CN112578800A - Indoor automatic positioning system and method for mobile robot - Google Patents
Indoor automatic positioning system and method for mobile robot Download PDFInfo
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- CN112578800A CN112578800A CN202110208566.3A CN202110208566A CN112578800A CN 112578800 A CN112578800 A CN 112578800A CN 202110208566 A CN202110208566 A CN 202110208566A CN 112578800 A CN112578800 A CN 112578800A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 238000012937 correction Methods 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 12
- 238000004891 communication Methods 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides an indoor automatic positioning system of a mobile robot, which comprises a real-time position calculating component and an auxiliary correction positioning component, wherein the real-time position calculating component comprises an inertia measuring unit, the auxiliary correction positioning component comprises a laser radar positioning structure, a visual positioning structure and a magnetic stripe positioning structure, the laser radar positioning structure comprises a laser, the visual positioning structure comprises a camera, and the camera is used for scanning and identifying pictures posted in the running environment of the robot so as to calculate the current position of the robot; the magnetic stripe positioning structure comprises a radio frequency reader, the radio frequency reader identifies the magnetic stripe set in the robot running environment through a radio frequency identification technology to calculate the current position of the robot, and the auxiliary correction positioning components are used for correcting the position coordinate of the current robot on a map. The system and the method have low investment cost and simple implementation, and can be used after being arranged in a simple environment; the invention has the advantages of no accumulative error in positioning and very high precision.
Description
Technical Field
The invention belongs to the field of robot navigation positioning, and particularly relates to an indoor automatic positioning system and method for a mobile robot.
Background
The robot positioning and navigation technology has been developed for a long time, but is mainly realized based on an outdoor GPS positioning mode, and once the robot enters an indoor environment, particularly an environment with poor signals, the navigation positioning becomes extremely difficult.
The current indoor positioning scheme of the robot is as follows: the first is wireless signal positioning, including bluetooth and UWB. Specifically, it is a short-distance low-power wireless transmission technology, including installing a plurality of wireless signal access points indoors, and the robot device calculates the current position by the time difference of signals transmitted to the plurality of access points. The scheme has higher cost, the positioning accuracy is high only in a small range, and if the motion range of the robot is slightly larger, a large number of access points need to be deployed; in addition, when the terrain is complicated and has a noise signal, the positioning effect thereof becomes poor. The second is infrared positioning. Specifically, the method comprises the steps of installing a plurality of infrared receivers indoors and arranging the robot to continuously emit infrared signals in the moving process to realize positioning. The method has high precision and strong anti-interference capability, but the mode cannot be used in a non-open environment because light cannot penetrate through the barrier.
The chinese patent application CN 106767762 a provides a non-visible laser calibration indoor positioning navigation method and system, which transmits a reference pattern to a roof or a wall through at least one laser calibrator, which transmits non-visible laser; a camera on a device to be positioned on the ground generates a reference image into an imaging image; calculating the depression angle and the rotation angle of each positioning point relative to the center of the camera according to the elevation angle and the rotation angle of the imaging position and the imaging distance of the positioning point, which are reversely deduced relative to the positioning points p1 and p2 in the reference graph; and calculating the three-dimensional coordinate of the camera center according to the depression angle and the rotation angle of each positioning point relative to the camera center, and further positioning or navigating the device to be positioned. The invention has high precision, low cost, strong anti-interference capability and convenient maintenance. However, the invention has at least the following disadvantages: 1. the navigation system has high positioning precision but small coverage. Since the coverage area of a laser target is generally a circular area with a diameter of 4 m, a large number of laser targets are required to be installed on a field with a slightly larger area, and thus the navigation system is high in cost. 2. The laser scalers in the invention need to be powered and installed, and when the number of the laser scalers is large, the installation and maintenance of the laser scalers become very difficult and the beautiful appearance of the environment is influenced. 3. The navigation system has a single positioning mode and is easily influenced by the environment to cause the failure of the positioning function. Specifically, the positioning is carried out by depending on the camera identification icon, and when light is directly emitted to the camera, the positioning function is disabled.
