Robot outdoor navigation system and method based on RTK

Abstract

The application relates to an RTK-based robot outdoor navigation method, which comprises the following steps: step 1: acquiring positioning information of a mobile positioning base station and image information of a region where a robot is located; step 2: calculating positioning information of the robot according to the positioning information of the mobile positioning base station and the image information of the region where the robot is located, wherein the positioning information of the robot comprises coordinate information of a current position of the robot and / or coordinate information of an expected position; and step 3: a navigation module of the robot performs path planning according to the positioning information of the robot. Compared with the prior art, the application has the advantages that errors caused by the influence of environmental shielding factors on system accuracy when only the RTK technology is used are avoided, and the problem that the positioning effect is poor due to environmental shielding factors during the movement of a flow station in an RTK system is solved.

Description

Technical Field

[0001] This invention relates to the field of positioning and navigation, and in particular to an RTK-based outdoor navigation system and method for robots. Background Technology

[0002] RTK (Real-time kinematic) positioning technology is a real-time dynamic positioning technology based on carrier phase observations. It can provide real-time three-dimensional positioning results of a station in a specified coordinate system with centimeter-level accuracy. In RTK operation mode, the base station transmits its observations and station coordinate information to the rover via a data link. The rover not only receives data from the base station via the data link but also collects GPS observation data, and processes it in real time by combining differential observations within the system, providing centimeter-level positioning results. RTK technology has wide applications in many fields, but environmental factors can introduce errors into the RTK system during application. For example, when the rover moves near tall buildings, windbreaks, or large bodies of water, it can introduce positioning errors into the RTK system.

[0003] RTK technology has a wide range of applications in many fields, but environmental factors may introduce certain errors into the RTK system during its application. For example, when a rover moves near tall buildings, windbreaks, or large bodies of water, it may introduce certain errors into the positioning of the RTK system. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an RTK-based outdoor robot navigation system and method.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] An RTK-based outdoor navigation method for robots, comprising the following steps:

[0007] Step 1: Obtain the location information of the mobile positioning base station and the image information of the area where the robot is located;

[0008] Step 2: Calculate the robot's positioning information based on the positioning information from the mobile positioning base station and the image information of the area where the robot is located. The robot's positioning information includes the coordinates of the robot's current position and / or the coordinates of the desired position.

[0009] Step 3: The robot's navigation module plans the path based on the robot's positioning information.

[0010] Step 1, the process of obtaining the positioning information of the mobile positioning base station and the image information of the area where the robot is located, specifically includes the following steps:

[0011] Step 101: Activate the telescopic device to raise the RTK module to the set position, which is determined by the surrounding obstacles when the system is working, and adjust the camera's shooting angle;

[0012] Step 102: Obtain the RTK coordinates of the mobile positioning base station through the RTK module, that is, the current location coordinates of the mobile positioning base station. After obtaining the positioning information of the mobile positioning base station, transmit it to the processing unit through the first communication module.

[0013] Step 103: Collect image information of the area where the robot is located through the camera, and then transmit the image information to the processing unit through the first communication module.

[0014] When the robot's positioning information is the coordinates of the robot's current location, step 2, which involves calculating the robot's positioning information based on the positioning information from the mobile positioning base station and the image information of the area where the robot is located, specifically includes the following steps:

[0015] Step 201: The processing unit obtains the robot's coordinates on the image information based on the target detection algorithm;

[0016] Step 202: The processing unit obtains the robot's coordinates in the same coordinate system as the RTK module by using the robot's coordinates in the image information and the RTK coordinates of the mobile positioning base station. That is, the coordinate information of the robot's current position is transmitted to the robot through the communication module to correct the robot's position and thus obtain the robot's positioning information.

[0017] In step 202, the process of obtaining the coordinate information of the robot's current position is specifically as follows:

[0018] The relative distance between the mobile positioning base station and the robot is calculated by using the robot's coordinates in the image information and the RTK coordinates of the mobile positioning base station. This allows us to obtain the robot's coordinates in the same coordinate system as the RTK module. However, under specific conditions, the RTK coordinates of the mobile positioning base station are used as a reference. Based on the COORD coordinate transformation, the robot's coordinates in the image information are transformed. The robot's position is then corrected according to the RTK coordinates of the mobile positioning base station, thereby obtaining the coordinate information of the robot's current position.

