CN106168803A - A kind of location aware method for moving robot - Google Patents
A kind of location aware method for moving robot Download PDFInfo
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- CN106168803A CN106168803A CN201610238716.4A CN201610238716A CN106168803A CN 106168803 A CN106168803 A CN 106168803A CN 201610238716 A CN201610238716 A CN 201610238716A CN 106168803 A CN106168803 A CN 106168803A
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- robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to robot field, propose a kind of location aware method for moving robot, including: set the mobile route of mobile robot；The key point of mobile route is installed terrestrial reference, and on position control, sets terrestrial reference position；When robot moves near terrestrial reference position, terrestrial reference identification device starts to start, and position control independently finds terrestrial reference；Position control according to robot physical location during terrestrial reference feedback signal and contrasts with set path planned position, it is judged that whether mobile robot mobile route has deviation；If it has, then calculate deviation value, revise mobile robot current location and motion algorithm；If it is not, then mobile robot normally advances along set path.The present invention program realizes simply, and degree of accuracy is high, and good reliability solves mobile robot path in moving process and arranges the uppity problem of complexity, degree of accuracy and reliability, greatly reduces and realize cost.
Description
Technical field
The present invention relates to robot control field, particularly relate to a kind of location aware method for moving robot.
Background technology
Along with the raising of people's living standard, during increasing service robot is applied to life and produces, mobile
Robot localization is that robot realizes the premise of various complex task and the matter of utmost importance of autonomous intelligence.At present, robot is moved
Conventional location technology has: GPS location technology, infrared confirming orientation technology, ultrasonic locating technology, the location skill of WLAN
Art, magnetic stripe location technology etc..Wherein, GPS location technology is covered impact by barrier in indoor positioning, so that it is accurate
Rate is the highest；Infrared confirming orientation technology then needs the object that close contact is parallel, it is impossible to popularization and application；Though ultrasonic locating technology
So can realize hi-Fix, but easily be disturbed in complex environment, cause reliability the highest, and this kind of system cost
High, it is impossible to spread；Signal can be caused decay by complex environment indoor in the location technology of WLAN, thus drops
Low positioning precision.Magnetic stripe location technology, since it is desired that lay guide rail etc., arranges complexity, is easily limited by physical condition.
Electronic tag (RadioFrequencyIdentification, RFID) technology be one of rising in recent years automatically
Identification technology, different from traditional bar code system, Contact Type Ic Card etc., RFID is to utilize wireless radio frequency mode to enter
The non-contacting bidirectional data communication of row, to reach to identify and exchange the purpose of data.At present, RFID indoor orientation method great majority
It is to indicate with the signal intensity of ultrahigh frequency RFID or high frequency RFID reception
(ReceivedSignalStrengthIndication, RSSI) is main, but owing to alignment system based on RSSI is in reality
There is location interference and accumulated error in application, position error is big, does not possess the practical value of large-scale promotion.
Summary of the invention
In view of this, the present invention proposes one and is easily achieved, the simple method for positioning mobile robot of scheme.
The present invention program is as follows:
A kind of location aware method for moving robot, described location aware process is:
Set the mobile route of mobile robot；
The key point of mobile route is installed terrestrial reference, and on position control, sets terrestrial reference position；
Mobile robot controls to be accurately positioned motor according to set path by position control and moves by predefined paths；
When robot moves near terrestrial reference position, terrestrial reference identification device starts to start, and position control is certainly
Main searching terrestrial reference；
Position control according to robot physical location during terrestrial reference feedback signal and is carried out with set path planned position
Contrast, it is judged that whether mobile robot mobile route has deviation；If it has, then calculate deviation value, revise mobile robot current
Position and motion algorithm；If it is not, then mobile robot normally advances along set path.
Preferably, described mobile robot mobile route has deviation, then position control sets road in mobile robot
Choosing playback point on footpath, mobile robot plans travel path according to playback point again for target, until described mobile robot
Return to the point that playbacks, and continue to advance according to former set path.
Wherein:
The selection of described playback point can be arranged；
The described travel path of planning again can be arranged as requested.
Preferably, include for moving mobile robot described in the location aware method of robot: position control,
It is accurately positioned motor, terrestrial reference identification device, at least one terrestrial reference；
Described position control, be accurately positioned motor, terrestrial reference identification device is installed in mobile robot；
Described terrestrial reference is installed on some or several pivot point of described robot program's mobile route, is used for revising movement
The shift position of robot；
Described position control is used for calculating mobile robot present position and controlling mobile robot moving road
Footpath, begins look for and the other device feedback signal of receiving position logo when near terrestrial reference, and then revises the shifting of described mobile robot
Dynamic deviation；
Described be accurately positioned motor refer to receive control instruction realize precision location motor such as: servomotor or stepping
Motor.
