Indoor positioning and navigating method of robot

Abstract

The invention discloses an indoor positioning and navigating method of a robot. The indoor positioning and navigating method comprises a robot body, a left driving wheel, a right driving wheel, a fixed-type single-point laser ranging module, a laser ranging line, an obstacle, a robot circle center, a monocular camera, a gyroscope module and an MCU control module, and the left driving wheel and theright driving wheel which are mutually symmetrically distributed are arranged at the bottom of the robot body and at the two ends of the robot circle center. A fixed-type single-point laser ranging module is adopted, and can be mounted at any position such as front, back, left and right in the horizontal direction of the robot, the aim of 360-degree scanning obstacles to establish a map can be achieved through rotation of the robot, the effect is equivalent to 360-degree rotation of laser radars, the monocular camera is combined to achieve indoor building and positioning functions. The schemeis easier to install because no rotating mechanism exists, a motor is not required to control the fixed-type single-point laser ranging module to rotate, so that the fixed single-point laser rangingmodule is longer in service life and lower in cost.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a method for indoor positioning and navigation of a robot. Background technique [0002] At present, indoor positioning and mapping of robots are based on lidar positioning methods and visual positioning methods. Based on laser radar positioning methods, the advantage is that the map can be scanned in real time, and the map can be applied to navigation path planning. The disadvantage is that it is inconvenient to install, and it has requirements for the structure. Movement, easy damage, no features to correct the map. Using the visual method, it can define features and is easy to install, but it cannot scan the map in real time, and cannot be used for navigation and path planning. At present, indoor positioning and mapping of robots are based on gyroscope indoor positioning and navigation, and based on 360° rotating lidar scanning. The positioning and navigation metho...

AI Technical Summary

Problems solved by technology

[0002] At present, indoor positioning and mapping of robots are based on lidar positioning methods and visual positioning methods. Based on laser radar positioning methods, the advantage is that the map can be scanned in real time, and the map can be applied to navigation path planning. The disadvantage is that it is inconvenient to install, and it has requirements for the structure. Movement, easily damaged, no features to correct the map

Using the visual method, it can define features and is easy to install, but it cannot scan the map in real time, and cannot be used for navigation and path planning. At present, indoor positioning and mapping of robots are based on gyroscope indoor positioning and navigation, and based on 360° rotating lidar scanning. The positioning and navigation method adopts the indoor positioning method of the gyroscope, which has the advantages of low cost and easy installation. The disadvantage is that due to the need for odometer auxiliary calculations, due to the wheel slipping and the cumulative error of time, the map slowly shifts and cannot be corrected. , eventually resulting in positioning failure

The 360° rotating lidar scanning method is used for positioning and mapping. The advantage is that the success rate of mapping is high, and the map can be corrected in real time according to the laser data. The disadvantage is that the cost is high, and the requirements for the mold are high. The built-in action rotation mechanism of the radar is easy to be damaged. However, the traditional 360°rotation scanning mechanism module needs a motor to drive it, rotates continuously, consumes high power, is easy to be damaged, has a short service life, and is not easy to install. For this reason, we A method for indoor positioning and navigation of robots is proposed

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