[0019] When the robot's positioning information is the coordinate information of the desired location, step 2, which involves calculating the robot's positioning information based on the positioning information of the mobile positioning base station and the image information of the area where the robot is located, specifically involves:

[0020] The processing unit calculates the robot's coordinates in the same coordinate system as the RTK module. Based on the task settings, it sets the positioning information for the robot to move to a specific location, i.e., the coordinate information of the desired location. The coordinate information of the desired location is either the position information in the RTK coordinate system or the robot's coordinates on the image information. If it is the position coordinates on the image information, the processing unit calculates the coordinates and transmits the coordinate information of the desired location to the robot via the communication module.

[0021] An outdoor navigation system for implementing the aforementioned robot outdoor navigation method includes a mobile positioning base station, a processing unit, and one or more robots. The mobile positioning base station includes a mobile platform, a first communication module and a telescopic device disposed on the upper side of the mobile platform, and an RTK module and a camera disposed on the upper side of the telescopic device. The processing unit is used to acquire the robot's positioning information. The robot includes a communication module and a navigation module for path planning based on the robot's positioning information.

[0022] Both the first communication module of the mobile positioning base station and the communication module of the robot are wireless communication modules, and the first communication module of the mobile positioning base station communicates wirelessly with the communication module of the robot.

[0023] The processing unit is set up independently of the mobile positioning base station, and the processing unit includes a wireless communication module. The processing unit communicates wirelessly with the robot's communication module and the first communication module of the mobile positioning base station.

[0024] The processing unit is located on the mobile positioning base station, which communicates with the robot's communication module through the first communication module.

[0025] The mobile positioning base station also includes a gimbal mounted on top of the telescopic device. The gimbal is equipped with an RTK module and a camera. The telescopic device is a telescopic pole or a retractable line device with a balloon on the upper side. The RTK module is used to obtain the positioning information of the mobile positioning base station, and the camera is used to collect image information of the area where the robot is located.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] This invention uses a telescopic device to raise the RTK module into the air for better signal reception. The RTK module obtains the positioning information from the mobile positioning base station and calculates the robot's location coordinates by combining the image information of the robot's location area collected by the camera. This avoids the errors caused by environmental occlusion factors affecting the system accuracy when using RTK technology alone, and solves the problem of poor positioning effect of the rover in the RTK system due to environmental occlusion factors during movement. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a mobile positioning base station according to an embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram of the structure of an RTK-based outdoor robot navigation system according to an embodiment of the present invention.

[0030] Figure 3 This is a schematic diagram of another mobile positioning base station according to an embodiment of the present invention.

[0031] Reference numerals: 101, mobile platform; 102, first communication module; 103, telescopic device; 104, RTK module; 105, camera; 106, gimbal; 107, robot; 108, communication module; 109, navigation module; 110, processing unit. Detailed Implementation

[0032] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0033] like Figure 1 As shown, the present invention provides an RTK-based outdoor robot navigation system. The system includes a mobile positioning base station, a processing unit 110, and multiple robots 107. The mobile positioning base station includes a mobile platform 101, a first communication module 102, a telescopic device 103, an RTK module 104, and a camera 105. The first communication module 102 is mounted on the mobile platform 101. The bottom end of the telescopic device 103 is mounted on the mobile platform 101. The telescopic device 103 is a telescopic pole or a retractable line device with a balloon at the top. A gimbal 106 is mounted at the top of the telescopic device 103. The RTK module 104 and the camera 105 are mounted on the gimbal 106. The first communication module 102 is used to communicate with the robots 107 and the processing unit 110. The RTK module 104 is used to obtain the positioning information of the mobile positioning base station. The camera 105 is used to collect image information of the area where the robots 107 are located.