Chinese patent application CN 110216678A discloses a method for indoor positioning and navigation of a robot, which comprises a robot body, a left side driving wheel, a right side driving wheel, a fixed single-point laser ranging module, a laser ranging line, an obstacle, a robot circle center, a monocular camera, a gyroscope module and an MCU control module, wherein the left side driving wheel and the right side driving wheel which are symmetrically distributed with each other are installed at the bottom of the robot body and at the two ends of the robot circle center. A fixed single-point laser ranging module is adopted and can be installed at any position of the front, back, left and right of a robot in the horizontal direction, the purposes of scanning obstacles at 360 degrees and building a map are achieved through the rotation of the robot, the effect is equal to that of a 360-degree rotating laser ranging radar, and the indoor map building and positioning functions are achieved by combining a monocular camera. The scheme is easier to install, and because a rotating mechanism is not arranged, the motor is not needed to control the rotation of the fixed single-point laser ranging module, so that the fixed single-point laser ranging module is longer in service life and lower in cost. However, the invention has at least the following disadvantages: 1. it belongs to the conventional mapping navigation Scheme (SLAM), and thus its positioning accuracy is highly dependent on the accuracy of the sensor. 2. In this scheme, main location calibration relies on laser radar, and laser radar receives the place topography to influence great, when the environment is spacious, produces positioning error very easily. 3. When the indoor positioning navigation system has accumulated errors and the errors are accumulated to a certain degree, the laser radar can not correct the position any more, so that the positioning information of the robot has errors and cannot be corrected.
Therefore, the indoor positioning and navigation technologies disclosed in the above inventions are not suitable for mobile vending robots operating in complex operating environments such as shopping malls and hospitals.
Therefore, there is still a need in the art for a new system and method for automatic indoor positioning of mobile robots.
Disclosure of Invention
The invention uses a plurality of positioning schemes and a positioning mechanism with a plurality of angles, and the system is suitable for various and complex indoor positioning scenes.
Therefore, the invention provides an indoor automatic positioning system of a mobile robot, which comprises a real-time position calculating component and an auxiliary correction positioning component, the real-time position calculation component comprises an Inertial Measurement Unit (IMU), the auxiliary correction positioning component comprises a laser radar positioning structure, a visual positioning structure and a magnetic strip positioning structure, the laser radar positioning structure comprises a laser arranged on the robot, the laser is used for scanning peripheral obstacles of the robot to generate feature codes and comparing the feature codes with data on a map so as to correct the position coordinate of the current robot on the map, the visual positioning structure comprises a camera arranged on the robot, the camera is used for scanning and identifying pictures posted in the running environment of the robot, calculating the current position of the robot so as to be used for correcting the position coordinate of the current robot on the map; magnetic stripe location structure reads the ware including the radio frequency that sets up on the robot, the radio frequency reads the ware and posts the magnetic stripe of setting in the robot operational environment and calculate the current position of robot through the radio frequency identification technique RFID identification promptly to be used for revising the position coordinate of current robot on the map.
In a particular embodiment, the mobile robot is a vending robot.
In a specific implementation mode, the indoor automatic positioning system of the mobile robot further comprises a main controller arranged on the robot, and the inertia measurement unit, the laser, the camera and the radio frequency reader are all connected with the main controller.
In a specific embodiment, the mobile robot indoor automatic positioning system further comprises a cloud server in communication connection with the main controller.
In a specific embodiment, a display is included on each of the mobile robot and the cloud server, and the display is at least used for displaying a map including the real-time position of the robot.
The invention also provides an indoor automatic positioning method of the mobile robot, which comprises the steps of using the indoor automatic positioning system of the mobile robot, constructing a two-dimensional map of a running scene of the robot, and calculating the real-time position of the robot in the map according to the moving speed and the running attitude, namely the moving direction of the robot; and then, the robot position information in the map is corrected and updated in real time according to the robot position information acquired by the laser radar positioning structure, the visual positioning structure and the magnetic stripe positioning structure.
