CN110209174A - A kind of method and system for realizing robot navigation - Google Patents
A kind of method and system for realizing robot navigation Download PDFInfo
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- CN110209174A CN110209174A CN201910571910.8A CN201910571910A CN110209174A CN 110209174 A CN110209174 A CN 110209174A CN 201910571910 A CN201910571910 A CN 201910571910A CN 110209174 A CN110209174 A CN 110209174A
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- 230000004048 modification Effects 0.000 claims description 12
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- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000001186 cumulative effect Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 238000011897 real-time detection Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 238000007689 inspection Methods 0.000 description 3
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- 238000004891 communication Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The invention discloses a kind of method and system for realizing robot navigation, and the absolute coordinate of robot geographic location is determined first with GPS receiver；The offset in robot kinematics on tape track is detected by magnetic navigation sensor later；The offset in the absolute coordinate of identified robot geographic location and detected robot kinematics on tape track is emitted by antenna to background server by industrial personal computer again；The last background server according in the absolute coordinate of identified robot geographic location, detected robot kinematics on tape track offset and Reference Map three determine the navigation path of robot.
Description
Technical field
The present invention relates to robot navigation's location technology more particularly to a kind of method and system for realizing robot navigation.
Background technique
Robot autonomous localization navigates simply, is the combination of map datum+algorithm.However, actual landing
In the process, there is a problem that various.By taking the explosion-proof crusing robot navigation system of current outdoor as an example, realize that robot is led
Boat includes at least following three kinds of schemes:
Scheme one is realized by single magnetic navigation sensor and is navigated；Specifically, it requires to spread in the position of required inspection in advance
If magnetic stripe track, when robot motion, the motion profile of robot is adjusted in real time according to the value of feedback of sensor.An external cloud
Platform, real time monitoring robot front situation, Real-time Feedback play alarm function to backstage.
Scheme two realizes navigation by the additional RFID card reader of magnetic navigation sensor；Specifically, first as scheme one
It is laid with track, in addition pastes a RFID label tag at a certain distance in track, it can be according in this way in robot motion
By the value of feedback of magnetic navigation sensor, adjusts robot fuselage in real time and be unlikely to derail.It can be read every a distance simultaneously
RFID label tag is got, it can prior writing position information in each label.In robot kinematics, energy at regular intervals
Know the position that robot current kinetic arrives.
Scheme three is realized by laser radar and is navigated；Specifically, it realizes and navigates by laser radar, first in inspection position
It sets up and on the spot schemes, this method is comparatively more accurate, in normal circumstances, can be good at realizing navigation strategy.
However, above several schemes for realizing robot navigation at least have following defects that 1) scheme one can actually
It is interpreted as a kind of tracking scheme, is exactly only to need to move according to track, all start and stop rely on the data feedback of holder,
But if holder may fail when encountering complex environment problem, navigation is caused to malfunction, therefore the application of this scheme is not
It is manually to write to need to expend a large amount of human cost very much extensively, and it is slow to write speed；2) scheme two can not accomplish real-time, and
And the period of absolute position is obtained according to the laying density of label, that is to say, that label laying density is big, then reads mark
The period of label, not only project amount was big with regard to smaller, and stability is also limited by the service life of label, therefore this application is equally less
Extensively；3) scheme three is limited to environment than more serious, when visible light than it is stronger when, it is possible to cause to obtain data inaccuracy
Problem causes navigation to fail.In addition, there are no the laser radars for accomplishing explosive-proof grade currently on the market, because of this method
It can be only applied to general inspection occasion, be incompetent for explosion-proof this harsh conditions.
Summary of the invention
The embodiment of the present invention is in order to solve many present in the scheme of the above-mentioned existing realization robot navigation referred to ask
Topic, creative provides a kind of method and system for realizing robot navigation.
According to a first aspect of the embodiments of the present invention, a kind of method for realizing robot navigation is provided, this method comprises: sharp
The absolute coordinate of robot geographic location is determined with global positioning system GPS receiver；It is detected by magnetic navigation sensor
Offset in robot kinematics on tape track；By industrial personal computer by the exhausted of identified robot geographic location
Offset in coordinate and detected robot kinematics on tape track is emitted by antenna to background service
Device；The background server is transported according to absolute coordinate, the detected robot of identified robot geographic location
Offset and Reference Map three during dynamic on tape track determine the navigation path of robot.