[0034] The processing unit 110 is used to process the positioning information and image information of the mobile positioning base station, and then obtain the positioning information of the robot 107.

[0035] The robot 107 is a mobile robot 107, including a communication module 108 and a navigation module 109. The communication module 108 is used to communicate with the first communication module 102 or the processing unit 110 of the mobile positioning base station. The navigation module 109 is used to perform path planning based on the positioning information of the robot 107. The positioning information of the robot 107 includes the coordinate information of the current position of the robot 107 and / or the coordinate information of the desired position.

[0036] like Figure 2 As shown, the double-arrow solid line represents the data transmission path, and the dashed line and grid area represent the image information of the area where the robot 107 is located, which is collected by the camera 105. The RTK-based robot outdoor navigation system includes a mobile positioning base station, a processing unit 110, and a robot 107. The robot 107 is a mobile robot 107. The robot 107 includes a communication module 108, which is used to communicate with the processing unit 110. The robot 107 is also equipped with a navigation module 109, which is used to perform path planning based on the positioning information of the robot 107.

[0037] The system works as follows:

[0038] First, activate the telescopic device 103 to raise the RTK module 104 to a specific position, which is determined by the obstruction of surrounding buildings or trees during operation;

[0039] The camera 105 is adjusted to shoot at an angle. The RTK module 104 obtains the location information of the mobile positioning base station, which includes the current location coordinates of the mobile positioning base station. After obtaining the location information, it is transmitted to the processing unit 110 by the first communication module 102.

[0040] Image information of the area where robot 107 is located is acquired through camera 105, such as... Figure 2 As shown in the grid area, after the image information is acquired, it is transmitted from the first communication module 102 to the processing unit 110;

[0041] The processing unit 110 calculates the coordinates of the robot 107 in the same coordinate system as the RTK module 104, i.e., the coordinates of the robot 107's current position, based on the coordinates of the robot 107 in the image information and the current position coordinates of the mobile positioning base station obtained by the RTK module 104. The processing unit 110 then transmits these coordinates to the robot 107 via the communication module 108 to correct the position of the robot 107 and meet the positioning accuracy requirements of the preset task.

[0042] After the processing unit 110 calculates the coordinates of the robot 107 in the same coordinate system as the RTK module 104, it can also set the coordinates of the robot 107 to move to a specific position according to the task requirements, that is, the coordinate information of the desired position, and transmit it to the robot 107 through the communication module 108. The navigation module 109 of the robot 107 plans the path to move to the desired position in order to complete the task requirements that meet the positioning accuracy requirements.

[0043] In the above embodiment, the coordinates of robot 107 on the image information are obtained based on the target detection algorithm.

[0044] In the above embodiments, the processing unit 110 is set independently of the mobile positioning base station, and the communication module 108 of the robot 107 communicates with the processing unit 110. In another embodiment, the processing unit 110 is set on the mobile positioning base station, and the communication module 108 of the robot 107 communicates with the first communication module 102 of the mobile positioning base station.

[0045] In the above embodiment, the telescopic device 103 is a telescopic rod. As another embodiment, other telescopic devices 103 may also be used, such as... Figure 3 As shown, the telescopic device 103 is a line-retracting device 203 with a balloon 207 mounted above it.

[0046] In the above embodiment, the gimbal 106 is used to stabilize the RTK module 104 and camera 105 during operation. Alternatively, the RTK module 104 and camera 105 can be directly mounted on the telescopic rod or telescopic line of the telescopic device 103.

[0047] In the above embodiment, the system only sets up one robot 107. In other implementations, when two or more robots 107 are used for multi-robot collaborative work, the coordinates of multiple robots 107 in the same coordinate system as the RTK module 104 are calculated by using the positioning information obtained by the RTK module 104 and the image information collected by the camera 105, so as to achieve accurate positioning and multi-robot collaborative work.

[0048] In the above embodiments, both the first communication module 102 and the communication module 108 are wireless communication modules 108. When the processing unit 110 is set independently of the mobile positioning base station, the processing unit 110 includes the wireless communication module 108. As another embodiment, when the processing unit 110 is set on the mobile positioning base station, the processing unit 110 can communicate with the first communication module 102 through hard-wired communication or wireless communication.