Described terrestrial reference identification device is used for identifying landmark locations, and feeds back to position control.
Preferably, can elect as moving terrestrial reference described in the location aware method of robot: ground induction coil or swash
Optical sensing means or infrared facility or displacement sensing apparatus or close to sensing device or RFID.
Preferably, also include for moving mobile robot described in the location aware method of robot: a driving wheel,
Two supporting rollers, machinery is arranged at bottom mobile robot respectively；Described driving wheel machinery respectively is arranged at along mobile robot
The front portion of direct of travel, two supporting rollers are arranged at the two ends, left and right, rear portion of mobile Robot direct of travel；Described driving wheel
Being accurately positioned motor by first and drive traveling, described driving wheel is accurately positioned motor driving by the second of band steering and turns to.
Preferably, also include for moving mobile robot described in the location aware method of robot: two driving wheels,
Two supporting rollers, are respectively arranged at bottom mobile robot；Said two driving wheel machinery respectively is arranged at mobile Robot
The two ends, anterior left and right of direct of travel, two supporting rollers are respectively arranged at about the rear portion of mobile Robot direct of travel two
End；Said two driving wheel is respectively by being accurately positioned motor driving；Said two driving wheel speed the most described identical mobile machine
People advances, and said two driving wheel speed speed is variant, and described mobile robot realizes turning to.
Preferably, also include for moving mobile robot described in the location aware method of robot: four driving wheels,
It is respectively arranged at bottom mobile robot and all around holds；Described four driving wheels are respectively by being accurately positioned motor driving；Described
The speed of four driving wheels is identical, and described mobile machine People's Bank of China enters；By entering driving of the left and right sides, direction along mobile machine People's Bank of China
Driving wheel speed speed is variant, and described mobile robot realizes turning to or overall transverse translation.
Beneficial effect
The present invention program realizes simply, and degree of accuracy is high, and good reliability solves mobile robot path in moving process
The uppity problem of complexity, degree of accuracy and reliability is set, greatly reduces and realize cost.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the location aware method for moving robot；
Fig. 2 is embodiment one schematic diagram of the location aware method for moving robot；
Fig. 3 is embodiment two schematic diagram of the location aware method for moving robot；
Fig. 4 is embodiment three schematic diagram of the location aware method for moving robot；
Fig. 5 is the position calculation schematic diagram of the location aware method for moving robot.
Detailed description of the invention
Embodiment one
As shown in Figure 1, Figure 2, Figure 5, mobile robot bag described in a kind of location aware method for moving robot
Include: position control, be accurately positioned motor, terrestrial reference identification device, at least one terrestrial reference；
Described position control, be accurately positioned motor, terrestrial reference identification device is installed in mobile robot；
Described terrestrial reference is installed on some or several pivot point of described robot program's mobile route, is used for revising movement
The shift position of robot；
Described position control is used for calculating mobile robot present position and controlling mobile robot moving road
Footpath, begins look for and the other device feedback signal of receiving position logo when near terrestrial reference, and then revises the shifting of described mobile robot
Dynamic deviation；
Described be accurately positioned motor refer to receive control instruction realize precision location motor such as: servomotor or stepping
Motor.
Described terrestrial reference identification device is used for identifying landmark locations, and feeds back to position control.
As it is shown in figure 1, described location aware process is:
Step 101, sets the mobile route of mobile robot；
Particularly as follows: based on the moving range plane moving robot, set plane coordinates, set zero, X
Axle, Y-axis and change in coordinate axis direction；
Setting the moving coordinate path of mobile robot on described plane coordinates, path can be straight line, broken line, curve
Deng various forms.
