Indoor robot obstacle avoidance method, device and navigation system

An indoor robot and robot technology, applied in navigation, measuring device, mapping and navigation, etc., can solve the problems of difficulty in solving indoor robot obstacle avoidance, high implementation cost, low positioning accuracy, etc., and achieve low-cost and high-precision positioning and obstacle avoidance. Effect

Inactive Publication Date: 2017-08-08
SHENZHEN LANGKONG YIKE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The embodiment of the present invention provides an indoor robot obstacle avoidance method, device and navigation system, aiming to solve the problem of high implementation cost and low positioning accuracy of the existing indoor positioning technology, which makes it difficult to solve the problem of indoor robot obstacle avoidance

Method used

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  • Indoor robot obstacle avoidance method, device and navigation system
  • Indoor robot obstacle avoidance method, device and navigation system
  • Indoor robot obstacle avoidance method, device and navigation system

Examples

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Embodiment 1

[0075] figure 1 The implementation flow of the indoor robot obstacle avoidance method provided by Embodiment 1 of the present invention is shown, and the details are as follows:

[0076] In step S101, in the process of advancing to the target with a straight path, the real-time two-wheel speed obtained by the driving wheel speed sensor is used to obtain the coordinate change and direction angle change of the center point of the two wheels per unit time through the differential drive model. The coordinate change amount and the direction angle change amount per unit time are accumulated to obtain the real-time position and direction angle, and the direction angle is the angle between the movement direction and the positive direction of the X-axis.

[0077] In this example, if figure 1 As shown, in the differential drive model, the driving wheel speed sensor acquires the speeds of the center points P1 and P2 of the two wheels as V1 and V2, and the midpoint of the two is P, where...

Embodiment 2

[0104] Figure 4 The implementation flow of the indoor robot obstacle avoidance method provided by Embodiment 2 of the present invention is shown, and the details are as follows:

[0105] In step S401, in the process of moving toward the target with a straight path, the real-time two-wheel speed obtained by the driving wheel speed sensor is used to obtain the coordinate change and direction angle change of the two-wheel center point per unit time through the differential drive model, and the The coordinate change amount and the direction angle change amount per unit time are accumulated to obtain the real-time position and direction angle, and the direction angle is the angle between the movement direction and the positive direction of the X-axis.

[0106] In step S402, it is determined whether the non-driving wheel rotates with the two-wheel rotational speed parameter acquired by the auxiliary sensor, and if the non-driving wheel rotates, the coordinate variation and the dire...

Embodiment 3

[0111] Figure 5 A specific structural block diagram of an indoor robot obstacle avoidance device provided by Embodiment 3 of the present invention is shown, and for convenience of description, only parts related to the embodiment of the present invention are shown. In this embodiment, the indoor robot obstacle avoidance device includes: a real-time positioning module 51 and an obstacle avoidance module 52 .

[0112]Among them, the real-time positioning module 51 is used to obtain the real-time two-wheel speed obtained by the driving wheel speed sensor in the process of advancing to the target with a straight line path, and obtain the coordinate variation and direction angle of the two-wheel center point per unit time through the differential drive model The amount of change is to accumulate the amount of coordinate change and the amount of direction angle change per unit time to obtain the real-time position and direction angle, and the direction angle is the angle between th...

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Abstract

Being applicable to the field of positioning technology, the invention provides an indoor robot obstacle avoidance method, a device and a navigation system. The method includes: in a process of proceeding toward a target in a straight path, with real-time two wheels' speeds acquired by a drive wheel rotation speed sensor, using a differential driving model to acquire a coordinate variation amount and a direction angle variation amount of the two wheels' central point in unit time, accumulating the coordinate variation amount and the direction angle variation amount in unit time to acquire a real-time position and a direction angle, wherein the direction angle is an included angle between the motion direction and the X-axis positive direction; when an obstacle or danger zone is monitored through an obstacle sensor, bypassing the obstacle or danger zone in a left direction or right direction from the current real-time position, and after avoidance, then further letting the robot proceed in a straight path. The method, device and navigation system provided by the invention realizes low cost and high precision positioning and obstacle avoidance indoors.

Description

technical field [0001] The invention belongs to the technical field of positioning, and in particular relates to an indoor robot obstacle avoidance method, device and navigation system. Background technique [0002] At present, outdoor positioning technology is widely used. Common outdoor positioning methods include satellite positioning and base station positioning. These technologies are mature and can meet the positioning needs of various outdoor occasions. However, for the indoor environment where people live, the above positioning technologies are not applicable. In recent years, indoor positioning technology has developed rapidly. Several common indoor positioning technologies: [0003] The first UWB ultra-wideband pulse signal uses TDOA signal arrival time difference and AOA signal arrival angle positioning algorithm to analyze the tag position collected by multiple sensors. It has strong resolution and high precision, which can reach centimeter level; however, its im...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 孙海林孔琛王平刘锐吴荣杰温伟林闫明龚剑
Owner SHENZHEN LANGKONG YIKE TECH CO LTD
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