CN110412987A - Double excitation positioning navigation method and robot - Google Patents
Double excitation positioning navigation method and robot Download PDFInfo
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- CN110412987A CN110412987A CN201910772238.9A CN201910772238A CN110412987A CN 110412987 A CN110412987 A CN 110412987A CN 201910772238 A CN201910772238 A CN 201910772238A CN 110412987 A CN110412987 A CN 110412987A
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- 230000005284 excitation Effects 0.000 title claims abstract description 26
- 230000004888 barrier function Effects 0.000 claims description 45
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- 230000004807 localization Effects 0.000 abstract 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
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Abstract
The present invention provides a kind of double excitation positioning navigation method and robot, comprising: obtains first laser data, wherein the first laser data are the data for being installed on the first laser device of the first predeterminated position of robot and obtaining；The first laser data are matched with initial navigation map to obtain the location information of the robot；Obtain second laser data, wherein the second laser data are the data for being installed on the second laser device of the second predeterminated position of robot and obtaining, and height of the second predeterminated position first predeterminated position apart from ground is low；Navigation routine information is generated according to the second laser data and the location information.The present invention is located at higher position from the ground using first laser aid, obtains robot localization information, second laser is located at lower position, realize avoidance, double excitation cooperates in this way, so that it may guarantee robot can the accurate positioning in the environment often converted, avoidance is accurate.
Description
Technical field
The present invention relates to robot localization field of navigation technology, in particular to a kind of double excitation positioning navigation method and machine
People.
Background technique
Mobile robot is indoors in use process, since indoor environment often converts, cause the map built up with
Current environment is widely different, is influenced to lead to positioning failure and navigation failure by environment.Existing navigation scheme, usually one
Laser is deployed in robot bottom for navigator fix and avoidance, swings chair swing in face of frequent desk and personnel walk about, very
It is easy to cause robot during the navigation process, loses positioning.
According to current technology, if indoor environment often converts, cause map and laser real data matching degree very low,
There are the following problems for meeting: positioning is lost, and laser real data and map similarity are very low, and it is fixed that robot will appear loss
Position can not complete positioning on map, cause robot that can not normally cook up navigation routine；Positioning error, laser actual number
According to very low with map similarity, robot will appear positioning error, and robot navigation's route is caused very large deviation occur.
Summary of the invention
The purpose of the present invention, which aims to solve the problem that, to be accurately positioned and is navigated in the case that ground obstacle changes at any time.
To achieve the goals above, the embodiment of the first aspect of the present invention discloses a kind of double excitation location navigation side
Method, comprising:
Obtain first laser data, wherein the first laser data are be installed on the first predeterminated position of robot the
The data that one laser aid obtains；
The first laser data are matched with initial navigation map to obtain the location information of the robot；
Obtain second laser data, wherein the second laser data are be installed on the second predeterminated position of robot the
The data that dual-laser device obtains, height of the second predeterminated position first predeterminated position apart from ground are low；
Navigation routine information is generated according to the second laser data and the location information.
Preferably, described to match the first laser data to obtain the robot with initial navigation map
The method of location information includes:
From being extracted in the first laser data in external environment in the first predeterminated position same level between barrier
First distance data；
The first distance data are matched with the pre-determined distance database in the initial navigation map, to obtain
Current location information, wherein the pre-determined distance database includes each coordinate position in external environment under original state
The set of initial distance data between barrier.
Preferably, the pre-determined distance database by the first distance data and the initial navigation map carries out
It matches, includes: in the method for obtaining current location information
Judge whether the first distance data and the matching rate of all initial distance data reach preset threshold；
When there is the matching rate of multiple initial distance data to reach the preset threshold, it is highest just to choose the matching rate
Beginning range data is as matching distance data；
The coordinate position in the matching distance data is extracted as current location information.
Preferably, the pre-determined distance database progress by the first distance data and initial navigation map
Match, the method to obtain current location information further include:
When the matching rate of all the initial distance data and the first distance data is all not up to preset threshold,
Reacquire the first laser data；
Warning information is sent when the number for reacquiring the first laser data reaches preset times.