The invention has at least the following beneficial effects: 1. the method comprises the steps of firstly constructing a map, and calculating the position of the robot on the map according to the moving speed and the moving direction of the robot so as to perform basic positioning on the robot; in addition, the laser radar, the camera vision positioning and the radio frequency magnetic stripe positioning are used for assisting in positioning, so that the positioning system and the positioning method are low in investment cost and simple to implement, can be used after being arranged in a simple environment, and do not affect the field attractiveness. 2. The system of the invention has the advantages of no accumulated error in positioning, high positioning precision, stability and no failure of positioning function. 3. The invention has various positioning and calibrating functions, and can not cause the problems of positioning error and correction failure. 4. The invention is not easily influenced by the terrain environment and is suitable for various indoor places.
Detailed Description
In the present invention, the inertial measurement unit, i.e. IMU, is prior art. An Inertial Measurement Unit (IMU) is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, the IMU is mounted at the center of gravity of the object being tested. To improve reliability of the IMU, multiple sensors may be provided for each axis. IMUs are mostly used in devices requiring motion control, such as automobiles and robots. The method is also used in occasions needing to use the attitude for precise displacement calculation, such as inertial navigation equipment of submarines, airplanes, missiles and spacecrafts.
In the present invention, the RFID technology is a prior art. The radio frequency identification (rfid) technology is one of automatic identification technologies, and performs non-contact bidirectional data communication in a radio frequency manner, and reads and writes a recording medium (an electronic tag or a radio frequency card) in a radio frequency manner, so as to achieve the purposes of identification and data exchange, and is considered to be one of the most promising information technologies in the 21 st century. The radio frequency identification technology realizes non-contact two-way communication by combining radio wave non-contact quick information exchange and storage technology and wireless communication with data access technology and then connecting a database system, thereby achieving the aim of identification. In the identification system, reading and writing and communication of the electronic tag are realized through electromagnetic waves. According to the communication distance, a near field and a far field can be divided, and for this reason, the data exchange method between the read/write device and the electronic tag is correspondingly divided into load modulation and backscatter modulation. The basic working principle of RFID technology is not complex: after the tag enters the reader, the tag receives a radio frequency signal sent by the reader, and sends product information stored in the chip by virtue of energy obtained by induced current (Passive TagPassive Tag or passive Tag) or a signal (Active Tag or Active Tag) with a certain frequency is actively sent by the Tag, and the reader reads and decodes the information and sends the information to the central information system for related data processing.
In the method, a map of the robot running scene is constructed firstly. And then the position of the robot in the map is calculated in real time according to the moving speed and the moving posture of the robot (namely, the angle formed by the two-dimensional map containing the X axis and the Y axis and the due north direction). Detecting the terrain through a laser radar, and comparing the terrain characteristic value with map data to realize positioning calibration; visual positioning is carried out through a camera, specifically, some appointed pictures are pasted at some appointed positions in the robot running environment, and position calibration is carried out after the camera identifies the pictures; the position calibration is also carried out by a radio frequency reader, and specifically, a plurality of magnetic strips with ID information are attached to the ground of an area which the robot can pass through. And when the distance between the radio frequency reader of the robot and the magnetic strip is small enough, the video reader identifies the ID of the magnetic strip, and then the position calibration is carried out.
The positioning system of the invention consists of two parts: a real-time position calculating part and an auxiliary positioning part.
1. And (3) calculating the real-time position: the position difference of the robot is calculated according to a formula s = v × t by acquiring the running speed of the robot in real time and adding time. And adding the attitude of the robot, and respectively calculating the real-time coordinates of the robot in a two-dimensional coordinate system by using a trigonometric function, wherein x = s sin theta and y = s cos theta, wherein theta represents the offset angle of the current attitude in the due north direction in the map.
2. Laser radar positioning: the laser radar can scan the distance of obstacles around the robot, a two-dimensional pattern is formed according to distance data, and generated feature codes are compared with data on the map. And when the matching is successful, correcting the position coordinates of the current robot on the map.
3. Visual positioning of a camera: and pasting a plurality of appointed pictures in the running environment of the robot, wherein each picture has corresponding position information. After the robot camera scans and identifies the picture, the distance between the robot and the picture is calculated according to the size of the picture, and then the angle is calculated according to the position of the picture in the camera picture, so that the current position of the robot is calculated, and the position coordinate of the current robot on the map is corrected.
