CN110412987B - Double-laser positioning navigation method and robot - Google Patents
Double-laser positioning navigation method and robot Download PDFInfo
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- 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
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- 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
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Abstract
The invention provides a double-laser positioning navigation method and a robot, comprising the following steps: acquiring first laser data, wherein the first laser data is acquired by a first laser device arranged at a first preset position of a robot; matching the first laser data with an initial navigation map to obtain positioning information of the robot; acquiring second laser data, wherein the second laser data are acquired by a second laser device arranged at a second preset position of the robot, and the second preset position is lower than the first preset position from the ground; and generating navigation route information according to the second laser data and the positioning information. According to the invention, the first laser device is positioned at a higher position away from the ground to obtain the positioning information of the robot, and the second laser device is positioned at a lower position to realize obstacle avoidance, so that the two lasers are matched to ensure that the robot can be accurately positioned and accurately avoid the obstacle in the frequently changed environment.
Description
Technical Field
The invention relates to the technical field of robot positioning and navigation, in particular to a double-laser positioning and navigation method and a robot.
Background
When the mobile robot is used indoors, because the indoor environment is changed frequently, the difference between the built map and the current environment is large, and the positioning failure and the navigation failure are caused by the influence of the environment. The existing navigation scheme is that a laser is usually deployed at the bottom of a robot for navigation, positioning and obstacle avoidance, and the robot is easy to lose positioning in the navigation process when people frequently swing a table and move.
According to the current technology, if the indoor environment is changed frequently, which results in a low matching degree between the map and the laser actual data, the following problems can exist: positioning is lost, the similarity between laser actual data and a map is low, the robot loses positioning and cannot complete positioning on the map, and the robot cannot normally plan a navigation route; positioning errors occur, the similarity between laser actual data and a map is low, and the robot can have the positioning errors, so that the navigation route of the robot has large deviation.
Disclosure of Invention
The invention aims to accurately position and navigate under the condition that ground obstacles change at any time.
In order to achieve the above object, an embodiment of the first aspect of the present invention discloses a dual laser positioning navigation method, including:
acquiring first laser data, wherein the first laser data is acquired by a first laser device arranged at a first preset position of a robot;
matching the first laser data with an initial navigation map to obtain positioning information of the robot;
acquiring second laser data, wherein the second laser data is acquired by a second laser device arranged at a second preset position of the robot, and the second preset position is lower than the first preset position from the ground;
and generating navigation route information according to the second laser data and the positioning information.
Preferably, the method for matching the first laser data with an initial navigation map to obtain the positioning information of the robot includes:
extracting first distance data between obstacles on the same horizontal plane at a first preset position in the external environment from the first laser data;
and matching the first distance data with a preset distance database in the initial navigation map to obtain current positioning information, wherein the preset distance database comprises a set of initial distance data between obstacles at each coordinate position in the external environment in an initial state.
Preferably, the method for matching the first distance data with a preset distance database in the initial navigation map to obtain the current positioning information includes:
judging whether the matching rate of the first distance data and all the initial distance data reaches a preset threshold value or not;
when the matching rate of a plurality of initial distance data reaches the preset threshold value, selecting the initial distance data with the highest matching rate as matching distance data;
and extracting the coordinate position in the matching distance data as the current positioning information.
Preferably, the method for matching the first distance data with a preset distance database in an initial navigation map to obtain current positioning information further includes:
when the matching rate of all the initial distance data and the first distance data does not reach a preset threshold value, reacquiring the first laser data;
and sending alarm information when the number of times of reacquiring the first laser data reaches a preset number of times.
Preferably, the method for generating navigation route information according to the second laser data and the positioning information comprises:
extracting second distance data between obstacles on the same horizontal plane at a second preset position in the external environment from the second laser data;
replacing the second distance data with the initial distance data corresponding to the positioning information in the initial navigation map to generate a real-time navigation map;
and generating navigation route information according to the real-time navigation map.
Preferably, the method for generating navigation route information according to the real-time navigation map comprises:
excluding obstacle regions according to distance data in the real-time navigation map to generate passable regions;
and collecting all the passable areas according to the coordinate positions to generate navigation route information.
On the other hand, the application discloses two laser positioning navigation head, includes:
a first obtaining module: the robot is configured to acquire first laser data, wherein the first laser data is acquired by a first laser device installed at a first preset position of the robot;
a matching module: configured to perform matching the first laser data with an initial navigation map to obtain positioning information of the robot;
a second obtaining module: the laser data acquisition device is configured to acquire second laser data, wherein the second laser data is acquired by a second laser device installed at a second preset position of the robot, and the second preset position is lower than the first preset position in height from the ground;
a generation module: configured to perform generating navigation route information from the second laser data and the positioning information.