Preferably, the method that navigation routine information is generated according to the second laser data and the location information
Include:
From being extracted in the second laser data in external environment in the second predeterminated position same level between barrier
Second distance data；
The second distance data are replaced into initial distance corresponding to location information described in the initial navigation map
Data generate real-time navigation map；
Navigation routine information is generated according to the real-time navigation map.
Preferably, the method for generating navigation routine information according to the real-time navigation map includes:
Object area is removed barriers according to the range data in the real-time navigation map so that generate can traffic areas；
Described in will be all can traffic areas according to coordinate position gather generate navigation routine information.
On the other hand, the application discloses a kind of double excitation positioning navigation device, comprising:
First acquisition module: it is configured as executing acquisition first laser data, wherein the first laser data are installation
In the data that the first laser device of the first predeterminated position of robot obtains；
Matching module: it is configured as execution and matches the first laser data to obtain with initial navigation map
State the location information of robot；
Second acquisition module: it is configured as executing acquisition second laser data, wherein the second laser data are installation
In the data that the second laser device of the second predeterminated position of robot obtains, the default position of second predeterminated position more described first
The height set apart from ground is low；
Generation module: it is configured as executing according to the second laser data and location information generation navigation routine
Information.
Preferably, the matching module includes:
First extraction module: be configured as execute from the first laser data extract external environment in the first default position
Set the first distance data in same level between barrier；
Range data matching module: being configured as executing will be in the first distance data and the initial navigation map
Pre-determined distance database is matched, to obtain current location information, wherein the pre-determined distance database includes initial shape
Under state, the set of the initial distance data in external environment between the barrier of each coordinate position.
Preferably, the range data matching module further include:
Judgment module: it is configured as executing for judging the first distance data Yu all initial distance data
Whether reach preset threshold with rate；
It chooses module: being configured as executing when there is the matching rate of multiple initial distance data to reach the preset threshold,
The highest initial distance data of the matching rate are chosen as matching distance data；
Second extraction module: the coordinate position for being configured as executing in the extraction matching distance data is determined as current
Position information.
Preferably, the range data matching module further include:
It reacquires module: being configured as executing when all the initial distance data and the first distance data
When matching rate is all not up to preset threshold, the first laser data are reacquired；
Alarm modules: it is configured as executing the hair when the number for reacquiring the first laser data reaches preset times
Send warning information.
Preferably, the generation module includes:
Third extraction module: be configured as execute from the second laser data extract external environment in the second default position
Set the second distance data in same level between barrier；
Replacement module: it is configured as executing and the second distance data is replaced into positioning described in the initial navigation map
Initial distance data corresponding to information generate real-time navigation map；
It generates submodule: being configured as executing according to real-time navigation map generation navigation routine information.
There are choosing, the generation submodule further include:
Exclude module: be configured as executing according to the range data in the real-time navigation map remove barriers object area with
Generation can traffic areas；
Collection modules: be configured as executing will be all described in can traffic areas generation gathered according to coordinate position lead
Navigate route information.
On the other hand, a kind of storage medium for being stored with computer-readable instruction is also disclosed in the application, and the computer can
When reading instruction is executed by one or more processors, so that one or more processors are executed such as any of the above-described claim institute
The step of double excitation positioning navigation method stated.
On the other hand, the application discloses a kind of robot, comprising:
Robot body；
One or more processors: the processor is installed in the robot body, includes in the master controller
Storage medium described above；
First laser device: being installed on the first predeterminated position of robot body,
Second laser device: being installed on the second predeterminated position of robot, and second predeterminated position more described first is default
The height on positional distance ground is low, and the first laser device, second laser device connect with processor above-mentioned to execute respectively
Double excitation positioning navigation method described in any one.
