Robot based on inertial navigation and two-dimensional code and positioning and navigation method thereof

A robot positioning and inertial navigation technology, which is applied in the field of indoor mobile robots and position positioning and navigation, can solve the problems of single function and no related description, and achieve the effect of improving low precision, improving accuracy and low cost

Inactive Publication Date: 2017-01-18
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Existing robots simply use the two-dimensional codes set on the ground for positioning, and their functions are relatively single
[0007] It can be seen from the above that there is an urgent need for a positioning and navigation method based on inertial navigation and two-dimensional codes, which can use both inertial navigation and two-dimensional codes for positioning, eliminate the cumulative error of inertial navigation devices, and make up for the shortcomings of inertial navigation. There is no related description in the technology

Method used

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  • Robot based on inertial navigation and two-dimensional code and positioning and navigation method thereof
  • Robot based on inertial navigation and two-dimensional code and positioning and navigation method thereof
  • Robot based on inertial navigation and two-dimensional code and positioning and navigation method thereof

Examples

Experimental program
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Effect test

Embodiment

[0078] A positioning and navigation method based on a robot, comprising the following steps:

[0079] Step 1. After the robot is initialized, the initial position coordinate information (0, 0) is obtained, and the target position coordinate information (5, 5) is obtained by receiving the command from the host computer. The angle ψ of the robot's driving direction is calculated as:

[0080]

[0081] Step 2. The robot starts to drive towards the target, and the inertial device collects data every 1s, and the data collected for the 4 times are respectively θ 0 =45°, θ 1 = 4°, θ 2 =52°, θ 3 = 63°, the velocity is V 0 =0.5m / s, V 1 =1.1m / s, V 2 =1.5m / s, V 3 =1.5m / s, then (X 0 ,Y 0 ), (X 1 ,Y 1 ), (X 2 ,Y 2 ), (X 3 ,Y 3 ), (X 4 ,Y 4 ), respectively: (0, 0), (0.35, 0.35), (0.43, 1.45), (1.61, 2.37), (2.94, 3.05) can calculate the trajectory of the robot.

[0082] X k = ...

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Abstract

The invention provides a positioning and navigation method of a robot based on inertial navigation and a two-dimensional code. The method comprises the following steps: a robot starts from an initial position and moves to a target position; in the motion process, a robot inertial measurement device continuously measures course angle and speed of the robot, and calculates motion track of the robot and corrects the driving direction of the robot; the robot scans a two-dimensional code picture on the ground, reads position information in the two-dimensional code and determines the current position of the robot; according to the inertial measurement device and two-dimensional code information, the track path of the robot is corrected and the moving path of the robot is determined; and the robot reaches the target position. The method realizes a function of determining the position and course of the robot through inertial navigation and the two-dimensional code, thereby reducing position error and enabling the robot to reach the target position quickly.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an indoor mobile robot and a position positioning and navigation method. Background technique [0002] With the rapid development of computer technology, sensor technology and modern control technology, the types of robots have become more and more abundant, and they have gradually entered people's daily life from traditional industrial fields. In the near future, people can see all kinds of robots in exhibition halls, libraries, warehouses, supermarkets and other places. Therefore, the demand for positioning and navigation, which is a key technology of indoor mobile robots, is also increasing. [0003] The area where indoor positioning technology is applied is a closed or semi-closed space with a complex environment. According to different environments, applications and needs, the technologies used for indoor positioning mainly include: laser, infrared, ultrasonic, vision, magn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/027G05D2201/0217
Inventor 吴益飞蔡俊杰郭健徐航宇陈庆伟李胜金立伟刘小壮周梦兰芦梦兰洪宇
Owner NANJING UNIV OF SCI & TECH
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