Robot navigation method

A navigation method and robot technology, applied in the field of robot navigation control, can solve the problem that the positioning accuracy only reaches the centimeter level, and achieve the effect of eliminating accumulated errors and reliable operation.

Pending Publication Date: 2020-01-10
福建首松智能科技有限公司
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Problems solved by technology

But the positioning accuracy is only up to centimeter level

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Embodiment Construction

[0038] The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

[0039] Such as figure 1 , a robot navigation method of the present invention is applied to a robot with a drive wheel equipped with a rotary encoder, a nine-axis sensor and a laser navigation module 2 on the chassis 1, and a visual navigation module 3 on the head (such as figure 2 ). Methods include:

[0040] Step S01, obtain the driving wheel and rotary encoder information, and calculate the mileage of the robot;

[0041] Step S02, obtain the information collected by the nine-axis sensor, and calculate the yaw angle Z, roll angle X, and pitch angle Y of the robot based on the fusion algorithm;

[0042] Step S03, obtaining the scanning information of the laser navigation module, and locating the plane position of the r...

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Abstract

The invention discloses a robot navigation method, and belongs to the technical field of robot navigation control. The method comprises the following steps that step S01, information of a driving wheel and a rotating encoder is acquired, and robot mileage is calculated; step S02, acquisition information of a nine-axis sensor is acquired, and the yaw angle Z, the roll angle X and the pitch angle Yof the robot are calculated based on a fusion algorithm; step S03, the scanning information of a laser navigation module is acquired, and the plane position of the robot is positioned; step S04, the surrounding information of the robot is extracted and a two-dimensional map is generated based on the robot mileage, the yaw angle Z, the roll angle X and the pitch angle Y and the scanning result of the laser navigation module; step S05, the image information of a visual navigation module is acquired, the position, direction and environment information of the robot in the space are extracted, andan environment model is established; and step S06, a panoramic space map is generated based on the two-dimensional map and the environment model. According to the method, the positioning precision ofthe robot on the high-precision comprehensive navigation can reach the millimeter level, and the motion accumulation error of the robot is eliminated.

Description

technical field [0001] The invention belongs to the technical field of robot navigation control, and in particular relates to a robot navigation method in the field of intelligent control of industrial robots, service robots, and meal delivery robots. Background technique [0002] Navigation and localization are two important issues in mobile robot research. According to the completeness of environmental information, the type of navigation indication signal, the navigation area and other factors, the navigation methods of robots can be divided into: map model matching navigation based on environmental information; navigation based on landmarks; navigation based on vision; navigation based on sensors, etc. Environment map model matching navigation is to store complete information about the environment inside the robot, and on the basis of a pre-planned global route, use path tracking and obstacle avoidance technology to realize robot navigation. Once the environment changes,...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0231G05D1/0257G05D1/027
Inventor 崔恒耀暨书逸
Owner 福建首松智能科技有限公司
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