According to an embodiment of the present invention, the method also includes: by GPS reference station to GPS receiver send coordinate
Correction value；Correspondingly, the absolute coordinate for determining robot geographic location using GPS receiver, comprising: obtain machine
The relative coordinate of people geographic location；By the coordinate modification value to the opposite of acquired robot geographic location
Coordinate is modified, and obtains the absolute coordinate of robot geographic location.
According to an embodiment of the present invention, the method also includes: pass through the week in holder monitoring robot motion process
Surrounding environment information；Robot is regulated and controled according to the surrounding enviroment information in the robot kinematics monitored by the industrial personal computer
Avoid-obstacle behavior.
According to an embodiment of the present invention, the background server is according to the exhausted of identified robot geographic location
To in coordinate, detected robot kinematics on tape track offset and Reference Map three determine machine
The navigation path of people, comprising: according to both the absolute coordinate of identified robot geographic location and Reference Map come really
Determine position of the robot on map；According to position of the identified robot on map and detected robot motion
The offset on tape track determines the navigation path of robot in the process.
According to an embodiment of the present invention, the method also includes: shown in the display interface by the background server
The navigation path of identified robot.
According to an embodiment of the present invention, the method also includes: pass through radio frequency discrimination RFID reader identification robot
In motion process on tape track RFID label tag, to obtain the corresponding location information of RFID label tag；It will be obtained by single-chip microcontroller
The corresponding location information of RFID label tag be compared with the absolute coordinate of identified robot geographic location, with eliminate
Cumulative errors.
According to a second aspect of the embodiments of the present invention, a kind of system for realizing robot navigation, the system packet are also provided
It includes: GPS receiver, for determining the absolute coordinate of robot geographic location；Magnetic navigation sensor, for detecting robot
Offset in motion process on tape track；Industrial personal computer, for by the absolute of identified robot geographic location
Offset in coordinate and detected robot kinematics on tape track is emitted by antenna to background server；
Background server, for the absolute coordinate according to identified robot geographic location, detected robot motion
The offset on tape track and Reference Map three determine the navigation path of robot in the process.
According to an embodiment of the present invention, the system also includes GPS reference stations, for sending coordinate to GPS receiver
Correction value；Correspondingly, the global positioning system GPS receiver, specifically for obtaining the opposite of robot geographic location
Coordinate；It is modified by relative coordinate of the coordinate modification value to acquired robot geographic location, obtains machine
The absolute coordinate of device people geographic location.
According to an embodiment of the present invention, the system also includes holders, for the week in monitoring robot motion process
Surrounding environment information；The industrial personal computer is also used to be regulated and controled according to the surrounding enviroment information in the robot kinematics monitored
The avoid-obstacle behavior of robot.
According to an embodiment of the present invention, the background server is specifically used for according to identified robot location
Both absolute coordinate and Reference Maps of position are managed to determine position of the robot on map；Existed according to identified robot
Offset in position and detected robot kinematics on map on tape track determines the navigation of robot
Track.
According to an embodiment of the present invention, the background server is also used to show identified machine in the display interface
The navigation path of device people.
According to an embodiment of the present invention, the system also includes RFID card reader, robot kinematics for identification
In on tape track RFID label tag, to obtain the corresponding location information of RFID label tag；Single-chip microcontroller is used for RFID obtained
The corresponding location information of label is compared with the absolute coordinate of identified robot geographic location, to eliminate accumulative miss
Difference.
The embodiment of the present invention realizes the method and system of robot navigation, determines institute, robot first with GPS receiver
Absolute coordinate in geographical location；It is detected later by magnetic navigation sensor inclined on tape track in robot kinematics
Shifting amount；Again by industrial personal computer by the absolute coordinate of identified robot geographic location and detected robot motion's mistake
Offset in journey on tape track is emitted by antenna to background server；The last background server is according to determining
The absolute coordinate of robot geographic location, the offset in detected robot kinematics on tape track
And Reference Map three determines the navigation path of robot.In this way, the present invention based on GPS receiver and magnetic navigation by being sensed
On the one hand the absolute position of determining robot is periodically sent to industrial personal computer by GPS receiver by the combination of device, so that
Industry control may know that the real-time absolute coordinate position of robot, and then all operations of navigation are realized by industrial personal computer；On the other hand
According to magnetic navigation sensor real-time detection tape orbital position, the control of precise motion direction may be implemented during the motion in robot
System, is unlikely to derail, and magnetic navigation sensor can ensure that the safe operation of robot, so that navigation is more accurate.