By cooperating realization navigator fix using first laser data and second laser data, first is swashed the present invention
Electro-optical device is located at higher position from the ground, for measuring the barrier data of higher position, since higher position is wall mostly
Or pillar, it is not easy to it is mobile, therefore the location information obtained on this basis is more accurate, simultaneously because robot is on ground
Upper movement, obtaining that barrier data apart from ground lower position then can be obtained by the second laser device of lower position can
Traffic areas, realizes avoidance, and such double excitation cooperates, so that it may guarantee that robot can determine in the environment often converted
Level is true, and avoidance is accurate.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein
Fig. 1 is a kind of double excitation positioning navigation method flow diagram of the present invention；
Fig. 2 is that first laser data and initial navigation map carry out matching process flow diagram in the present invention；
Fig. 3 is the method first pass figure that current location information is obtained in the present invention；
Fig. 4 is the method second flow chart that current location information is obtained in the present invention；
Fig. 5 is the method flow diagram that second laser data of the present invention and location information generate navigation routine information；
Fig. 6 is the method flow diagram that real-time navigation map of the present invention generates navigation routine information；
Fig. 7 is a kind of double excitation positioning navigation device block schematic illustration of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of embodiment is shown in the accompanying drawings, wherein identical from beginning to end
Or similar label indicates same or similar element or element with the same or similar functions.It is retouched below with reference to attached drawing
The embodiment stated is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
A kind of double excitation positioning navigation method is described with reference to the accompanying drawing, referring to Fig. 1, including:
S1000, first laser data are obtained, wherein the first laser data are to be installed on robot first to preset position
The data that the first laser device set obtains；
Navigation mode disclosed in the present application is suitable for the robot moved on the ground, and robot needs during automatically moving
It navigates, the process of navigation is by obtaining current location information, in conjunction with the map of pre-stored current environment
Cook up an avoiding obstacles can transit route, in the present embodiment, robot predeterminated position be arranged one first
Laser aid to obtain associated laser data constantly.When robot is to be moved indoors, preferred scheme is setting one
The laser aid of a correspondence model chosen according to indoor area, such as 30 meters of laser aid, scan it around, with
Acquire the laser data of each position, i.e. first laser data.It should be noted that laser is as a kind of range unit,
By the distance between current robot and the periphery barrier for obtaining corresponding angle position, then barrier can be acquired
Relative position.
S2000, the first laser data are matched with initial navigation map to obtain the positioning of the robot
Information；
The relative position between current robot and peripheral obstacle can be obtained in the first laser data of acquisition, also with regard to shape
At a map, will be carried out according to the map of first laser data acquisition with the initial navigation map for being stored in robot interior
The current location information of robot then can be obtained in matching, specifically, in one embodiment, referring to Fig. 2, described by described first
Laser data is matched with initial navigation map includes: in the method for obtaining the location information of the robot
S2100, from extracting in external environment obstacle in the first predeterminated position same level in the first laser data
First distance data between object；
S2200, the first distance data are matched with the pre-determined distance database in the initial navigation map,
To obtain current location information, wherein the pre-determined distance database includes each coordinate in external environment under original state
The set of initial distance data between the barrier of position.
Since first laser data are obtained by first laser device, first laser device is mounted on the of robot
One predeterminated position, laser data light beam can only irradiate in one direction, therefore the first laser device can be simultaneously emitted by
Multiple light beams or first laser device can carry out the rotation of certain angle, to get within the scope of robot direction of advance
Obstacle distance data.
When first laser device is to complete distance measurement in a manner of rotating and strafe, multiple data can be obtained, each
Direction can all obtain a data, a face be constituted along the multiple directions of certain rule, in order to accelerate the energy of data processing
Power and on the basis of not influencing the accuracy rate of fixation and recognition can be extracted directly first in external environment from first laser device
First distance data between barrier in predeterminated position same level pass through that is, without extracting all range data
Data on one of horizontal plane, to judge current positioning, in this way compared to the number obtained in multiple planes
According to the treating capacity of data is less, also more rapidly, it is only necessary to compare in initial navigation map same plane in pre-determined distance database
The data of position, since the pre-determined distance database includes each coordinate position in external environment under original state
The set of initial distance data between barrier, it is only necessary to extract the corresponding coordinate in plan-position, then can acquire coordinate
The corresponding initial distance data in position.
