of corresponding threshold matrix a [x] [y], seat of the retrospectively calculate machine people current location in the first point map cloud are inquired
Mark, obtains coordinates of targets (x1', y1').
Moving cell, for first coordinate and the coordinates of targets error within a predetermined range when, then according to
First coordinate is moved.The preset range can be low resolution radar position error range.Compare the first point map
Current position coordinates (x1, y1) and coordinates of targets (x1', y1') in cloud, obtain error in low resolution radar position error range
It is interior, judge that the positioning coordinate (x1, y1) of the first point map cloud (High Resolution Ground Map point cloud) is effective.It can be according to positioning coordinate
(x1, y1) is continued to move to.If exceeding low resolution radar position error range, the first point map cloud (high-resolution is judged
Figure point a cloud) positioning coordinate (x1, y1) in vain, reporting scheduling system positioning failure.That is, the coordinate unit includes: to report mould
Block reports positioning failure information when for the error in first coordinate and the coordinates of targets beyond in preset range.
The present embodiment is in the operational process of robot, if encountering position loses problem, using according to the second point map cloud
The positioning coordinate (x2, y2) of (low resolution point map cloud) inquires the data of corresponding threshold matrix a [x] [y], counter machine
Coordinate of the device people current location in the first point map cloud, obtains coordinates of targets (x1', y1').Compare the first point map cloud again
Middle current position coordinates (x1, y1) and coordinates of targets (x1', y1') obtain error in low resolution radar position error range
Interior, the positioning coordinate (x1, y1) for judging the first point map cloud (High Resolution Ground Map point cloud) effectively, solves machine in the prior art
Device people loses the technical issues of position in moving process, has reached the technical effect for giving position in movement for change in time.
Optionally, the technical program can also solve the problems, such as the laser interference between robot.The device further include: read
Take unit, in coordinate motion of the robot according to the first point map cloud, if encountering laser interference, read described in
At least three location points of the backward 180 degree of the second point map cloud are positioned；Interfere control unit, if successfully positioned,
Continue to move according to the second point map cloud；If can not position, a distance is retreated, until the first point map cloud and the second ground
Figure point cloud completes confirmation current location within the scope of the difference threshold of current location.
There is laser interference in robot real time scan, and it is abnormal map difference occur.At this moment (low point of the second point map cloud is read
Resolution point map cloud) three location points (x1, y1) (x2, y2) (x3, y3) of backward 180 degree carry out judgement positioning (x, y).If
The step may determine that current position (x, y), be continued according to the coordinate of the second point map cloud (low resolution point map cloud) current
Task.If can not position, need to send interference message in passageway to scheduling system.Meanwhile a distance is retreated, until that can lead to
Cross the difference for recalculating the first point map cloud (High Resolution Ground Map point cloud) and the second point map cloud (low resolution point map cloud)
Value, difference is assured that current position (x, y) in threshold range, after determining current location, scheduling system is waited to return
It is multiple.
After scheduling system determines passageway interference problem, allocation schedule holding fix, order other robot is stepped back to other
Region.Again order current robot continues task, after waiting current robot to complete task, reach designated position, scheduling system
System arranges other robot to continue task.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of localization method of robot, which is characterized in that the robot is provided with high-definition laser radar and low point
Resolution laser radar, which comprises
Robot obtains the first point map in the case where position is lost by robot according to the coordinate motion of the first point map cloud
Second of robot current location described in first coordinate of robot current location described in cloud and the second point map cloud sits
Mark, wherein the first point map cloud is scanned to obtain by the high-resolution radar, and the second point map cloud is by described low point
Resolution radar scanning obtains；
The robot current location is obtained in the target of the first point map cloud according to second coordinate and threshold matrix
Coordinate；
The error of first coordinate and the coordinates of targets within a predetermined range when, then transported according to first coordinate
It is dynamic.
2. the method according to claim 1, wherein being transported in the robot according to the coordinate of the first point map cloud
Before dynamic, the method also includes:
Target position is obtained in the high-resolution position coordinate of the first point map cloud and the target position described the
The low resolution position coordinates of two point map clouds；
Obtain the absolute value of the difference of the high-resolution position coordinate and the low resolution position coordinates；
When the difference of the threshold value coordinate of the target position described in the absolute value and threshold matrix meets preset condition, institute is determined
It is accurate for stating the high-resolution position coordinate of the first point map cloud；
When the difference of the threshold value coordinate of the target position described in the absolute value and threshold matrix is unsatisfactory for preset condition, label
The high-resolution position coordinate of the first point map cloud.
