A method for indoor positioning of a robot
An indoor positioning and robotics technology, applied in instrumentation, navigation, mapping and navigation, etc., can solve the problems of strong multipath effect of wireless system, difficulty in high-precision positioning deployment, and deterioration of wireless positioning working environment.
Active Publication Date: 2019-06-18
航天科工智能机器人有限责任公司
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Problems solved by technology
However, in an indoor environment, due to the small size of the space, the multipath effect of the wireless system is strong, and the deployment of high-precision positioning is difficult; and, due to the existence of occluding objects such as building pillars, partition walls, glass, and furniture, the wireless positioning is further deteriorated. working environment
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[0032] figure 1 A general flow chart of a method for indoor positioning of a robot according to an embodiment of the present invention is shown. Such as figure 1 As shown, in the case that the encoder data and ultra-wideband data at the previous moment have been obtained, the encoder data at the current moment are collected through the photoelectric encoder installed at the shaft end of the motor that drives the left and right wheels of the robot, and the ultra-wideband positioning The system collects ultra-wideband data at the current moment, and the sampling interval is, for example, 100ms. Based on the above data, the mileage increment ds and the position increment dl within the sampling interval are respectively calculated. Judging the availability of positioning information according to ds and dl, and adopting different positioning strategies:
[0033] When the dead reckoning is abnormal based on the ultra-wideband data, it is usually because the wheels are seriously s...
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The invention provides a method for indoor positioning of a robot. The method comprises a data storage step, a data collecting step, an incremental data calculation step and a locating information evaluation step, wherein the data storage step is used for storing encoder data and ultra wide band data at a last moment; the data collecting step is used for collecting encoder data at a current data through a photoelectric encoder arranged on a motor for driving a left wheel and a right wheel of the robot and collecting ultra wide band data at a current moment through an ultra wide band positioning system; the incremental data calculation step is used for calculating a mileage increment and a position increment according to the stored encoder data and the ultra wide band data at the last moment and the collected encoder data and ultra wide band at the current moment; and the locating information evaluation step is used for determining whether the encoder data and the ultra wide band data are abnormal according to the calculated mileage increment and position increment, so as to determine to use an unscented Kalman filter (UKF) method, a dead reckoning method or ultra wide band pose information obtained by the ultra wide band positioning system to acquire positioning information of the robot at the current moment.
Description
technical field [0001] The invention relates to the field of navigation control of a ground mobile robot in an indoor environment, and more particularly relates to an indoor positioning method for a robot. Background technique [0002] The existing intelligent mobile robot is a kind of robot system that can perceive the environment and its own state through sensors, and realize the goal-oriented autonomous navigation movement in the environment with obstacles, so as to complete the predetermined task. In order to realize the robot's autonomous navigation movement, it is necessary to solve a series of problems such as environment modeling, real-time positioning, path planning, and motion control; among them, the mobile robot must have the ability of positioning, and its purpose is to determine the coordinates of the robot relative to the world in the operating environment. position and heading of the system. [0003] Currently, there are various positioning technologies, suc...
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IPC IPC(8): G01C21/00
CPCG01C21/005
Inventor 王芳刘汝佳吕翀李楠段俊杰
Owner 航天科工智能机器人有限责任公司