It is to be appreciated that the teachings of the present invention does not need to realize whole beneficial effects recited above, but it is specific
Technical solution may be implemented specific technical effect, and other embodiments of the invention can also be realized and not mentioned above
Beneficial effect.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, above-mentioned and other mesh of exemplary embodiment of the invention
, feature and advantage will become prone to understand.In the accompanying drawings, if showing by way of example rather than limitation of the invention
Dry embodiment, in which:
In the accompanying drawings, identical or corresponding label indicates identical or corresponding part.
Fig. 1 shows the implementation process schematic diagram that the embodiment of the present invention realizes the method for robot navigation；
Fig. 2 shows the composed structure schematic diagrames that the embodiment of the present invention realizes the system of robot navigation；
Fig. 3 shows the concrete composition structural representation of the hardware platform of one application example implementation robot navigation of the present invention
Figure.
Specific embodiment
The principle and spirit of the invention are described below with reference to several illustrative embodiments.It should be appreciated that providing this
A little embodiments are only to be to make those skilled in the art can better understand that realize the present invention in turn, and not with any side
Formula limits the scope of the invention.On the contrary, it is of the invention more thorough and complete to make for providing these embodiments, and it can incite somebody to action this
The range of invention is completely communicated to those skilled in the art.
The technical solution of the present invention is further elaborated in the following with reference to the drawings and specific embodiments.
Fig. 1 shows the implementation process schematic diagram that the embodiment of the present invention realizes the method for robot navigation.
With reference to Fig. 1, the method that the embodiment of the present invention realizes robot navigation includes: operation 101, true using GPS receiver
Determine the absolute coordinate of robot geographic location；Operation 102, by magnetic navigation sensor detect robot kinematics in
Offset on tape track；Operation 103, by industrial personal computer by the absolute coordinate of identified robot geographic location and institute
Offset in the robot kinematics detected on tape track is emitted by antenna to background server；Operation 104,
Absolute coordinate of the background server according to identified robot geographic location, detected robot motion's mistake
Offset and Reference Map three in journey on tape track determine the navigation path of robot.
According to an embodiment of the present invention, before operation 101, coordinate is sent to GPS receiver by GPS reference station and is repaired
Positive value.Correspondingly, operation 101 includes: the relative coordinate that GPS receiver obtains robot geographic location；Pass through the seat
Mark correction value is modified the relative coordinate of acquired robot geographic location, obtains robot geographic location
Absolute coordinate.
Specifically, current base station precision coordinate known to GPS reference station, calculate base station to satellite layback
Number, i.e. coordinate modification value, and this coordinate modification value is periodically sent to by GPS receiver by GPS reference station.Then, machine
Device people not only receives GPS signal, while also receiving the coordinate modification value of base station, and by operation, GPS receiver can accurately be known
The absolute coordinate in the geographical location where current robot, error only have 1 centimetre.GPS receiver is by calculated absolute coordinate
It is periodically sent to industrial personal computer, industry control may know that the real-time absolute coordinate of robot, and then realize navigation by industrial personal computer
All operations.
In operation 102, robot is during the motion according to magnetic navigation sensor real-time detection tape orbital position, detection
The offset in robot kinematics on tape track is obtained, to realize precise motion direction controlling, is unlikely to derail,
Magnetic navigation sensor can ensure that the safe operation of robot.
In operation 103~104, industrial personal computer handles the exhausted of robot geographic location determined by GPS receiver in real time
To the offset in robot kinematics detected by coordinate and magnetic navigation sensor on tape track, result is passed through
Antenna is transmitted to background server, so that absolute coordinate of the background server according to identified robot geographic location
Position of the robot on map is determined with both Reference Maps；According to position of the identified robot on map and institute
Offset in the robot kinematics detected on tape track determines the navigation path of robot, leads to realize
Boat.