Preferably, the matching module includes:
a first extraction module: the first laser data extraction device is configured to extract first distance data between obstacles on the same horizontal plane of a first preset position in the external environment from the first laser data;
a distance data matching module: and the system is configured to perform matching of the first distance data with a preset distance database in the initial navigation map to obtain current positioning information, wherein the preset distance database comprises a set of initial distance data between obstacles at various coordinate positions in the external environment in an initial state.
Preferably, the distance data matching module further includes:
a judging module: the first distance data and all the initial distance data are matched with each other at the preset matching rate;
a selecting module: the distance matching method comprises the steps that when the matching rate of a plurality of initial distance data reaches the preset threshold value, the initial distance data with the highest matching rate is selected as matching distance data;
a second extraction module: is configured to perform extracting the coordinate position in the matching distance data as current positioning information.
Preferably, the distance data matching module further includes:
a reacquisition module: the laser data processing device is configured to perform reacquiring the first laser data when all the initial distance data and the first distance data have a matching rate which does not reach a preset threshold value;
an alarm module: is configured to perform sending alarm information when the number of times of reacquiring the first laser data reaches a preset number of times.
Preferably, the generating module includes:
a third extraction module: the second laser data extraction module is configured to extract second distance data between obstacles on the same horizontal plane of a second preset position in the external environment from the second laser data;
and a replacement module: the real-time navigation map is generated by replacing the initial distance data corresponding to the positioning information in the initial navigation map with the second distance data;
generating a submodule: configured to perform generating navigation route information from the real-time navigation map.
Optionally, the generating sub-module further includes:
an exclusion module: configured to perform excluding an obstacle region from distance data in the real-time navigation map to generate a passable region;
an aggregation module: configured to perform generating navigation route information by grouping all of the navigable areas together according to coordinate locations.
In another aspect, the present application further discloses a storage medium storing computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the dual laser positioning navigation method according to any of the preceding claims.
In another aspect, the present application discloses a robot comprising:
a robot main body;
one or more processors: the processor is arranged in the robot main body, and the main controller comprises the storage medium;
a first laser device: is arranged at a first preset position of the robot main body,
a second laser device: the laser positioning and navigation system is arranged at a second preset position of the robot, the second preset position is lower than the first preset position from the ground, and the first laser device and the second laser device are respectively connected with a processor to execute any one of the double-laser positioning and navigation methods.
The invention realizes navigation positioning by matching the first laser data and the second laser data, the first laser device is positioned at a position higher than the ground and used for measuring barrier data at the higher position, the higher position is mostly a wall body or a column and is not easy to move, so that the acquired positioning information is more accurate based on the position, meanwhile, as the robot moves on the ground, the barrier data at the lower position away from the ground can be acquired by the second laser device at the lower position, a passable area can be obtained, and barrier avoidance is realized, so that the robot can be accurately positioned and accurately avoid the barrier in the frequently changed environment by matching the two lasers.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, of which,
FIG. 1 is a schematic flow chart of a dual-laser positioning and navigation method according to the present invention;
FIG. 2 is a schematic flow chart of a method for matching first laser data with an initial navigation map according to the present invention;
fig. 3 is a first flowchart of a method for obtaining current positioning information according to the present invention;
fig. 4 is a second flowchart of a method of obtaining current positioning information according to the present invention;
FIG. 5 is a flowchart of a method for generating navigation routing information from second laser data and positioning information in accordance with the present invention;
FIG. 6 is a flowchart of a method for generating navigation route information for a real-time navigation map according to the present invention;
FIG. 7 is a schematic diagram of a dual laser positioning navigation device according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, a dual laser positioning navigation method is described below with reference to the accompanying drawings, including:
s1000, acquiring first laser data, wherein the first laser data are acquired by a first laser device arranged at a first preset position of the robot;
the navigation mode disclosed by the application is suitable for a robot moving on the ground, navigation is needed in the automatic moving process of the robot, a passable route avoiding obstacles can be planned by acquiring current positioning information and combining a pre-stored map of the current environment in the navigation process, and in the embodiment, a first laser device is arranged at a preset position of the robot to acquire relevant laser data all the time. When the robot moves indoors, a preferred scheme is to set a laser device of a corresponding model, for example, a 30-meter laser device, selected according to an indoor area, so that the laser device scans all around to obtain laser data, i.e., first laser data, at each position. It should be noted that, as a distance measuring device, laser is used to obtain the distance between the current robot and the surrounding obstacle at the corresponding angle position, so as to obtain the relative position of the obstacle.