4. Positioning the radio frequency magnetic stripe: and attaching magnetic strips with ID information on the ground of the places where the robot can pass, wherein each ID value has corresponding map coordinate information. When the radio frequency reader of the robot enters the range of the magnetic strip, the radio frequency reader identifies the magnetic strip information, converts the magnetic strip information into map coordinate information according to the corresponding ID value, and corrects the position coordinate of the current robot on the map.
In the invention, the real-time position calculation has high response speed and high precision, but accumulated errors are easy to generate, so three modes of laser radar positioning, camera visual positioning and radio frequency magnetic stripe positioning are added to assist calibration and positioning. The scheme has low overall implementation cost, high precision, no influence of terrain and environment interference and very high practicability.
Generally speaking, the invention provides an indoor automatic positioning system of a mobile robot, which comprises a real-time position calculating component and an auxiliary correction positioning component, wherein the real-time position calculating component comprises an inertia measuring unit, the auxiliary correction positioning component comprises a laser radar positioning structure, a visual positioning structure and a magnetic strip positioning structure, the laser radar positioning structure comprises a laser, the visual positioning structure comprises a camera used for scanning pictures posted in an environment, the magnetic strip positioning structure comprises a radio frequency reader used for identifying a magnetic strip in an operating environment, and the auxiliary correction positioning component is used for calculating the current position of the robot and correcting the position coordinate of the current robot on a map. The system and the method have low investment cost and simple implementation, and can be used after being arranged in a simple environment; the invention has the advantages of no accumulative error in positioning and very high precision.
The above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Any other changes or modifications of the equivalent technical features without changing the basic idea and essence of the present invention shall fall within the protection scope of the claims of the present invention.
Claims (7)
1. An indoor automatic positioning system of a mobile robot is characterized by comprising a real-time position calculating component and an auxiliary correction positioning component, the real-time position calculation component comprises an Inertial Measurement Unit (IMU), the auxiliary correction positioning component comprises a laser radar positioning structure, a visual positioning structure and a magnetic strip positioning structure, the laser radar positioning structure comprises a laser arranged on the robot, the laser is used for scanning peripheral obstacles of the robot to generate feature codes and comparing the feature codes with data on a map so as to correct the position coordinate of the current robot on the map, the visual positioning structure comprises a camera arranged on the robot, the camera is used for scanning and identifying pictures posted in the running environment of the robot, calculating the current position of the robot so as to be used for correcting the position coordinate of the current robot on the map; magnetic stripe location structure reads the ware including the radio frequency that sets up on the robot, the radio frequency reads the ware and posts the magnetic stripe of setting in the robot operational environment and calculate the current position of robot through the radio frequency identification technique RFID identification promptly to be used for revising the position coordinate of current robot on the map.
2. The indoor automatic positioning system according to claim 1, wherein the mobile robot is a vending robot.
3. The indoor automatic positioning system of claim 1, further comprising a main controller disposed on the robot, wherein the inertial measurement unit, the laser, the camera and the radio frequency reader are connected to the main controller.
4. The indoor automatic positioning system of claim 3, further comprising a cloud server communicatively coupled to the master controller.
5. An indoor automatic positioning system according to claim 4, characterized in that both on the mobile robot and on the cloud server there is a display for displaying at least a map containing the real-time position of the robot.
6. An indoor automatic positioning method of a mobile robot comprises the steps of using the indoor automatic positioning system of the mobile robot as claimed in any one of claims 1-5, and the indoor automatic positioning method comprises the steps of firstly constructing a two-dimensional map of a running scene of the robot, and calculating the real-time position of the robot in the map according to the moving speed and the running attitude, namely the moving direction of the robot; and then, the robot position information in the map is corrected and updated in real time according to the robot position information acquired by the laser radar positioning structure, the visual positioning structure and the magnetic stripe positioning structure.
7. The automatic positioning method of claim 6, wherein the RF reader is disposed at the bottom of the robot and the magnetic stripe post is disposed on the floor in the robot operating environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110208566.3A CN112578800A (en) | 2021-02-25 | 2021-02-25 | Indoor automatic positioning system and method for mobile robot |
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| CN202110208566.3A CN112578800A (en) | 2021-02-25 | 2021-02-25 | Indoor automatic positioning system and method for mobile robot |
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