Step 102, installs terrestrial reference in the key point of mobile route, and it is in place to set terrestrial reference institute on position control
Put；
Described terrestrial reference is arranged in the key point of mobile robot mobile route, be not specially defined in underground, ground, four
Week, air position, move the shift position of robot for identifying other device feedback ordinatedly；Described terrestrial reference can be multiple also
It can be number of different types；Be designated as moving machine device people and identify the reference of self-position, need on position control first
Set the plane coordinates position of terrestrial reference, in order to the concrete plane coordinates position confirming to calculate mobile robot；
Described terrestrial reference can be ground induction coil or laser sensor arrangements or infrared facility or displacement sensing apparatus or
Person close to sensing device or RFID etc. are various can be with the advertiser of feedback position；Terrestrial reference identification device fills with each terrestrial reference signal
Put correspondence, in order to signal identification；
In order to ensure practical effect, it is designated as two or more describedly；Described terrestrial reference can be two types or
Person's polytype uses simultaneously, such as ground induction coil and laser ranging system use simultaneously etc., to solve due to place, position, ring
The limited part inapplicable problem of terrestrial reference type such as border；
Step 103, mobile robot controls to be accurately positioned motor by predetermined by position control according to set path
Path is moved；Step 104, when mobile robot moves near terrestrial reference position, terrestrial reference identification device starts to start, position
Put control device and independently find terrestrial reference；
Specifically, set the distance threshold values of mobile robot and terrestrial reference, when mobile robot moves to apart from threshold values critical
During point, terrestrial reference identification device starts to start, and position control independently finds terrestrial reference；
Step 105,106, position control according to terrestrial reference feedback signal time shift mobile robot physical location and with setting
Path planning position contrasts, it is judged that whether mobile robot mobile route has deviation；If it has, then calculate deviation value, repair
Shuffle mobile robot current location and motion algorithm；If it is not, then mobile robot normally advances along set path.
Step 106, described mobile robot mobile route has deviation, then position control sets road in mobile robot
Choosing playback point on footpath, mobile robot plans travel path according to playback point again for target, until described mobile robot
Return to the point that playbacks, and continue to advance according to former set path；The selection of described playback point can be arranged；Described planning traveling road again
Footpath can be arranged as requested, and described path planning again can realize according to various path optimizings such as straight line, broken line, curves；
As it is shown in figure 5, the mobile route 501 setting mobile robot be F=f (x, y), the position coordinates 502 of the upper setting of F
For (x, y) the straight line L formed with zero is set as θ, the reality of described mobile robot with the angle of plane coordinates X-axis
Position coordinates 503 is (x0,y0), mobile robot is Δ x in the deviation of X-axis, and mobile robot is Δ y in the deviation of Y-axis, then:
Δ x=L cos θ-x0, Δ y=L sin θ-y0。
Preferably, described playback point can select the setting position on mobile robot set path, it is also possible to selects it
He is relatively easy to mobile robot and returns the position of set path.
As in figure 2 it is shown, described mobile robot also includes: a driving wheel 21, two supporting rollers 22,23, respectively machinery
It is arranged at bottom mobile robot；The described driving wheel 21 mechanical front portion entering direction along mobile machine People's Bank of China that is arranged at respectively, two
Individual supporting roller 22,23 is arranged at the two ends, left and right, rear portion of mobile Robot direct of travel；Described driving wheel 21 is accurate by first
Positioning motor drives advances, and described driving wheel is accurately positioned motor driving by the second of band steering and turns to.
Particularly as follows: position control send control instruction control according to the mobile robot mobile route calculating and sending set
First is accurately positioned motor and second is accurately positioned motor, and first is accurately positioned motor and second is accurately positioned motor according to control
Order-driven driving wheel 21 is advanced and turns to, and then has controlled the traveling of mobile robot and turned to.
Preferably, described steering is Worm Wheel System；
Because real-life steering is a lot, such as the steering of automobile, the steering etc. of bicycle, at this
Simply manual direction controlling is changed to be accurately positioned motor control, the inventive point of this non-invention, therefore refers to use,
It is not detailed.
Embodiment two
As it is shown on figure 3, the differing only in of embodiment two and embodiment one, the described position for moving robot
In cognitive method, mobile robot includes: two driving wheels 31,33, two supporting rollers 32,34, is respectively arranged at mobile robot
Bottom；Said two driving wheel 31, the 33 mechanical two ends, anterior left and right being arranged at mobile Robot direct of travel respectively, two
Supporting roller 32,34 is respectively arranged at the two ends, left and right, rear portion of mobile Robot direct of travel；Said two driving wheel 31,33 points
Not by being accurately positioned motor driving；Said two driving wheel 31,33 speed is identical, and described mobile machine People's Bank of China enters, said two
Driving wheel speed speed is variant, and described mobile robot realizes turning to；
Particularly as follows: position control send control instruction to two according to the mobile robot mobile route calculating and sending set
Individual being accurately positioned motor, two are accurately positioned motor and control two driving wheels 31,33 respectively and advance, advance as moved robot
Then control two driving wheel 31,33 speed identical, turn to then two driving wheel 31,33 speed of control fast as robot need to be moved
Slow difference, as fireballing driving wheel side can turn to slow-footed driving wheel side.