S2000, matching the first laser data with an initial navigation map to obtain positioning information of the robot;
specifically, in an embodiment, referring to fig. 2, the method for obtaining the positioning information of the robot by matching the first laser data with the initial navigation map includes:
s2100, extracting first distance data between obstacles on the same horizontal plane at a first preset position in an external environment from the first laser data;
s2200, matching the first distance data with a preset distance database in the initial navigation map to obtain current positioning information, wherein the preset distance database comprises a set of initial distance data between obstacles at each coordinate position in the external environment in an initial state.
Because the first laser data are acquired through the first laser device, the first laser device is installed at a first preset position of the robot, and one beam of the laser data can only irradiate towards one direction, the first laser device can simultaneously emit a plurality of beams, or the first laser device can rotate at a certain angle so as to acquire the distance data of the obstacle within the advancing direction range of the robot.
When the first laser device completes distance detection in a rotating scanning mode, a plurality of data can be obtained, each direction can obtain one data, a surface is formed along a plurality of directions with certain rules, in order to accelerate the data processing capability and on the basis of not influencing the accuracy of positioning identification, the first distance data between obstacles at a first preset position in the external environment and on the same horizontal plane can be directly extracted from the first laser device, namely, all the distance data do not need to be extracted, the current positioning is judged through the data on one horizontal plane, compared with the method for obtaining the data on a plurality of planes, the method has less data processing amount and is quicker, only the data at the same plane position in a preset distance database in an initial navigation map need to be compared, because the preset distance database comprises the initial state, the initial distance data corresponding to the coordinate position can be obtained only by extracting the coordinate corresponding to the plane position from the set of the initial distance data between the obstacles at each coordinate position in the external environment.
In an embodiment, referring to fig. 3, the method for matching the first distance data with a preset distance database in the initial navigation map to obtain current positioning information includes:
s2210, judging whether the matching rate of the first distance data and all the initial distance data reaches a preset threshold value;
s2220, when the matching rate of a plurality of initial distance data reaches the preset threshold value, selecting the initial distance data with the highest matching rate as the matching distance data;
and S2230, extracting the coordinate position in the matching distance data as the current positioning information.
The first distance data is distance data between a certain plane position and an obstacle, the preset distance database comprises data of a plurality of planes, the data between adjacent planes are likely to be similar, in order to obtain accurate positioning, a preferable scheme is that whether the matching rate of the first distance data and all initial distance data reaches a preset threshold value is judged, the matching rate is the similarity between the first distance data and the initial distance data, the first distance data is a data set of positions in different directions in one plane, the first distance data and all data on the same plane in the initial distance data can be compared, and the ratio of the data with the same distance data in all directions to the total data on the plane, namely the matching rate, is calculated.
The preset threshold is a matching rate critical value which is set according to the obstacle distance condition of the current environment and can be used for accurately evaluating and obtaining the current positioning, and when the matching rate of the acquired first distance data and the initial distance data reaches the critical value, the coordinate position corresponding to the initial distance data is probably the current positioning of the robot body.
In one embodiment, since the data at the adjacent positions are relatively close, it may be possible that the matching rates of the positions are within a preset threshold, at this time, the initial distance data with the highest matching rate is selected as the matching distance data, and the coordinate position corresponding to the matching distance data is the current positioning information of the robot,
in an embodiment, there may be a case that the matching rate of no group of first distance data does not reach the preset threshold, so for this case, referring to fig. 4, the method for matching the first distance data with the preset distance database in the initial navigation map to obtain the current positioning information further includes:
s2240, when the matching rate of all the initial distance data and the first distance data does not reach a preset threshold value, reacquiring the first laser data;
and S2250, sending alarm information when the number of times of reacquiring the first laser data reaches a preset number.
And when no initial distance data is matched with the first distance data, re-acquiring the first laser data, specifically, sending a data re-acquisition instruction to the first laser device, so that the first laser device re-acquires the current distance data value.
When the number of times of the first laser data obtained again reaches a preset number of times, sending alarm information, for example, when the first laser device receives a data obtaining command for three times and corresponding positioning information cannot be obtained after the data obtaining command for three times is carried out, it is determined that the current data has a problem, or the current initial distance data is possibly inaccurate, and the initial distance data needs to be obtained again or an initial navigation map needs to be replaced, and sending alarm information to remind a user of error troubleshooting.
