Mobile robot laser radar navigation system and method based on teaching technology

Abstract

The invention relates to the technical field of mobile robot teaching navigation, and discloses a mobile robot laser radar navigation system and method based on a teaching technology, a user manually drags a route on which a robot wants to walk once, and the robot records a frame of laser radar data every time the robot walks a certain distance; and in the autonomous operation mode, the robot collects laser radar data, compares the laser radar data with nearest reference radar data, calculates deviation and adjusts operation of the robot to eliminate errors, so that autonomous navigation is realized. According to the laser radar navigation scheme designed by the invention, a mapping program is completely omitted, and a teaching method is used, so that the robot achieves the navigation effect of how to learn and how to walk.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robot teaching navigation, and in particular to a mobile robot laser radar navigation system and method based on teaching technology. Background Art

[0002] Mobile robot navigation can be summarized into three key questions: where the robot is, where it's going, and how it's going. Addressing these three issues requires positioning the robot, creating a map of the environment, and planning its path. LiDAR scanning is a widely used positioning method for mobile robots. However, when using LiDAR for navigation, mobile robots must first perceive the environment and create a map, then determine the location, and finally plan the path. This solution doesn't align with user habits and is difficult to scale. Summary of the Invention

[0003] The present invention proposes a mobile robot lidar navigation system and method based on teaching technology. This solution eliminates the mapping process and enables the robot to achieve a "how to learn, how to move" navigation effect, making it easier for users to understand and use the mobile robot.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The mobile robot laser radar navigation method based on teaching technology includes the following steps:

[0006] Step 1: Start the teaching mode. The teaching module collects the spatial position and posture of the robot at the starting and ending points and writes them into the parameter database.

[0007] Step 2: Drag the robot to walk. The teaching module collects the robot's walking mode on the starting and ending points and the positioning point sections to form action instructions and write them into the parameter database;

[0008] Step 3: When the robot walks to the positioning point, the LiDAR module collects the LiDAR data of the positioning point. Simultaneously, the teaching module collects the robot's spatial position and posture at the positioning point. The spatial position and posture of the positioning point are bound to the LiDAR data and written into the parameter database.

[0009] Step 4: Start the autonomous navigation mode. The control module retrieves the teaching data in the parameter database and controls the robot's spatial position and posture through the walking execution module based on the data. According to the action instructions of the teaching data, the control module controls the robot to walk through the walking execution module. When walking to the positioning point, the laser radar module collects the laser radar data of the spatial position, compares it with the closest laser radar data in the teaching data, and calculates the deviation between the two. Based on this, the walking execution module controls the robot's spatial position and posture.

[0010] The positioning point is a spatial location point with a fixed path from the starting point or a spatial location point reached after walking from the starting point for a fixed time.

[0011] A mobile robot laser radar navigation system based on teaching technology, the system is used to execute the method, and specifically includes: a teaching module, a laser radar module, a control module, a human-computer interaction module and a walking execution module.

[0012] The beneficial effects of the present invention are as follows:

[0013] The lidar navigation solution designed in this invention completely omits the mapping process. Instead, it uses a teaching method, allowing the user to manually drag the robot along the route it wants to take. Every time the robot travels a certain distance, for example, 10 cm, the robot records a frame of lidar data and binds the relationship between the radar data and the position. In autonomous operation mode, the robot collects lidar data, compares it with the nearest reference radar data, calculates the deviation, and adjusts the robot operation to eliminate the error, thereby achieving autonomous navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is the architecture diagram of the mobile robot lidar navigation system based on teaching technology. DETAILED DESCRIPTION

[0015] Example 1:

[0016] Mobile robot lidar navigation system based on teaching technology, such as Figure 1 As shown, it includes: teaching module, laser radar module, control module, human-computer interaction module and walking execution module;

[0017] The teaching module is used to record the robot's spatial position and posture data of specific teaching points on the teaching route and the motion instructions between specific teaching points;

[0018] The LiDAR module is used to collect LiDAR data at specific teaching points on the teaching route;

[0019] On the one hand, the control module stores the teaching data into the recipe system of the human-machine interface, and on the other hand, controls the robot's motion through the walking execution module;

[0020] The human-machine interaction module consists of a human-machine interface, a recipe manager, and a parameter database. The human-machine interface is used to provide teaching operations. The recipe manager stores the motion parameters and process parameters set by the operator and the recorded teaching trajectory data in the parameter database. The parameter database shares the teaching trajectory data through the cloud synchronization module.

[0021] The walking execution module is used to analyze control instructions and drive the robot to move stably;

[0022] The teaching module and the laser radar module are connected to the input end of the control module, the walking execution module is connected to the output end of the control module, and the control module interacts with the human-computer interaction module for data.

[0023] Example 2:

[0024] The teaching method of the mobile robot laser radar navigation system based on the teaching technology includes the following steps:

[0025] Step 1: Start teaching. The operator drags the robot to the starting point of the teaching path. The teaching module collects the robot's spatial position and posture at the starting point and stores them in the parameter database of the human-computer interaction module. The parameter database also stores the motion parameters and process parameters set by the operator.

[0026] Step 2: Drag the robot to walk on the section between the starting point and the first positioning point of the teaching route. The teaching module collects the walking mode of the robot on the section between the starting point and the first positioning point to form the first action instruction and store it in the parameter database of the human-computer interaction module;

[0027] The first positioning point is a spatial location point with a fixed distance (e.g., 10 meters) from the starting point or a spatial location point reached after walking for a fixed time (e.g., 10 minutes) from the starting point.