According to an embodiment of the present invention, the method also includes: pass through the week in holder monitoring robot motion process
Surrounding environment information；Robot is regulated and controled according to the surrounding enviroment information in the robot kinematics monitored by the industrial personal computer
Avoid-obstacle behavior.In this way, by holder can real-time monitoring surrounding enviroment, be used for avoidance, to prevent safety accident.
According to an embodiment of the present invention, the method also includes: robot kinematics are identified by RFID card reader
In on tape track RFID label tag, to obtain the corresponding location information of RFID label tag；RFID obtained is marked by single-chip microcontroller
It signs corresponding location information to be compared with the absolute coordinate of identified robot geographic location, to eliminate accumulative miss
Difference.
Specifically, for stability reasons, a RFID label tag can be just pasted every several rice on tape track, every
Different location informations is written in RFID label tag, and robotic end installs a RFID reader.In this way, when in robot motion, meeting
RFID label tag on continuous identification tape track eliminates accumulative miss with GPS receiver data and magnetic navigation sensor comparing
Difference accomplishes precision navigation.
The method that the embodiment of the present invention realizes robot navigation, geography where determining robot first with GPS receiver
The absolute coordinate of position；The offset in robot kinematics on tape track is detected by magnetic navigation sensor later；
It again will be in the absolute coordinate and detected robot kinematics of identified robot geographic location by industrial personal computer
Offset on tape track is emitted by antenna to background server；The last background server is according to identified machine
Offset and ginseng in the absolute coordinate of device people geographic location, detected robot kinematics on tape track
Map three is examined to determine the navigation path of robot.In this way, the present invention is by based on GPS receiver and magnetic navigation sensor
In conjunction with the absolute position of determining robot being periodically on the one hand sent to industrial personal computer by GPS receiver, so that industry control
It may know that the real-time absolute coordinate position of robot, and then realize all operations of navigation by industrial personal computer；Another aspect machine
According to magnetic navigation sensor real-time detection tape orbital position, precise motion direction controlling may be implemented during the motion in people,
It is unlikely to derail, magnetic navigation sensor can ensure that the safe operation of robot, so that navigation is more accurate.
Further, based on the method described above for realizing robot navigation, the embodiment of the present invention also provides a kind of realization
The system of robot navigation, as shown in Fig. 2, the system 20 for realizing robot navigation includes: GPS receiver 201, for true
Determine the absolute coordinate of robot geographic location；Magnetic navigation sensor 202, for detecting in robot kinematics in tape
Offset on track；Industrial personal computer 203, for by the absolute coordinate of identified robot geographic location and detected
Robot kinematics in offset on tape track emitted by antenna to background server；Background server 204,
For according in the absolute coordinate of identified robot geographic location, detected robot kinematics in tape
Offset and Reference Map three on track determine the navigation path of robot.
According to an embodiment of the present invention, the system also includes GPS reference stations, for sending coordinate to GPS receiver
Correction value；Correspondingly, GPS receiver 201 is used to obtain the relative coordinate of robot geographic location；It is repaired by the coordinate
Positive value is modified the relative coordinate of acquired robot geographic location, obtains the exhausted of robot geographic location
To coordinate.
According to an embodiment of the present invention, the system also includes holders, for the week in monitoring robot motion process
Surrounding environment information；The industrial personal computer 203 is in regulating and controlling machine according to the surrounding enviroment information in the robot kinematics monitored
The avoid-obstacle behavior of device people.
According to an embodiment of the present invention, the background server 204 is used for according to geographical where identified robot
Both the absolute coordinate of position and Reference Map determine position of the robot on map；According to identified robot on ground
Offset in position and detected robot kinematics on figure on tape track determines the navigation rail of robot
Mark.
According to an embodiment of the present invention, the background server 204 machine determined by showing in the display interface
The navigation path of people.
According to an embodiment of the present invention, the system also includes RFID card reader, robot kinematics for identification
In on tape track RFID label tag, to obtain the corresponding location information of RFID label tag；Single-chip microcontroller is used for RFID obtained
The corresponding location information of label is compared with the absolute coordinate of identified robot geographic location, to eliminate accumulative miss
Difference.