In one embodiment, referring to Fig. 3, it is described by the first distance data with it is pre- in the initial navigation map
If range data library is matched, include: in the method for obtaining current location information
S2210, judge whether the first distance data and the matching rate of all initial distance data reach pre-
If threshold value；
S2220, when there is the matching rate of multiple initial distance data to reach the preset threshold, choose the matching rate most
High initial distance data are as matching distance data；
Coordinate position in S2230, the extraction matching distance data is as current location information.
First distance data are the range data with barrier of a certain plan-position, and wrap in pre-determined distance database
The data of multiple planes are included, and the data between adjacent plane may be more similar, in order to accurately be positioned,
A kind of preferred scheme is to judge whether the first distance data and the matching rate of all initial distance data reach
Preset threshold, similarity of the matching rate between first distance data and initial distance data, since first distance data are it
In in a plane on different directions each position data acquisition system, can will be same flat in first distance data and initial distance data
All data on face are compared, and calculate the ratio that the identical data of range data in all directions account for total data in the plane,
That is matching rate.
Preset threshold more accurate evaluation can obtain currently determining for what is be arranged according to the obstacle distance situation of current environment
The matching rate critical value of position, when the matching rate of the first distance data of acquisition and initial distance data reaches the critical value, then
Indicate that the corresponding coordinate position of initial distance data is probably exactly the current positioning of robot body.
In one embodiment, relatively due to the data on adjacent position, the matching rate of multiple positions may be generated
In preset threshold, at this point, the highest initial distance data of matching rate are chosen as matching distance data, and the matching distance number
It is then the current location information of robot according to corresponding coordinate position,
In one embodiment, it is understood that there may be the feelings of preset threshold are not up to without the matching rate of one group of first distance data
Condition, therefore it is directed to the situation, referring to Fig. 4, the pre-determined distance by the first distance data and initial navigation map
Database is matched, the method to obtain current location information further include:
S2240, it is preset when the matching rate of all the initial distance data and the first distance data is all not up to
When threshold value, the first laser data are reacquired；
S2250, warning information is sent when the number for reacquiring the first laser data reaches preset times.
When there is no initial distance data and first distance Data Matching, then the first laser data are reacquired, had
The operation of body is that the instruction for reacquiring data is sent to first laser device, make first laser device reacquire it is current away from
From data value.
When the number of the first laser data of reacquisition reaches preset times, then warning information is sent, such as when
One laser aid receiving three times reacquire data instruction, and carried out three times data reacquire instruction after, still
Cannot obtain corresponding location information, then determine that current data are problematic, or may be current initial distance data not
Accurately, it needs to reacquire initial distance data or replacement initial navigation map, sends warning information to remind user to carry out
Mistake investigation.
S3000, second laser data are obtained, wherein the second laser data are to be installed on robot second to preset position
The data that the second laser device set obtains, height of the second predeterminated position first predeterminated position apart from ground
It is low；
Second laser data are obtained by second laser device, and it is second pre- to be mounted on robot for second laser device
If position, laser data light beam can only irradiate in one direction, therefore the second laser device and first laser device one
Sample, which can be simultaneously emitted by multiple light beams or second laser device, can carry out the rotation of certain angle, to get robot
Obstacle distance data within the scope of direction of advance.
In the present embodiment, height of second predeterminated position compared with the first predeterminated position apart from ground is low, i.e. the first predeterminated position
In the upper portion of robot, the second predeterminated position robot lower portion, since the barrier of higher position is big
It is mostly wall or pillar, it is not easy to it is mobile, therefore the first laser data that the first laser device by being located above obtains
Most wall perhaps the distance between pillar due to the distance between different location and each wall or pillar under indoor environment
It is different, therefore by obtaining the distance between each barrier, then can be accurately positioned.
Since to have height to have short for the height of robot, when robot is shorter, a certain altitude can be installed in robot
Bracket, the distance between surroundings wall and pillar can be directly acquired to reach by first laser device is rack-mount
Highly.
