Accurate repeat positioning method for indoor autonomous navigation robot

Abstract

The invention discloses an accurate repeat positioning method for an indoor autonomous navigation robot in the field of intelligent robots. The method comprises the following steps of (1) allow a robot to sequentially pass through a plurality of preset target positions on a straight line, (2) acquiring current coordinates of the robot when the robot reaches one of the target positions, (3) calculating corrected coordinates of the current target position, (4) calculating the current visual position of the robot by adopting a visual compensation positioning algorithm after the robot reaches thecorrected coordinates of the target position, and (5) calculating an evaluation coefficient of the current target position according to the current coordinates, the corrected coordinates of the current target position and the current visual position of the robot, wherein the evaluation coefficient of the current target position is used for calculating the corrected coordinates of the robot to thenext target position. The robot moves in a long straight corridor scene, a positioning error is corrected in real time, and the accurate positioning of the robot is realized.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to an accurate and repetitive positioning method for an indoor autonomous navigation robot. Background technique [0002] At present, most indoor autonomous navigation robots use sensors such as code discs, gyroscopes, IMUs, and lidars to collect corresponding information and use fusion algorithms to estimate the real-time position and attitude of the robot. [0003] The code disc is similar to the odometer of a car. It calculates the distance of the robot by calculating the number of rotations of the wheel hub. However, the robot will inevitably be affected by factors such as slipping and tire wear during the movement, which will lead to code disc detection errors, and will follow the robot. Movements accumulate gradually, and error accumulation cannot be effectively eliminated. [0004] Due to the electrical characteristics of electronic devices, gyroscopes and IMUs (Inertial me...

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Problems solved by technology

[0003] The code disc is similar to the odometer of a car. It calculates the distance of the robot by calculating the number of rotations of the wheel hub. However, the robot will inevitably be affected by factors such as slipping and tire wear during the movement, which will lead to code disc detection errors, and will follow the robot. The movement gradually accumulates, and the accumulation of errors cannot be effectively eliminated

[0004] Due to the electrical characteristics of electronic devices, gyroscopes and IMUs (Inertial measurement unit inertial measurement units) will have zero drift (zero drift is the output when the input is 0), and the error will gradually accumulate over time, which cannot be effectively eliminated. error accumulation

[0005] Lidar scans the surrounding environment information through laser, and after processing the point cloud information, it matches with the prior map through the particle filter algorithm and finally estimates the robot attitude with the highest confidence. The radar has strong adaptability and is not affected by light. , the positioning algorithm based on lidar has a better positioning effect when the surrounding positioning features are rich, but in the scene where the surrounding environment of the long and straight corridor is relatively similar, the positioning algorithm will easily fail, resulting in a large positioning deviation

[0006] In the long straight corridor scenario, if the above positioning scheme requires the robot to run for a long time and can accurately repeat the positioning, the effect is very unsatisfactory, and the accurate positioning cannot be repeated, and the positioning error of two adjacent positionings may even be greater than 30cm

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