CN113721258A - Indoor robot positioning and navigation system and method - Google Patents
Indoor robot positioning and navigation system and method Download PDFInfo
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- CN113721258A CN113721258A CN202110801929.4A CN202110801929A CN113721258A CN 113721258 A CN113721258 A CN 113721258A CN 202110801929 A CN202110801929 A CN 202110801929A CN 113721258 A CN113721258 A CN 113721258A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 18
- 230000003993 interaction Effects 0.000 claims description 12
- 238000007726 management method Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 4
- 238000011897 real-time detection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
Abstract
The invention discloses an indoor robot positioning navigation system and a method, wherein the system comprises a brightness sensor, a plurality of UWB positioning tags, a UWB positioning base station, an image acquisition module, a control processor, a wireless communication module and a cloud server; through setting up luminance sensor, a plurality of UWB location label, UWB location base station and image acquisition module, when indoor luminance is good, directly through near image acquisition module acquisition robot realize the effect of location, when indoor luminance is poor, through UWB location label, UWB location base station and image acquisition module realize the effect of location, can improve the rate of accuracy of location, effectively avoid because light and influence the rate of accuracy of discerning the position that indoor robot is located.
Description
Technical Field
The invention relates to the technical field of positioning and navigation, in particular to a positioning and navigation system and a positioning and navigation method for an indoor robot.
Background
In recent years, the sales volume of global industrial robots is greatly increased, meanwhile, service robots are rapidly developed, the application range is gradually widened, an intelligent robot facing indoor application is an important development direction, the biggest problem faced by indoor robots at present is the problem of positioning navigation, if a pyramid is used for representing the robot technology, the positioning navigation is used as the bottom layer technology, the key for constructing the whole robot is the core key, the common indoor robot positioning navigation method is realized by an image acquisition technology, images near the indoor robot are acquired by the image acquisition technology, the position of the indoor robot is identified according to the images, so that the positioning navigation effect is realized, however, the position of the indoor robot is identified by the image acquisition technology and is easily influenced by light and brightness, under the condition that the light and the brightness are poor, the image acquisition technology cannot clearly shoot images near the indoor robot, so that the accuracy of identifying the position of the indoor robot is reduced.
Disclosure of Invention
In view of this, the present invention provides a positioning and navigation system and method for an indoor robot, which can solve the problem that the positioning and navigation of the existing indoor robot is easily affected by indoor light and brightness.
The technical scheme of the invention is realized as follows:
the utility model provides an indoor robot location navigation, includes luminance sensor, a plurality of UWB location label, UWB location basic station, image acquisition module, control processor, wireless communication module and high in the clouds server, luminance sensor is used for responding to indoor luminance data, a plurality of UWB location labels set up respectively in indoor different positions, every UWB location label all with UWB location basic station communication, image acquisition module is used for gathering near the image of robot, UWB location basic station, image acquisition module, control processor and wireless communication module install respectively on the robot, luminance sensor, UWB location basic station and image acquisition module respectively with control processor connects, control processor passes through wireless communication module with the high in the clouds server is connected.
As a further alternative of the indoor robot positioning and navigation system, the positioning and navigation system further comprises an infrared sensor, and the infrared sensor is mounted on the robot and connected with the control processor.
As a further alternative of the indoor robot positioning and navigation system, the positioning and navigation system further comprises a human-computer interaction management module, wherein the human-computer interaction management module is used for realizing a human-computer interaction function and is connected with the control processor.
As a further alternative of the indoor robot positioning and navigation system, the wireless communication module includes any one of a GPRS communication module, a bluetooth module, a UWB module, and a Zigbee module.
An indoor robot positioning and navigation method is based on any one indoor robot positioning and navigation system, and specifically comprises the following steps:
step S1, the brightness sensor collects indoor brightness data in real time and sends the data to the control processor;
step S2, the control processor judges the indoor light condition according to the received brightness data, if the light intensity is good, the step S3 is executed, otherwise, the step S4 is executed;
step S3, the control processor controls the image acquisition module to start, acquires images near the robot and sends the images to the cloud server;
step S4, the control processor controls the UWB positioning base station and the image acquisition module to start simultaneously, acquires images near the robot and receives pulse signals of a plurality of UWB positioning labels, and sends the acquired images and the time for receiving the pulse signals to the cloud server;
step S5, the cloud server carries out positioning according to the received data, carries out route planning according to the positioning and generates a robot navigation route;
and step S6, sending the robot navigation route to a control processor, and controlling the walking system of the robot by the control processor according to the robot navigation route, thereby realizing the positioning navigation of the indoor robot.