In the present embodiment, the second predeterminated position is usually located at the bottom of robot, such as the movable roundabout position of robot,
It conveniently gets between the barrier in laser data and robot body moving direction of the robot body apart from ground
Range data.Laser data of the robot body apart from ground can be used for judging in robot body moving process whether is ground
It is smooth, if to have step or hollow, the distance between barrier on robot body moving direction data are then used to judge
The position of machine human desires moving direction barrier and distance.
S4000, navigation routine information is generated according to the second laser data and the location information.
Since second laser data can detect the distance between the barrier on robot body moving direction,
It can obtain having barrier on which position by the data acquisition, not having barrier to be on which position can traffic areas.
In one embodiment, referring to Fig. 5, described lead according to the second laser data and location information generation
Boat route information method include:
S4100, from extracting in external environment obstacle in the second predeterminated position same level in the second laser data
Second distance data between object；
S4200, the second distance data are replaced corresponding to location information described in the initial navigation map just
Beginning range data generates real-time navigation map；
S4300, navigation routine information is generated according to the real-time navigation map.
There are two types of second laser data are usual, one is the range data on the ground moved for robot measurement, should
Data are mainly used for ensureing that robot will not be overturn because of ground hollow or step, and another data are then robot measurement sheet
Data on body moving direction.Therefore navigation routine information is obtained, it is necessary to first extract external environment from second laser data
In obstacle distance data, excluding barrier on robot moving direction has the region of barrier, moveable region is obtained, by this
Region is compared with initial navigation map, then navigation routine information can be obtained.
Since the obstacle distance data of acquisition are more, in order to save data processing time, detection rates are improved, it is real one
Apply in example, reduce obstacle distance data, only to the distance between barrier in the second predeterminated position same level data
Data are carried out, which is referred to as second distance data, the position that the second predeterminated position is installed for second laser device, and the position
Set general lower, close to ground, when the corresponding horizontal plane in the position has barrier, robot is also intransitable, therefore
In one embodiment, by obtaining the distance between the barrier of the corresponding horizontal plane in the position, then it may know that there is barrier in which place
Object is hindered not allow to pass through, which place does not have barrier, and robot body can be by obtaining navigation routine information.
Specifically, referring to Fig. 6, the method for generating navigation routine information according to the real-time navigation map includes:
S4310, object area is removed barriers according to the range data in the real-time navigation map so that generate can traffic areas；
S4320, will be all described in can traffic areas according to coordinate position gather generate navigation routine information.
Barrier due to being located at ground location may be some moveable objects, such as desk, stool either row
People, these Obstacle Positions are likely to differ greatly with the initial navigation map under original state with the variation of time, because
It is right that this replaces the institute of location information described in the initial navigation map after obtaining second distance data, by second distance data
The initial distance data answered generate real-time navigation map, and according to real-time navigation map, then can be obtained robot moving direction can
The coordinate of traffic areas, due to robot be it is constantly mobile, constantly have new second distance data in moving process,
These second distance data, which are constantly updated, generates real-time navigation map, with obtain in robot moving process it is multiple can FOH
Domain, these can the set of coordinate position of traffic areas merge, generate navigation routine information.
By cooperating realization navigator fix using first laser data and second laser data, first is swashed the present invention
Electro-optical device is located at higher position from the ground, for measuring the barrier data of higher position, since higher position is wall mostly
Or pillar, it is not easy to it is mobile, therefore the location information obtained on this basis is more accurate, simultaneously because robot is on ground
Upper movement, obtaining that barrier data apart from ground lower position then can be obtained by the second laser device of lower position can
Traffic areas, realizes avoidance, and such double excitation cooperates, so that it may guarantee that robot can determine in the environment often converted
Level is true, and avoidance is accurate.