It need to be noted that: the description to the system embodiment for realizing robot navigation above, and shown in earlier figures 1
Embodiment of the method description be it is similar, there is the similar beneficial effect with aforementioned embodiment of the method shown in FIG. 1, therefore not
It repeats.For the present invention to undisclosed technical detail in the system embodiment for realizing robot navigation, the present invention is please referred to
The description of aforementioned embodiment of the method shown in FIG. 1 and understand, to save length, therefore repeat no more.
Fig. 3 shows the concrete composition structural representation of the hardware platform of one application example implementation robot navigation of the present invention
Figure.
With reference to Fig. 3, the hardware platform of this application example implementation robot navigation includes: that wheeled robot+differential GPS receives
Device+magnetic navigation sensor+holder；Wherein, wheeled robot includes: battery, motor driver, motor, industrial personal computer, router,
Antenna, the components such as singlechip control panel；Peripheral equipment: it is laid with magnetic magnetic stripe track+differential GPS base station.
The hardware platform of realization robot navigation as shown in connection with fig. 3, the working principle of the navigation system are based on difference
GPS receiver and magnetic navigation sensor, two kinds of navigation system complement each other, so that navigation is more accurate.It is implemented as follows:
First, current base station precision coordinate known to GPS reference station, calculate base station to satellite distance correction,
That is coordinate modification value, and this coordinate modification value is periodically sent to by GPS receiver by GPS reference station.Then, robot
GPS signal is not only received, while also receiving the coordinate modification value of base station, by operation, GPS receiver can accurately be known currently
The absolute coordinate in the geographical location where robot, error only have 1 centimetre.GPS receiver is by the calculated absolute coordinate period
Property be sent to industrial personal computer, industry control may know that the real-time absolute coordinate of robot, and then realize all of navigation by industrial personal computer
Operation.
Second, during the motion according to magnetic navigation sensor real-time detection tape orbital position, detection is obtained for robot
Offset in robot kinematics on tape track is unlikely to derail to realize precise motion direction controlling, magnetic conductance
Boat sensor can ensure that the safe operation of robot.
Third, industrial personal computer handle the absolute coordinate and magnetic of robot geographic location determined by GPS receiver in real time
Result is transmitted to by the offset in robot kinematics detected by navigation sensor on tape track by antenna
Background server, so that absolute coordinate and Reference Map of the background server according to identified robot geographic location
The two determines position of the robot on map；According to position of the identified robot on map and detected machine
Offset in device people's motion process on tape track determines the navigation path of robot, to realize navigation.
4th, pass through the surrounding enviroment information in holder monitoring robot motion process；By the industrial personal computer according to being supervised
Surrounding enviroment information in the robot kinematics of survey regulates and controls the avoid-obstacle behavior of robot.In this way, can be real-time by holder
Surrounding enviroment are monitored, avoidance are used for, to prevent safety accident.
By above-mentioned first to fourth operating process, robot exact position can be known in real time.Further, in order to
For the sake of stabilization, a RFID label tag can be just pasted every several rice on tape track, different positions is written in every RFID label tag
Confidence breath, robotic end install a RFID reader.In this way, can constantly be identified on tape track when in robot motion
RFID label tag eliminates cumulative errors, accomplishes precision navigation with GPS receiver data and magnetic navigation sensor comparing.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can combine, or
It is desirably integrated into another device, or some features can be ignored or not executed.In addition, shown or discussed each composition portion
Mutual coupling or direct-coupling or communication connection is divided to can be through some interfaces, the INDIRECT COUPLING of equipment or unit
Or communication connection, it can be electrical, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit
The component shown can be or may not be physical unit；Both it can be located in one place, and may be distributed over multiple network lists
In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated in one processing unit, it can also
To be each unit individually as a unit, can also be integrated in one unit with two or more units；It is above-mentioned
Integrated unit both can use formal implementation of hardware, also can use hardware and the form of SFU software functional unit is added to realize.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, which exists
When execution, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: movable storage device, read-only deposits
The various media that can store program code such as reservoir (Read Only Memory, ROM), magnetic or disk.