[0049] This invention also provides an RTK-based outdoor navigation method for robots, which includes the following steps:

[0050] Step 1: Obtain the location information of the mobile positioning base station and the image information of the area where robot 107 is located;

[0051] Step 2: Calculate the positioning information of robot 107 based on the positioning information of the mobile positioning base station and the image information of the area where robot 107 is located. The positioning information of robot 107 includes the coordinate information of robot 107's current position and / or the coordinate information of the desired position.

[0052] Step 3: Perform path planning based on the positioning information of robot 107.

[0053] Specifically, step 1 includes the following steps:

[0054] Step 101: Activate the telescopic device 103 to raise the RTK module 104 to the set position, which is determined by the surrounding obstacles when the system is working, and adjust the shooting angle of the camera.

[0055] Step 102: Obtain the positioning information of the mobile positioning base station through the RTK module 104, that is, the current location coordinates of the mobile positioning base station. After obtaining the positioning information of the mobile positioning base station, transmit it to the processing unit 110 through the first communication module 102.

[0056] Step 103: Collect image information of the area where the robot 107 is located through the camera 105, and transmit the image information to the processing unit 110 through the first communication module 102.

[0057] Step 2 includes the following steps:

[0058] Step 201: Processing unit 110 obtains the coordinates of robot 107 in the image information based on the target detection algorithm YOLO algorithm;

[0059] Step 202: The processing unit 110 calculates the coordinates of the robot 107 in the same coordinate system as the RTK module 104 by combining the coordinates of the robot 107 in the image information with the current position coordinates of the mobile positioning base station obtained by the RTK module 104. That is, the coordinate information of the current position of the robot 107. The processing unit 110 then transmits the coordinate information of the current position of the robot 107 to the robot 107 through the communication module 108 to correct the position of the robot 107, thereby meeting the positioning accuracy in the preset task.

[0060] In step 202, after the processing unit 110 calculates the coordinates of the robot 107 in the same coordinate system as the RTK module 104, it sets the positioning information of the robot 107 to move to a specific position according to the task settings, that is, the coordinate information of the desired position. The coordinate information of the desired position is the position information in the RTK coordinate system or the robot's coordinates on the image information. If it is the position coordinates on the image information, it is calculated by the processing unit, preferably the position information in the RTK coordinate system. The coordinate information of the desired position is transmitted to the robot 107 through the communication module 108. The navigation module 109 of the robot 107 plans the path to move to the desired position in order to complete the task requirements that meet the positioning accuracy requirements.

[0061] This invention uses a telescopic device 103 to raise the RTK module 104 into the air to better receive signals. The RTK module 104 obtains the positioning information of the mobile positioning base station and calculates the position coordinates of the robot 107 by combining the image information of the area where the robot 107 is located collected by the camera 105. This method can avoid the error caused by environmental occlusion factors affecting the system accuracy when using RTK technology alone, and solves the problem of poor positioning effect of the rover in the RTK system due to environmental occlusion factors during movement.