[0028] Step 3: When the robot walks to the first positioning point, the laser radar module collects the first laser radar data of the first positioning point, and the teaching module simultaneously collects the spatial position and posture of the robot at the first positioning point. The spatial position and posture of the first positioning point are bound to the first laser radar data and stored in the parameter database of the human-computer interaction module; ......

[0030] The robot is dragged to walk on the section between the N-1th positioning point and the Nth positioning point of the teaching route. The teaching module collects the robot's walking mode on the section between the N-1th positioning point and the Nth positioning point to form the Nth action instruction and store it in the parameter database of the human-computer interaction module;

[0031] The Nth positioning point is a spatial location point with a fixed path (e.g., 10 meters) from the N-1th positioning point or a spatial location point reached by walking from the N-1th positioning point for a fixed time (e.g., 10 minutes);

[0032] When the robot walks to the Nth positioning point, the laser radar module collects the Nth laser radar data of the Nth positioning point, and the teaching module simultaneously collects the spatial position and posture of the robot at the Nth positioning point. The spatial position and posture of the Nth positioning point are bound to the Nth laser radar data and stored in the parameter database of the human-computer interaction module;

[0033] The robot is dragged to walk on the section between the Nth positioning point and the end point of the teaching route. The teaching module collects the robot's walking mode on the section between the Nth positioning point and the end point to form the N+1th action instruction and stores it in the parameter database of the human-computer interaction module;

[0034] Step 4: When the robot walks to the end, the N+1th laser radar data of the end point is collected through the laser radar module, and the spatial position and posture of the robot at the end point are collected simultaneously through the teaching module. The spatial position and posture of the end point are bound to the N+1th laser radar data and stored in the parameter database of the human-computer interaction module, and the teaching is completed.

[0035] Example 3:

[0036] The reproduction method of the mobile robot laser radar navigation system based on the teaching technology includes the following steps:

[0037] Step 1: Start the reproduction. The control module retrieves the teaching data from the parameter database and controls the spatial position and posture of the robot's starting point on the teaching path through the walking execution module based on the data.

[0038] Step 2: According to the first action instruction of the teaching data, the control module controls the robot to walk from the starting point to the first positioning point through the walking execution module. At this time, the lidar module collects the lidar data of the spatial position and compares it with the first lidar data closest to the teaching data. The deviation between the two is calculated, and the walking execution module is used to control the robot's spatial position and posture accordingly to eliminate walking errors. ......

[0040] According to the Nth action instruction of the teaching data, the control module controls the robot to walk from the N-1th positioning point to the Nth positioning point through the walking execution module. At this time, the lidar module collects the lidar data of the spatial position, compares it with the closest Nth lidar data in the teaching data, and calculates the deviation between the two. Based on this, the walking execution module controls the robot's spatial position and posture to eliminate walking errors;

[0041] Step three: According to the N+1th action instruction of the teaching data, the control module controls the robot to walk from the Nth positioning point to the end point through the walking execution module. At this time, the lidar module collects the lidar data of the spatial position, compares it with the closest N+1th lidar data in the teaching data, and calculates the deviation between the two. Based on this, the robot position and posture are adjusted through the walking execution module to eliminate the walking error and end the reproduction.

Claims

1. A mobile robot laser radar navigation method based on teaching technology, characterized in that: The following steps are involved: Step 1: Start the teaching mode. The teaching module collects the spatial position and posture of the robot at the starting and ending points and writes them into the parameter database. Step 2: Drag the robot to walk. The teaching module collects the robot's walking mode on the starting and ending points and the positioning point sections to form action instructions and write them into the parameter database; Step 3: When the robot walks to the positioning point, the LiDAR module collects the LiDAR data of the positioning point. Simultaneously, the teaching module collects the robot's spatial position and posture at the positioning point. The spatial position and posture of the positioning point are bound to the LiDAR data and written into the parameter database. Step 4: Start the autonomous navigation mode. The control module retrieves the teaching data from the parameter database and controls the robot's spatial position and posture through the walking execution module based on the data. According to the action instructions of the teaching data, the control module controls the robot to walk through the walking execution module. When walking to the positioning point, the laser radar module collects the laser radar data of the spatial position, compares it with the closest laser radar data in the teaching data, and calculates the deviation between the two. Based on this, the robot's spatial position and posture are controlled by the walking execution module.

2. The mobile robot laser radar navigation method based on teaching technology according to claim 1 is characterized in that: The positioning point is a spatial location point with a fixed path from the starting point or a spatial location point reached after walking from the starting point for a fixed time.

3. A mobile robot laser radar navigation system based on teaching technology, the system being used to execute the method according to claim 1, characterized in that: The system includes: a teaching module, a laser radar module, a control module, a human-computer interaction module and a walking execution module.

4. The mobile robot laser radar navigation system based on teaching technology according to claim 3 is characterized in that: The human-computer interaction module consists of a human-machine interface, a recipe manager, and a parameter database. The parameter database shares the teaching trajectory data through a cloud synchronization module.

5. The mobile robot laser radar navigation system based on teaching technology according to claim 3 is characterized in that: The teaching module is used to record the robot's spatial position and posture data of specific teaching points on the teaching route and the motion instructions between specific teaching points; The LiDAR module is used to collect LiDAR data at specific teaching points on the teaching route; The teaching module and the laser radar module are connected to the input end of the control module, the walking execution module is connected to the output end of the control module, and the control module interacts with the human-computer interaction module for data.

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