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Indoor robot positioning navigation method and device

An indoor robot, positioning and navigation technology, applied in the field of robot navigation, can solve the problems of low positioning accuracy, narrow application range, inconvenient use, etc., achieve the effect of fast movement speed, wide application range, and high cost

Active Publication Date: 2016-04-13
苏州海通机器人系统有限公司
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Problems solved by technology

[0005] The purpose of the present invention is to provide an indoor robot positioning and navigation method and device, which can solve the problems of low positioning accuracy, high cost, inconvenient use, and narrow application range in the existing positioning and navigation methods.

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  • Indoor robot positioning navigation method and device
  • Indoor robot positioning navigation method and device

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Embodiment Construction

[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0039] See figure 1 , which is a flow chart of an embodiment of the indoor robot positioning and navigation method of the present invention, specifically, a positioning and navigation method that combines visual positioning and inertial navigation.

[0040] Such as figure 1 As shown, the method for realizing indoor robot positioning and navigation in this embodiment specifically includes the following steps:

[0041] Step 11: Use the camera set on the robot to take an image including the calibration plate located above the robot.

[0042] In this embodiment, according to the activity area of ​​the robot, a calibration plate is preset in the room. Specifically, above the active area of ​​the robot, a plurality of calibration plates are suspended ...

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Abstract

The invention discloses an indoor robot positioning navigation method and device. The method comprises using a camera on a robot to shoot an image containing a calibration plate positioned above the robot; using an image processing technology to recognize the calibration plate in the image, determining a current position and a current deviation angle of the robot according to the calibration plate in the image and known coordinates of the calibration plate, and positioning absolute positions of the robot; by taking the current position and the current deviation angle as a reference, navigating the robot by adopting an inertia navigation manner. By using the invention, problems of low positioning precision, high cost, inconvenient use and narrow use range of the existing positioning navigation method are solved.

Description

technical field [0001] The invention belongs to the technical field of robot navigation, and in particular relates to an indoor robot positioning and navigation method and device. Background technique [0002] In the research of indoor robot-related technologies, navigation technology is its core technology, and it is also the key technology to realize the intelligentization and autonomous movement of robots. At present, for indoor robots that perform logistics handling indoors, laser navigation and inertial navigation are mainly used. [0003] Laser navigation is to install a laser sensor on the robot, and arrange a laser reflector around the robot's running route. The robot scans the reflector in real time through the laser sensor to realize its own positioning, and navigates according to the positioning. This navigation method has the following disadvantages: due to the high price of the laser sensor and the strict requirements for the layout of the laser reflector, it i...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/165G01C21/206
Inventor 孙鲁兵孙福斋申作军陈立钢位世波于明伯胡满
Owner 苏州海通机器人系统有限公司
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