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Indoor robot positioning method and device

An indoor robot and positioning method technology, applied in the field of indoor robot positioning methods and devices, can solve problems such as being susceptible to interference from other floors, a large number of routers, and inaccurate positioning, so as to avoid network signal interference, reduce the number of accurate positioning

Inactive Publication Date: 2017-02-22
北京创想智控科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the purpose of the embodiments of the present invention is to provide an indoor robot positioning method and device to solve the problem of using WLAN positioning in the prior art. When there are multiple floors, a router needs to be installed on each floor. On the one hand, the number of routers required is relatively large, resulting in higher costs; on the other hand, it is easily interfered by other floors, resulting in inaccurate positioning

Method used

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  • Indoor robot positioning method and device

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Embodiment 1

[0053] The embodiment of the present invention provides an indoor robot positioning method. In this method, a wireless personal area network (ZigBee) is used to locate the robot indoors. When positioning is required on multiple floors, there is no need to set up Zigebee on each floor. The node reduces the number of ZigBee nodes, reduces the cost, and at the same time avoids the interference of the network signal between each layer, making the positioning more accurate.

[0054] When using the method provided by the embodiment of the present invention to perform robot positioning, multiple radio frequency identification (RFID) tags need to be affixed on the indoor ground. The above RFID tags can be arranged in an orderly manner indoors, that is, evenly distributed on the ground. It may be randomly arranged, and the embodiment of the present invention does not limit the specific arrangement of the above-mentioned RFID tags.

[0055] In addition, there are multiple ZigBee nodes indoor...

Embodiment 2

[0108] The embodiment of the present invention provides an indoor robot positioning device, such as figure 2 As shown, the device includes: a first acquisition module 210, a first calculation module 220, a second acquisition module 230, a first determination module 240, and a second determination module 250;

[0109] The above-mentioned first obtaining module 210 is configured to obtain tag information obtained by the robot from collecting radio frequency identification tags on the ground, where the tag information includes position coordinates of the radio frequency identification tags;

[0110] The first calculation module 220 is configured to calculate the position coordinates of the robot according to the position coordinates of the radio frequency identification tag;

[0111] The above-mentioned second acquisition module 230 is configured to acquire the distribution map of the signal strength indication value of the wireless personal area network received at different reference ...

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Abstract

The invention provides an indoor robot positioning method and device. The indoor robot positioning method comprises the following steps: acquiring a ground radio frequency recognition label through a robot so as to obtain label information; according to a position coordinate in the label information, calculating a position coordinate of the robot; acquiring a distribution diagram of single intensity indication values of a wireless personal area network received in different reference positions inside a room in which the robot exists; modifying the signal intensity indication values, received by the robot, of the wireless personal area network so as to obtain modified values, calculating matching probability of indication values of the modified values corresponding to different reference positions on the distribution diagram, and confirming an assistant positioning position coordinate of the robot according to the matching probability; confirming an actual position coordinate of the robot according to the position coordinate of the robot and the assistant positioning position coordinate of the robot. By adopting the indoor robot positioning method and the indoor robot positioning device, when positioning is implemented on multiple floors, wireless personal area network nodes do not need to be arranged on each floor, so that the number of the wireless personal area network nodes can be reduced, the cost can be lowered, signal interference of layers can be avoided, and positioning can be accurate.

Description

Technical field [0001] The present invention relates to the technical field of robots and positioning, and in particular to an indoor robot positioning method and device. Background technique [0002] With the continuous development of robotics, indoor robots have received more and more applications, such as sweeping robots, etc. In indoor robot applications, the ability to accurately locate indoor robots is very important for indoor robot path planning. Therefore, Indoor robot positioning is the key to autonomous robot navigation, which is of great significance for improving the automation level of robots. [0003] Most of the existing indoor positioning technologies use Wireless Local Area Networks (WLAN) for positioning. However, when positioning is required on multiple floors, routers need to be installed on each floor, which is costly. In addition, When positioning the robot on a certain floor, you need to use the network signal sent by the router on that floor for positionin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/00H04W64/00G01S5/02
CPCG01S5/0236G01S5/0257G01S5/0278G01S5/0284H04W4/80H04W64/00
Inventor 吴兴华凌清宋仕超陈猛
Owner 北京创想智控科技有限公司
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