As a further alternative to the indoor robot positioning navigation method, the method further comprises the steps of:
step S7, detecting whether an obstacle exists on a robot navigation route in real time by an infrared sensor, and if the obstacle is detected, sending an obstacle avoidance instruction to the cloud server;
and step S8, the cloud server calculates obstacle avoidance information according to the received obstacle avoidance instruction, sends the obstacle avoidance information to the control processor, and the control processor performs obstacle avoidance control according to the received obstacle avoidance information.
The invention has the beneficial effects that: through setting up luminance sensor, a plurality of UWB location label, UWB location basic station and image acquisition module, when indoor luminance is good, the effect of direct near image realization location of robot is gathered through image acquisition module, when indoor luminance is poor, through UWB location label, UWB location basic station and image acquisition module realize the effect of location, can improve the rate of accuracy of location, effectively avoid because light and influence the rate of accuracy of discerning the position that indoor robot is located.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.
FIG. 1 is a schematic diagram of an indoor robot positioning and navigation system according to the present invention;
fig. 2 is a schematic flow chart of an indoor robot positioning and navigation method according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, an indoor robot positioning navigation system includes a brightness sensor, a plurality of UWB positioning tags, a UWB positioning base station, an image acquisition module, a control processor, a wireless communication module, and a cloud server, the brightness sensor is used for sensing indoor brightness data, the UWB positioning tags are respectively arranged at different indoor positions, each UWB positioning tag is communicated with the UWB positioning base station, the image acquisition module is used for acquiring images near the robot, the UWB positioning base station, the image acquisition module, the control processor and the wireless communication module are respectively arranged on the robot, the brightness sensor, the UWB positioning base station and the image acquisition module are respectively connected with the control processor, and the control processor is connected with the cloud server through the wireless communication module.
When the system is used, indoor brightness data are collected in real time through a brightness sensor and are sent to a control processor, the control processor judges indoor light conditions according to the received brightness data, if the light intensity is good, the control processor controls an image collection module to be started, images near a robot are collected and sent to a cloud server, the cloud server identifies the position of the robot according to the received images, so that the positioning effect is achieved, if the light intensity is poor, the control processor controls a UWB positioning base station and the image collection module to be started simultaneously, the UWB positioning base station collects pulse signals of a plurality of UWB positioning tags, the image collection module collects the images near the robot, the collected images and the time for receiving the pulse signals are sent to the cloud server, the cloud server firstly preliminarily judges the position of the robot according to the received images, then, the time difference of pulse signals of a plurality of UWB positioning labels received by the UWB positioning base station is verified, so that the accuracy of determining the position of the robot can be improved, and the robot can be effectively positioned.
In this embodiment, through setting up luminance sensor, a plurality of UWB location label, UWB location basic station and image acquisition module, when indoor luminance is good, directly gather the effect that the near image of robot realized the location through image acquisition module, when indoor luminance is poor, through UWB location label, UWB location basic station and image acquisition module realize the effect of location, can improve the rate of accuracy of location, effectively avoid because light and influence the rate of accuracy of discerning the position that indoor robot is located.
It should be noted that the control processor includes but is not limited to a single chip microcomputer, and is not specifically limited herein, and in addition, because there is a time difference between pulse signals received by the UWB positioning base station from different UWB positioning tags, the positioning information of the UWB positioning tag can be effectively calculated in combination with the position information of the UWB positioning base station.
Preferably, the positioning and navigation system further comprises an infrared sensor, and the infrared sensor is mounted on the robot and connected with the control processor.
In this embodiment, through setting up infrared sensor, when the robot walks on the navigation route that plans, whether there is the barrier on the real-time detection navigation route, can avoid the robot to appear by the thing that the barrier damaged, simultaneously, can also effectively improve the success rate that the robot arrived the destination.
Preferably, the positioning navigation system further comprises a human-computer interaction management module, wherein the human-computer interaction management module is used for realizing a human-computer interaction function and is connected with the control processor.
In this embodiment, through setting up human-computer interaction management module, can realize manual control's effect, when the operator is on-the-spot, through human-computer interaction management module direct control robot, can improve the efficiency of robot navigation, in addition, when switching into human-computer interaction management module, control treater direct control UWB location basic station and image acquisition module close, can prolong UWB location basic station and image acquisition module's life.
Preferably, the wireless communication module includes any one of a GPRS communication module, a bluetooth module, a UWB module and a Zigbee module.