S3000, second laser data are obtained, wherein the second laser data are obtained by a second laser device arranged at a second preset position of the robot, and the second preset position is lower than the first preset position and is lower than the ground;
the second laser device is installed at a second preset position of the robot, and one beam of the laser data can only irradiate towards one direction, so that the second laser device can emit a plurality of beams simultaneously as the first laser device, or the second laser device can rotate at a certain angle to acquire the obstacle distance data within the advancing direction range of the robot.
In this embodiment, the second preset position is lower than the height of first preset position apart from ground, namely first preset position is in the upper part position of robot, the second preset position is in the lower part position of robot, because the barrier of higher position is wall or post mostly, be difficult to remove, consequently, the distance between the wall or the post is many more to the first laser data that obtains through the first laser device that is located the top, because the distance between different positions and each wall or post is different under the indoor environment, consequently, through having obtained the distance between each barrier, then can pinpoint.
Because the height of the robot is short, when the robot is short, a support with a certain height can be arranged on the robot, and the first laser device is arranged on the support to reach the height capable of directly acquiring the distance between the surrounding walls and the columns.
In this embodiment, the second preset position is usually located at the bottom of the robot, for example, the position of a mobile turntable of the robot, so that laser data of the robot body from the ground and distance data between obstacles in the moving direction of the robot body can be conveniently acquired. The laser data of robot body apart from ground can be used for judging whether robot body removes the in-process ground and levels, whether have step or pothole, and the distance data between the barrier in the robot body moving direction then is used for judging the position and the distance that the robot wants the moving direction barrier.
And S4000, generating navigation route information according to the second laser data and the positioning information.
Since the second laser data can detect the distance between the obstacles in the moving direction of the robot body, the positions where the obstacles exist and the positions where no obstacles exist can be obtained through the data.
In an embodiment, referring to fig. 5, the method for generating navigation route information according to the second laser data and the positioning information includes:
s4100, extracting second distance data between obstacles on the same horizontal plane at a second preset position in the external environment from the second laser data;
s4200, replacing the initial distance data corresponding to the positioning information in the initial navigation map with the second distance data to generate a real-time navigation map;
and S4300, generating navigation route information according to the real-time navigation map.
The second laser data is generally two types, one type is data for measuring the distance of the ground moved by the robot, the data is mainly used for ensuring that the robot cannot turn over due to ground potholes or steps, and the other type is data for measuring the moving direction of the robot body. Therefore, to obtain the navigation route information, the distance data of the obstacles in the external environment must be extracted from the second laser data, the area with the obstacles in the moving direction of the robot is excluded to obtain a movable area, and the movable area is compared with the initial navigation map to obtain the navigation route information.
In one embodiment, the distance data of the obstacles is reduced, only the distance data between the obstacles on the same horizontal plane with a second preset position is subjected to data, the data is called as second distance data, the second preset position is the position where a second laser device is installed, the position is generally lower and close to the ground, and when the horizontal plane corresponding to the position has the obstacles, the robot cannot pass through the position.
Specifically, referring to fig. 6, the method for generating navigation route information according to the real-time navigation map includes:
s4310, excluding the barrier area according to the distance data in the real-time navigation map to generate a passable area;
s4320, collecting all the passable areas according to the coordinate positions to generate navigation route information.
Since obstacles at ground level may be some movable objects, such as tables, stools or pedestrians, the position of these obstacles is likely to vary over time significantly from the initial navigation map in the initial state, therefore, after the second distance data is obtained, the second distance data is used for replacing the initial distance data corresponding to the positioning information in the initial navigation map to generate a real-time navigation map, according to the real-time navigation map, the coordinates of the passable area of the moving direction of the robot can be obtained, because the robot is continuously moving, new second distance data are continuously generated in the moving process, the second distance data are continuously updated to generate a real-time navigation map so as to obtain a plurality of passable areas in the moving process of the robot, the collection of coordinate locations of these navigable areas are merged together to generate navigation route information.
The invention realizes navigation positioning by matching the first laser data and the second laser data, the first laser device is positioned at a position higher than the ground and used for measuring barrier data at the higher position, the higher position is mostly a wall body or a column and is not easy to move, so that the acquired positioning information is more accurate based on the position, meanwhile, as the robot moves on the ground, the barrier data at the lower position away from the ground can be acquired by the second laser device at the lower position, a passable area can be obtained, and barrier avoidance is realized, so that the robot can be accurately positioned and accurately avoid the barrier in the frequently changed environment by matching the two lasers.