3. according to the method described in claim 2, it is characterized in that, in the high-resolution position for marking the first point map cloud
After coordinate, the method also includes:
The high-resolution position coordinate is stored in third point map cloud；
High-resolution position coordinate described in the third point map cloud is corrected；
If correcting successfully, the target position is updated in first map using successful high-resolution position coordinate is corrected
Coordinate in point cloud；
If correction failure, adjusts the respective value in threshold matrix, so that respective value is greater than third point map cloud and the second map
The absolute difference of point cloud, and the target position is updated in first point map with high-resolution position coordinate adjusted
Coordinate in cloud.
4. the method according to claim 1, wherein the method also includes:
In coordinate motion of the robot according to the first point map cloud, if encountering laser interference, second ground is read
At least three location points of the backward 180 degree of figure point cloud are positioned；
If successfully positioned, continue to move according to the second point map cloud；If can not position, a distance is retreated, until
First point map cloud and the second point map cloud complete confirmation current location within the scope of the difference threshold of current location.
5. the method according to claim 1, wherein obtaining the machine according to second coordinate and threshold matrix
Device people current location includes: in the coordinates of targets of the first point map cloud
When the error of first coordinate and the coordinates of targets is beyond in preset range, positioning failure information is reported.
6. a kind of positioning device of robot, which is characterized in that the robot is provided with high-definition laser radar and low point
Resolution laser radar, described device include:
First acquisition unit, for losing position in robot in coordinate motion of the robot according to the first point map cloud
In the case of, described in the first coordinate and the second point map cloud of robot current location described in the first point map cloud of acquisition
Second coordinate of robot current location, wherein the first point map cloud is scanned to obtain by the high-resolution radar, described
Second point map cloud is scanned to obtain by the low resolution radar；
Coordinate unit, for obtaining the robot current location on first ground according to second coordinate and threshold matrix
The coordinates of targets of figure point cloud；
Moving cell, for first coordinate and the coordinates of targets error within a predetermined range when, then according to described
First coordinate is moved.
7. device according to claim 6, which is characterized in that described device further include:
Second acquisition unit, for obtaining target position before the robot is according to the coordinate motion of the first point map cloud
In the high-resolution position coordinate of the first point map cloud and the target position at low point of the second point map cloud
Resolution position coordinates；
Third acquiring unit, for obtain the high-resolution position coordinate and the low resolution position coordinates difference it is absolute
Value；
Determination unit, the difference of the threshold value coordinate for the target position described in the absolute value and threshold matrix meet default
When condition, determine that the high-resolution position coordinate of the first point map cloud is accurate；
Marking unit, the difference for the threshold value coordinate in the absolute value with target position described in threshold matrix are unsatisfactory for pre-
If when condition, marking the high-resolution position coordinate of the first point map cloud.
8. device according to claim 7, which is characterized in that described device further include:
Storage unit, for after the high-resolution position coordinate for marking the first point map cloud, by the high-resolution
Position coordinates are stored in third point map cloud；
Unit is corrected, for being corrected to high-resolution position coordinate described in the third point map cloud；If correcting successfully,
Then target position coordinate in the first point map cloud is updated using the successful high-resolution position coordinate of correction；If school
Positive failure, adjusts the respective value in threshold matrix, so that respective value is greater than the difference of third point map cloud and the second point map cloud
Absolute value, and target position coordinate in the first point map cloud is updated with high-resolution position coordinate adjusted.
9. device according to claim 6, which is characterized in that described device further include:
Reading unit, for if encountering laser interference, reading in coordinate motion of the robot according to the first point map cloud
At least three location points of the backward 180 degree of the second point map cloud are taken to be positioned；
Interference control unit continues to move if successfully positioned according to the second point map cloud；If can not position, retreat
A distance is completed confirmation and is worked as until the first point map cloud and the second point map cloud are within the scope of the difference threshold of current location
Front position.
10. device according to claim 6, which is characterized in that the coordinate unit includes:
Reporting module reports positioning when for the error in first coordinate and the coordinates of targets beyond in preset range
Failure information.
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