On the other hand, referring to Fig. 7, the application discloses a kind of double excitation positioning navigation device, comprising:
First acquisition module 1000: it is configured as executing and obtains first laser data, wherein the first laser data are
It is installed on the data that the first laser device of the first predeterminated position of robot obtains；
Matching module 2000: it is configured as execution and matches the first laser data with initial navigation map to obtain
To the location information of the robot；
Second acquisition module 3000: it is configured as executing and obtains second laser data, wherein the second laser data are
The data that the second laser device of the second predeterminated position of robot obtains are installed on, second predeterminated position more described first is pre-
If the height on positional distance ground is low；
Generation module 4000: it is configured as executing being generated according to the second laser data and the location information and navigate
Route information.
Preferably, the matching module 2000 includes:
First extraction module: be configured as execute from the first laser data extract external environment in the first default position
Set the first distance data in same level between barrier；
Range data matching module: being configured as executing will be in the first distance data and the initial navigation map
Pre-determined distance database is matched, to obtain current location information, wherein the pre-determined distance database includes initial shape
Under state, the set of the initial distance data in external environment between the barrier of each coordinate position.
Preferably, the range data matching module further include:
Judgment module: it is configured as executing for judging the first distance data Yu all initial distance data
Whether reach preset threshold with rate；
It chooses module: being configured as executing when there is the matching rate of multiple initial distance data to reach the preset threshold,
The highest initial distance data of the matching rate are chosen as matching distance data；
Second extraction module: the coordinate position for being configured as executing in the extraction matching distance data is determined as current
Position information.
Preferably, the range data matching module further include:
It reacquires module: being configured as executing when all the initial distance data and the first distance data
When matching rate is all not up to preset threshold, the first laser data are reacquired；
Alarm modules: it is configured as executing the hair when the number for reacquiring the first laser data reaches preset times
Send warning information.
Preferably, the generation module includes:
Third extraction module: be configured as execute from the second laser data extract external environment in the second default position
Set the second distance data in same level between barrier；
Replacement module: it is configured as executing and the second distance data is replaced into positioning described in the initial navigation map
Initial distance data corresponding to information generate real-time navigation map；
It generates submodule: being configured as executing according to real-time navigation map generation navigation routine information.
There are choosing, the generation submodule further include:
Exclude module: be configured as executing according to the range data in the real-time navigation map remove barriers object area with
Generation can traffic areas；
Collection modules: be configured as executing will be all described in can traffic areas generation gathered according to coordinate position lead
Navigate route information.
On the other hand, the application discloses a kind of robot, comprising:
Robot body's (not shown)；
One or more processors: the processor is installed in the robot body, includes in the master controller
Storage medium described above；
First laser device (not shown): being installed on the first predeterminated position of robot body,
Second laser device (not shown): being installed on the second predeterminated position of robot, and the second predeterminated position is default compared with first
Position is low, such as the second predeterminated position is located at the mobile chassis position of robot body, with robot measurement chassis and ground
The distance of barrier in distance and robot measurement moving direction, the first laser device, second laser device respectively with
Processor is connected to execute double excitation positioning navigation method described in above-mentioned any one.
The present invention also provides a kind of storage mediums for being stored with computer-readable instruction, and the computer-readable instruction is by one
When a or multiple processors execute, so that one or more processors execute double excitation location navigation described in any of the above-described embodiment
The step of method.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, which can be stored in a computer-readable storage and be situated between
In matter, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, storage medium above-mentioned can be
The non-volatile memory mediums such as magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random storage note
Recall body (Random Access Memory, RAM) etc..
It should be understood that although each step in the flow chart of attached drawing is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, can execute in the other order.Moreover, at least one in the flow chart of attached drawing
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, execution sequence, which is also not necessarily, successively to be carried out, but can be with other
At least part of the sub-step or stage of step or other steps executes in turn or alternately.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (10)
1. a kind of double excitation positioning navigation method characterized by comprising
Obtain first laser data, wherein the first laser data are to be installed on the first of the first predeterminated position of robot to swash
The data that electro-optical device obtains；
The first laser data are matched with initial navigation map to obtain the location information of the robot；
Obtain second laser data, wherein the second laser data are to be installed on the second of the second predeterminated position of robot to swash
The data that electro-optical device obtains, height of the second predeterminated position first predeterminated position apart from ground are low；
Navigation routine information is generated according to the second laser data and the location information.