On the other hand, please refer to fig. 7, the present application discloses a dual laser positioning navigation device, which includes:
the first obtaining module 1000: the robot is configured to acquire first laser data, wherein the first laser data is acquired by a first laser device installed at a first preset position of the robot;
the matching module 2000: configured to perform matching the first laser data with an initial navigation map to obtain positioning information of the robot;
the second obtaining module 3000: the laser data acquisition device is configured to acquire second laser data, wherein the second laser data is acquired by a second laser device installed at a second preset position of the robot, and the second preset position is lower than the first preset position in height from the ground;
the generation module 4000: configured to perform generating navigation route information from the second laser data and the positioning information.
Preferably, the matching module 2000 includes:
a first extraction module: the first laser data extraction device is configured to extract first distance data between obstacles on the same horizontal plane of a first preset position in the external environment from the first laser data;
a distance data matching module: and the system is configured to perform matching of the first distance data with a preset distance database in the initial navigation map to obtain current positioning information, wherein the preset distance database comprises a set of initial distance data between obstacles at various coordinate positions in the external environment in an initial state.
Preferably, the distance data matching module further includes:
a judging module: the first distance data and all the initial distance data are matched with each other at the preset matching rate;
a selecting module: the distance matching method comprises the steps that when the matching rate of a plurality of initial distance data reaches the preset threshold value, the initial distance data with the highest matching rate is selected as matching distance data;
a second extraction module: is configured to perform extracting the coordinate position in the matching distance data as current positioning information.
Preferably, the distance data matching module further includes:
a reacquisition module: the laser data processing device is configured to execute the step of obtaining the first laser data again when the matching rate of all the initial distance data and the first distance data does not reach a preset threshold value;
an alarm module: is configured to perform sending alarm information when the number of times of reacquiring the first laser data reaches a preset number of times.
Preferably, the generating module includes:
a third extraction module: the second laser data extraction module is configured to extract second distance data between obstacles on the same horizontal plane of a second preset position in the external environment from the second laser data;
and a replacement module: the real-time navigation map is generated by replacing the initial distance data corresponding to the positioning information in the initial navigation map with the second distance data;
generating a submodule: configured to perform generating navigation route information from the real-time navigation map.
Optionally, the generating sub-module further includes:
an elimination module: configured to perform excluding an obstacle region from distance data in the real-time navigation map to generate a passable region;
an aggregation module: configured to perform generating navigation route information by grouping all of the navigable areas together according to coordinate locations.
In another aspect, the present application discloses a robot comprising:
a robot main body (not shown);
one or more processors: the processor is arranged in the robot main body, and the main controller comprises the storage medium;
first laser device (not shown): is arranged at a first preset position of the robot main body,
second laser device (not shown): the first laser device and the second laser device are respectively connected with the processor to execute the double-laser positioning navigation method.
The present invention also provides a storage medium storing computer readable instructions, which when executed by one or more processors, cause the one or more processors to perform the steps of the dual laser positioning navigation method according to any of the above embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (6)
1. A dual laser positioning navigation method is characterized by comprising the following steps:
acquiring first laser data, wherein the first laser data is acquired by a first laser device arranged at a first preset position of the robot, and the first laser device simultaneously emits a plurality of light beams or can rotate at a certain angle;
matching the first laser data with an initial navigation map to obtain positioning information of the robot;
acquiring second laser data, wherein the second laser data is acquired by a second laser device arranged at a second preset position of the robot, and the second preset position is lower than the first preset position from the ground;
generating navigation route information according to the second laser data and the positioning information;
the method for matching the first laser data with an initial navigation map to obtain the positioning information of the robot comprises the following steps:
extracting first distance data between obstacles on the same horizontal plane at a first preset position in the external environment from the first laser data;
matching the first distance data with a preset distance database in the initial navigation map to obtain current positioning information, wherein the preset distance database comprises a set of initial distance data between obstacles at each coordinate position in the external environment in an initial state;
the method for matching the first distance data with a preset distance database in the initial navigation map to obtain the current positioning information comprises the following steps:
judging whether the matching rate of the first distance data and all the initial distance data reaches a preset threshold value or not;
when the matching rate of a plurality of initial distance data reaches the preset threshold value, selecting the initial distance data with the highest matching rate as the matching distance data;
extracting the coordinate position in the matching distance data as current positioning information;
the method for matching the first distance data with a preset distance database in an initial navigation map to obtain the current positioning information further comprises:
when the matching rate of all the initial distance data and the first distance data does not reach a preset threshold value, reacquiring the first laser data;
and sending alarm information when the number of times of reacquiring the first laser data reaches a preset number of times.