If alternatively, the above-mentioned integrated unit of the present invention is realized in the form of software function module and as independent product
When selling or using, it also can store in a computer readable storage medium.Based on this understanding, the present invention is implemented
Substantially the part that contributes to existing technology can be embodied in the form of software products the technical solution of example in other words,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or network equipment etc.) execute all or part of each embodiment the method for the present invention.
And storage medium above-mentioned includes: various Jie that can store program code such as movable storage device, ROM, magnetic or disk
Matter.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of method for realizing robot navigation, which is characterized in that the described method includes:
The absolute coordinate of robot geographic location is determined using global positioning system GPS receiver；
The offset in robot kinematics on tape track is detected by magnetic navigation sensor；
By industrial personal computer by the absolute coordinate of identified robot geographic location and detected robot kinematics
In offset on tape track emitted by antenna to background server；
The background server is transported according to absolute coordinate, the detected robot of identified robot geographic location
Offset and Reference Map three during dynamic on tape track determine the navigation path of robot.
2. the method according to claim 1, wherein the method also includes:
Coordinate modification value is sent to GPS receiver by GPS reference station；
Correspondingly, the absolute coordinate for determining robot geographic location using GPS receiver, comprising: obtain robot
The relative coordinate of geographic location；The opposite of acquired robot geographic location is sat by the coordinate modification value
Mark is modified, and obtains the absolute coordinate of robot geographic location.
3. the method according to claim 1, wherein the method also includes:
Pass through the surrounding enviroment information in holder monitoring robot motion process；
Regulate and control the avoidance of robot according to the surrounding enviroment information in the robot kinematics monitored by the industrial personal computer
Behavior.
4. method according to any one of claims 1 to 3, which is characterized in that the background server is according to determined by
Offset in the absolute coordinate of robot geographic location, detected robot kinematics on tape track and
Reference Map three determines the navigation path of robot, comprising:
Determine robot in map according to both the absolute coordinate of identified robot geographic location and Reference Map
On position；According in position of the identified robot on map and detected robot kinematics in tape rail
Offset on road determines the navigation path of robot.
5. method according to any one of claims 1 to 3, which is characterized in that the method also includes:
By in radio frequency discrimination RFID reader identification robot kinematics on tape track RFID label tag, to obtain RFID
The corresponding location information of label；
By single-chip microcontroller by the exhausted of the corresponding location information of RFID label tag obtained and identified robot geographic location
Coordinate is compared, to eliminate cumulative errors.
6. a kind of system for realizing robot navigation, which is characterized in that the system comprises:
Global positioning system GPS receiver, for determining the absolute coordinate of robot geographic location；
Magnetic navigation sensor, for detecting the offset in robot kinematics on tape track；
Industrial personal computer, for by the absolute coordinate of identified robot geographic location and detected robot motion's mistake
Offset in journey on tape track is emitted by antenna to background server；
Background server, for absolute coordinate, the detected robot according to identified robot geographic location
Offset and Reference Map three in motion process on tape track determine the navigation path of robot.
7. system according to claim 6, which is characterized in that the system also includes:
GPS reference station, for sending coordinate modification value to GPS receiver；
Correspondingly, the global positioning system GPS receiver, sits specifically for obtaining the opposite of robot geographic location
Mark；It is modified by relative coordinate of the coordinate modification value to acquired robot geographic location, obtains machine
The absolute coordinate of people geographic location.
8. system according to claim 6, which is characterized in that the system also includes:
Holder, for the surrounding enviroment information in monitoring robot motion process；
The industrial personal computer is also used to regulate and control robot according to the surrounding enviroment information in the robot kinematics monitored
Avoid-obstacle behavior.
9. according to the described in any item systems of claim 6 to 8, which is characterized in that
The background server, specifically for the absolute coordinate and Reference Map according to identified robot geographic location
The two determines position of the robot on map；According to position of the identified robot on map and detected machine
Offset in device people's motion process on tape track determines the navigation path of robot.
10. according to the described in any item systems of claim 6 to 8, which is characterized in that the system also includes:
Radio frequency discrimination RFID card reader, for identification in robot kinematics on tape track RFID label tag, with obtain
The corresponding location information of RFID label tag；
Single-chip microcontroller, for by the corresponding location information of RFID label tag obtained and identified robot geographic location
Absolute coordinate is compared, to eliminate cumulative errors.
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