2. double excitation positioning navigation method according to claim 1, which is characterized in that described by the first laser data
It is matched with initial navigation map and includes: in the method for obtaining the location information of the robot
From extracted in the first laser data in external environment in the first predeterminated position same level between barrier the
One range data；
The first distance data are matched with the pre-determined distance database in the initial navigation map, it is current to obtain
Location information, wherein the pre-determined distance database includes the obstacle of each coordinate position in external environment under original state
The set of initial distance data between object.
3. double excitation positioning navigation method according to claim 2, which is characterized in that described by the first distance data
It is matched with the pre-determined distance database in the initial navigation map, includes: in the method for obtaining current location information
Judge whether the first distance data and the matching rate of all initial distance data reach preset threshold；
When there is the matching rate of multiple initial distance data to reach the preset threshold, choose the matching rate it is highest initially away from
From data as matching distance data；
The coordinate position in the matching distance data is extracted as current location information.
4. double excitation positioning navigation method according to claim 3, which is characterized in that described by the first distance data
It is matched with the pre-determined distance database in initial navigation map, the method to obtain current location information further include:
When the matching rate of all the initial distance data and the first distance data is all not up to preset threshold, again
Obtain the first laser data；
Warning information is sent when the number for reacquiring the first laser data reaches preset times.
5. double excitation positioning navigation method according to claim 1, which is characterized in that described according to the second laser number
Accordingly and the method for location information generation navigation routine information includes:
From extracted in the second laser data in external environment in the second predeterminated position same level between barrier the
Two range data；
The second distance data are replaced into initial distance data corresponding to location information described in the initial navigation map
Generate real-time navigation map；
Navigation routine information is generated according to the real-time navigation map.
6. double excitation positioning navigation method according to claim 5, which is characterized in that it is described according to the real-time navigation
Figure generate navigation routine information method include:
Object area is removed barriers according to the range data in the real-time navigation map so that generate can traffic areas；
Described in will be all can traffic areas according to coordinate position gather generate navigation routine information.
7. a kind of double excitation positioning navigation device characterized by comprising
First acquisition module: it is configured as executing acquisition first laser data, wherein the first laser data are to be installed on machine
The data that the first laser device of the first predeterminated position of device people obtains；
Matching module: it is configured as execution and matches the first laser data to obtain the machine with initial navigation map
The location information of device people；
Second acquisition module: it is configured as executing acquisition second laser data, wherein the second laser data are to be installed on machine
The data that the second laser device of the second predeterminated position of device people obtains, the second predeterminated position first predeterminated position away from
Height from the ground is low；
Generation module: it is configured as executing according to the second laser data and location information generation navigation routine letter
Breath.
8. double excitation positioning navigation device according to claim 7, which is characterized in that the matching module includes:
First extraction module: it is configured as executing same from the first predeterminated position in external environment is extracted in the first laser data
First distance data on one horizontal plane between barrier；
Range data matching module: being configured as executing will be default in the first distance data and the initial navigation map
Range data library is matched, to obtain current location information, wherein the pre-determined distance database includes original state
Under, the set of the initial distance data in external environment between the barrier of each coordinate position.
9. a kind of storage medium for being stored with computer-readable instruction, the computer-readable instruction is by one or more processors
When execution, so that one or more processors execute the bidifly light-seeking as described in any one of claims 1 to 6 claim
The step of air navigation aid.
10. a kind of robot characterized by comprising
Robot body；
One or more processors: the processor is installed in the robot body, includes right in the master controller
It is required that storage medium described in 9；
First laser device: being installed on the first predeterminated position of robot body,
Second laser device: the second predeterminated position of robot, the second predeterminated position first predeterminated position are installed on
Height apart from ground is low, and the first laser device, second laser device are connect with processor required with perform claim respectively
Double excitation positioning navigation method described in 1-6 any one.
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