[0062] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A robot outdoor navigation method based on RTK, characterized in that, The method includes the following steps: Step 1: Obtain the location information of the mobile positioning base station and the image information of the area where the robot (107) is located; Step 2: Calculate the positioning information of the robot (107) based on the positioning information of the mobile positioning base station and the image information of the area where the robot (107) is located. The positioning information of the robot (107) includes the coordinate information of the current position of the robot (107) and / or the coordinate information of the desired position. Step 3: The navigation module (109) of the robot (107) performs path planning based on the positioning information of the robot (107); In step 1, the mobile positioning base station includes a mobile platform (101), a first communication module (102) and a telescopic device (103) disposed on the upper side of the mobile platform (101), and an RTK module (104) and a camera (105) disposed on the upper side of the telescopic device (103). The process of obtaining the positioning information of the mobile positioning base station and the image information of the area where the robot (107) is located specifically includes the following steps: Step 101: Activate the telescopic device (103) to raise the RTK module (104) to the set position, which is determined by the surrounding obstacles when the system is working, and adjust the shooting angle of the camera; Step 102: Obtain the RTK coordinates of the mobile positioning base station through the RTK module (104), that is, the current location coordinates of the mobile positioning base station. After obtaining the positioning information of the mobile positioning base station, transmit it to the processing unit (110) through the first communication module (102). Step 103: Collect image information of the area where the robot (107) is located through the camera (105), and after obtaining the image information, transmit it to the processing unit (110) through the first communication module (102). When the positioning information of robot (107) is the coordinate information of the current position of robot (107), the process of calculating the positioning information of robot (107) based on the positioning information of mobile positioning base station and the image information of the area where robot (107) is located in step 2 specifically includes the following steps: Step 201: The processing unit (110) obtains the coordinates of the robot (107) on the image information based on the target detection algorithm; Step 202: The processing unit (110) obtains the coordinates of the robot (107) in the same coordinate system as the RTK module (104) by using the coordinates of the robot (107) in the image information and the RTK coordinates of the mobile positioning base station. That is, the coordinate information of the current position of the robot (107) is obtained, and the coordinate information of the current position of the robot (107) is transmitted to the robot (107) through the communication module (108) to correct the position of the robot (107) and obtain the positioning information of the robot (107). When the positioning information of the robot (107) is the coordinate information of the desired location, the process of calculating the positioning information of the robot (107) in step 2 based on the positioning information of the mobile positioning base station and the image information of the area where the robot (107) is located is as follows: The processing unit (110) calculates the coordinates of the robot (107) in the same coordinate system as the RTK module (104), and sets the positioning information of the robot (107) to move to a specific position according to the task settings, that is, the coordinate information of the desired position. The coordinate information of the desired position is the position information in the RTK coordinate system or the coordinates of the robot (107) on the image information. If it is the position coordinates on the image information, the processing unit calculates it and transmits the coordinate information of the desired position to the robot (107) through the communication module (108).

2. The RTK-based robot outdoor navigation method according to claim 1, wherein, In step 202, the process of obtaining the coordinate information of the current position of the robot (107) is specifically as follows: The relative distance between the mobile positioning base station and the robot is calculated by using the coordinates of the robot (107) in the image information and the RTK coordinates of the mobile positioning base station, and then the coordinates of the robot (107) in the same coordinate system as the RTK module (104) are obtained.

3. A robot outdoor navigation system implementing the robot outdoor navigation method according to any one of claims 1 to 2, characterized in that, The system includes a mobile positioning base station, a processing unit (110), and one or more robots (107). The processing unit (110) is used to obtain the positioning information of the robot (107). The robot (107) includes a communication module (108) and a navigation module (109) for path planning based on the positioning information of the robot (107).

4. A robotic outdoor navigation system according to claim 3, wherein, The first communication module (102) of the mobile positioning base station and the communication module (108) of the robot (107) are both wireless communication modules, and the first communication module (102) of the mobile positioning base station communicates wirelessly with the communication module (108) of the robot (107).

5. A robotic outdoor navigation system according to claim 3, wherein, The processing unit (110) is set independently of the mobile positioning base station, and the processing unit (110) includes a wireless communication module. The processing unit (110) communicates wirelessly with the communication module (108) of the robot (107) and the first communication module (102) of the mobile positioning base station.

6. A robotic outdoor navigation system according to claim 3, wherein, The processing unit (110) is located on the mobile positioning base station, which communicates with the communication module (108) of the robot (107) through the first communication module (102).

7. A robotic outdoor navigation system according to claim 3, wherein, The mobile positioning base station also includes a gimbal (106) set on the top of the telescopic device (103). The gimbal (106) is equipped with an RTK module (104) and a camera (105). The telescopic device (103) is a telescopic pole or a balloon retraction and extension device on the upper side. The RTK module (104) is used to obtain the positioning information of the mobile positioning base station, and the camera (105) is used to collect image information of the area where the robot (107) is located.

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