2. The dual laser positioning and navigation method according to claim 1, wherein the method of generating navigation route information according to the second laser data and the positioning information comprises:
extracting second distance data between obstacles on the same horizontal plane at a second preset position in the external environment from the second laser data;
replacing the second distance data with the initial distance data corresponding to the positioning information in the initial navigation map to generate a real-time navigation map;
and generating navigation route information according to the real-time navigation map.
3. The dual laser positioning navigation method according to claim 2, wherein the method of generating navigation route information from the real-time navigation map comprises:
excluding obstacle regions according to distance data in the real-time navigation map to generate passable regions;
and collecting all the passable areas according to the coordinate positions to generate navigation route information.
4. A dual laser positioning navigation device, comprising:
a first obtaining module: the robot comprises a first laser device, a second laser device and a control device, wherein the first laser device is configured to execute acquisition of first laser data, the first laser data is acquired by the first laser device installed at a first preset position of the robot, the first laser device simultaneously emits a plurality of light beams, or the first laser device can rotate at a certain angle;
a matching module: configured to perform matching the first laser data with an initial navigation map to obtain positioning information of the robot;
a second obtaining module: the laser data acquisition device is configured to acquire second laser data, wherein the second laser data is acquired by a second laser device installed at a second preset position of the robot, and the second preset position is lower than the first preset position in height from the ground;
a generation module: configured to perform generating navigation route information from the second laser data and the positioning information;
the matching module includes:
a first extraction module: the first laser data extraction device is configured to extract first distance data between obstacles on the same horizontal plane of a first preset position in the external environment from the first laser data;
a distance data matching module: the first distance data are matched with a preset distance database in the initial navigation map to obtain current positioning information, wherein the preset distance database comprises a set of initial distance data between obstacles at each coordinate position in the external environment in an initial state;
the distance data matching module further comprises:
a judging module: the first distance data and all the initial distance data are matched with each other at the preset matching rate;
a selecting module: the distance matching method comprises the steps that when the matching rate of a plurality of initial distance data reaches the preset threshold value, the initial distance data with the highest matching rate is selected as matching distance data;
a second extraction module: configured to perform extracting a coordinate position in the matching distance data as current positioning information;
the distance data matching module further comprises:
a reacquisition module: the laser data processing device is configured to perform reacquiring the first laser data when all the initial distance data and the first distance data have a matching rate which does not reach a preset threshold value;
an alarm module: is configured to perform sending alarm information when the number of times of reacquiring the first laser data reaches a preset number of times.
5. A storage medium having computer readable instructions stored thereon which, when executed by one or more processors, cause the one or more processors to perform the steps of the dual laser positioning navigation method as claimed in any one of claims 1 to 3.
6. A robot, comprising:
a robot main body;
one or more processors: the processor is mounted within the robot body, the processor including the storage medium of claim 5 therein;
a first laser device: is arranged at a first preset position of the robot main body,
a second laser device: the double-laser positioning navigation method is characterized by being installed at a second preset position of the robot, wherein the second preset position is lower than the first preset position in height from the ground, and the first laser device and the second laser device are respectively connected with a processor to execute the double-laser positioning navigation method according to any one of claims 1 to 3.
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| CN111044073B (en) * | 2019-11-26 | 2022-07-05 | 北京卫星制造厂有限公司 | High-precision AGV position sensing method based on binocular laser |
| CN111258320B (en) * | 2020-02-14 | 2023-06-06 | 广东博智林机器人有限公司 | Robot obstacle avoidance method and device, robot and readable storage medium |
| CN113341431B (en) * | 2021-04-22 | 2022-04-15 | 国网浙江省电力有限公司嘉兴供电公司 | Transformer substation robot indoor navigation positioning method based on double-path laser |
| CN113776518B (en) * | 2021-09-07 | 2024-04-23 | 深圳大方智能科技有限公司 | Indoor construction robot positioning navigation method and system |
| CN114440890B (en) * | 2022-01-24 | 2023-12-15 | 上海甄徽网络科技发展有限公司 | Laser navigation device of indoor mobile robot |
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