An indoor robot positioning and navigation method is based on any one indoor robot positioning and navigation system, and specifically comprises the following steps:
step S1, the brightness sensor collects indoor brightness data in real time and sends the data to the control processor;
step S2, the control processor judges the indoor light condition according to the received brightness data, if the light intensity is good, the step S3 is executed, otherwise, the step S4 is executed;
step S3, the control processor controls the image acquisition module to start, acquires images near the robot and sends the images to the cloud server;
step S4, the control processor controls the UWB positioning base station and the image acquisition module to start simultaneously, acquires images near the robot and receives pulse signals of a plurality of UWB positioning labels, and sends the acquired images and the time for receiving the pulse signals to the cloud server;
step S5, the cloud server carries out positioning according to the received data, carries out route planning according to the positioning and generates a robot navigation route;
and step S6, sending the robot navigation route to a control processor, and controlling the walking system of the robot by the control processor according to the robot navigation route, thereby realizing the positioning navigation of the indoor robot.
In this embodiment, through setting up luminance sensor, a plurality of UWB location label, UWB location basic station and image acquisition module, when indoor luminance is good, directly gather the effect that the near image of robot realized the location through image acquisition module, when indoor luminance is poor, through UWB location label, UWB location basic station and image acquisition module realize the effect of location, can improve the rate of accuracy of location, effectively avoid because light and influence the rate of accuracy of discerning the position that indoor robot is located.
It should be noted that the control processor includes but is not limited to a single chip microcomputer, and is not specifically limited herein, and in addition, because there is a time difference between pulse signals received by the UWB positioning base station from different UWB positioning tags, the positioning information of the UWB positioning tag can be effectively calculated in combination with the position information of the UWB positioning base station.
Preferably, the method further comprises the steps of:
step S7, detecting whether an obstacle exists on a robot navigation route in real time by an infrared sensor, and if the obstacle is detected, sending an obstacle avoidance instruction to the cloud server;
and step S8, the cloud server calculates obstacle avoidance information according to the received obstacle avoidance instruction, sends the obstacle avoidance information to the control processor, and the control processor performs obstacle avoidance control according to the received obstacle avoidance information.
In this embodiment, through setting up infrared sensor, when the robot walks on the navigation route that plans, whether there is the barrier on the real-time detection navigation route, can avoid the robot to appear by the thing that the barrier damaged, simultaneously, can also effectively improve the success rate that the robot arrived the destination.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. The utility model provides an indoor robot location navigation, its characterized in that, includes luminance sensor, a plurality of UWB location label, UWB location base station, image acquisition module, control processor, wireless communication module and high in the clouds server, luminance sensor is used for responding to indoor luminance data, a plurality of UWB location labels set up respectively in indoor different positions, every UWB location label all with UWB location base station communication, image acquisition module is used for gathering near the image of robot, UWB location base station, image acquisition module, control processor and wireless communication module install respectively on the robot, luminance sensor, UWB location base station and image acquisition module respectively with control processor connects, control processor passes through wireless communication module with the high in the clouds server is connected.
2. The indoor robot positioning and navigation system according to claim 1, further comprising an infrared sensor mounted on the robot and connected to the control processor.
3. The indoor robot positioning and navigation system according to claim 1 or 2, further comprising a human-computer interaction management module, wherein the human-computer interaction management module is used for realizing human-computer interaction function and is connected with the control processor.
4. The indoor robot positioning and navigation system according to claim 3, wherein the wireless communication module comprises any one of a GPRS communication module, a Bluetooth module, a UWB module and a Zigbee module.
5. An indoor robot positioning and navigation method is based on any one of the indoor robot positioning and navigation systems in claims 1-4, and specifically comprises the following steps:
step S1, the brightness sensor collects indoor brightness data in real time and sends the data to the control processor;
step S2, the control processor determines the light condition in the room according to the received brightness data, if the light intensity is good, step S3 is executed, otherwise, step S4 is executed;
step S3, the control processor controls the image acquisition module to start, acquires images near the robot and sends the images to the cloud server;
step S4, the control processor controls the UWB positioning base station and the image acquisition module to start simultaneously, acquires images near the robot and receives pulse signals of a plurality of UWB positioning labels, and sends the acquired images and the time for receiving the pulse signals to the cloud server;
step S5, the cloud server carries out positioning according to the received data, carries out route planning according to the positioning and generates a robot navigation route;
and step S6, sending the robot navigation route to a control processor, and controlling the walking system of the robot by the control processor according to the robot navigation route so as to realize the positioning navigation of the indoor robot.
6. The indoor robot positioning and navigation method according to claim 5, further comprising the steps of:
step S7, detecting whether an obstacle exists on a robot navigation route in real time by an infrared sensor, and if the obstacle is detected, sending an obstacle avoidance instruction to the cloud server;
and step S8, the cloud server calculates obstacle avoidance information according to the received obstacle avoidance instruction, sends the obstacle avoidance information to the control processor, and the control processor performs obstacle avoidance control according to the received obstacle avoidance information.
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| CN202110801929.4A CN113721258A (en) | 2021-07-15 | 2021-07-15 | Indoor robot positioning and navigation system and method |
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