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An indoor robot positioning and navigation method

An indoor robot, positioning and navigation technology, applied in navigation, surveying and mapping and navigation, navigation calculation tools, etc., can solve the problems of large error, large number of sensors, long processing time, etc., and achieve the effect of correcting path deviation

Active Publication Date: 2018-11-09
WUHU HIT ROBOT TECH RES INST
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Problems solved by technology

This method is dedicated to obtaining real-time and accurate positioning coordinates, but it has disadvantages such as long processing time, a large number of sensors, and large errors when there are areas on the ceiling where it is inconvenient to arrange road signs.

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  • An indoor robot positioning and navigation method
  • An indoor robot positioning and navigation method
  • An indoor robot positioning and navigation method

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Embodiment Construction

[0029] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings, but it is not limited to this. Any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention should be covered by the technical solution of the present invention. in the scope of protection.

[0030] The present invention uses a monocular vision positioning system based on passive infrared road signs to locate the indoor robot. The positioning system is mainly divided into four modules: a robot, a camera installed on the robot, a road sign label attached to the ceiling, and a control module.

[0031] The robot is equipped with an electronic compass and an encoding disc, which can detect the changing angle and displacement, and according to the starting point coordinates of the robot, the control module can calculate the r...

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Abstract

The invention relates to a positioning and navigation method for an indoor robot and belongs to the technical field of robot positioning and navigation.The positioning and navigation method for the indoor robot includes the steps that a position where a road sign is not detected is rapidly positioned through a dead reckoning relative positioning method; a position where the road sign is detected is calculated to obtain absolute coordinates, and therefore precise position coordinates are obtained; when the robot is moved to the position where the road sign is detected from the position where the road sign is not detected, the former displacement deviation caused by positioning error accumulation in a relative positioning region is corrected.The method is especially suitable for indoor environments where road signs are not conveniently arranged massively on ceilings and has the advantages that average treatment time is short, the number of sensors is small, and the path deviation can be corrected.

Description

technical field [0001] The invention belongs to the technical field of robot positioning and navigation, and relates to an indoor robot positioning and navigation method. Background technique [0002] Robot navigation and positioning technology is an important research direction in the field of intelligent robots. Robot navigation refers to finding a safe path from the starting position to the ending point in an environment with obstacles, based on the shortest time or distance. There are many ways of robot navigation, which can be divided into several ways such as visual navigation, light reflection navigation, map navigation, inertial navigation, and road sign navigation according to different influencing factors. [0003] As the basis of robot navigation, localization has always been one of the hotspots in the field of robot research. Robot positioning is the process of calculating the position of the robot in the environment, which can be divided into relative position...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/00G01C21/206
Inventor 高云峰杨晨曹雏清张贤
Owner WUHU HIT ROBOT TECH RES INST
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