Embodiment three
As shown in Figure 4, embodiment three differs only in embodiment one, the described position for moving robot
In cognitive method, mobile robot includes: four driving wheels are respectively 41,42,43,44, are respectively arranged at mobile robot
Bottom is all around held；Described four driving wheels are respectively 41,42,43,44, respectively by being accurately positioned motor driving；Described four
The speed of individual driving wheel is identical, and described mobile machine People's Bank of China enters；By entering the driving of the left and right sides, direction along mobile machine People's Bank of China
Wheel speed speed is variant, and described mobile robot realizes turning to or overall transverse translation；
Particularly as follows: position control send control instruction to four according to the mobile robot mobile route calculating and sending set
Individual being accurately positioned motor, four are accurately positioned motor and control four driving wheels and advance, and the speed of described four driving wheels is identical then
Described mobile machine People's Bank of China enters；Turning to as moved robot, two that are positioned at robot direct of travel homonymy are accurately positioned electricity
Two driving wheel speed corresponding to machine control are identical, and the driving wheel speed of homonymy is not variant, then realize mobile robot
Turn to, specifically can refer to the steering mode of embodiment two, similar.
Position control can also send control instruction to four according to the mobile robot mobile route calculating and sending set
Individual being accurately positioned motor, four are accurately positioned motor and control mobile robot and enter two modes retiring car warehouse-in according to two and realize moving
The similar transverse translation of mobile robot.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
The detailed description of the invention of the present invention is confined to these explanations.General technical staff of the technical field of the invention is come
Say, make some equivalents without departing from the inventive concept of the premise and substitute or substantially deform, and performance or purposes are identical, all
Should be regarded as the scope of patent protection that the present invention is determined by the claims submitted to.
Claims (8)
1. the location aware method being used for moving robot, it is characterised in that described location aware process is:
Set the mobile route of mobile robot；
The key point of mobile route is installed terrestrial reference, and on position control, sets terrestrial reference position；
Mobile robot controls to be accurately positioned motor according to set path by position control and moves by predefined paths；
When robot moves near terrestrial reference position, terrestrial reference identification device starts to start, and position control is independently sought
Look for terrestrial reference；
Position control according to robot physical location during terrestrial reference feedback signal and contrasts with set path planned position,
Judge whether mobile robot mobile route has deviation；If it has, then calculate deviation value, revise mobile robot current location and
Motion algorithm；If it is not, then mobile robot normally advances along set path.
2. as claimed in claim 1 for moving the location aware method of robot, it is characterised in that also include:
Described mobile robot mobile route has deviation, then position control chooses playback on mobile robot set path
Point, mobile robot plans travel path according to playback point again for target, until described mobile robot returns to the point that playbacks, and
Continue to advance according to former set path.
3. as claimed in claim 2 for moving the location aware method of robot, it is characterised in that:
The selection of described playback point can be arranged；
The described travel path of planning again can be arranged as requested.
4. as claimed in claim 1 for moving the location aware method of robot, it is characterised in that described mobile robot bag
Include: position control, be accurately positioned motor, terrestrial reference identification device, at least one terrestrial reference；
Described position control, be accurately positioned motor, terrestrial reference identification device is installed in mobile robot；
Described terrestrial reference is installed on some or several pivot point of described robot program's mobile route, is used for revising mobile machine
The shift position of people；
Described position control is used for calculating mobile robot present position and controlling mobile robot mobile route, when
Begin look for time near terrestrial reference and the other device feedback signal of receiving position logo, so revise that described mobile robot moves inclined
Difference；
Described be accurately positioned motor refer to receive control instruction realize precision location motor such as: servomotor or stepping electricity
Machine；
Described terrestrial reference identification device is used for identifying landmark locations, and feeds back to position control.
5. as claimed in claim 1 or 2 or 3 or 4 for moving the location aware method of robot, it is characterised in that describedly
Mark can be elected as: ground induction coil or laser sensor arrangements or infrared facility or displacement sensing apparatus or close sensing dress
Put or RFID.
6. as claimed in claim 1 or 2 or 3 or 4 for moving the location aware method of robot, it is characterised in that described shifting
Mobile robot also includes: a driving wheel, and two supporting rollers, machinery is arranged at bottom mobile robot respectively；Described driving wheel
Machinery is arranged at the front portion entering direction along mobile machine People's Bank of China respectively, and two supporting rollers are arranged at mobile Robot direct of travel
Two ends, left and right, rear portion；Described driving wheel is accurately positioned motor by first and drives traveling, and described driving wheel is by band steering
Second is accurately positioned motor driving turns to.
7. as claimed in claim 1 or 2 or 3 or 4 for moving the location aware method of robot, it is characterised in that described shifting
Mobile robot also includes: two driving wheels, and two supporting rollers are respectively arranged at bottom mobile robot；Said two driving wheel
Machinery is arranged at the two ends, anterior left and right of mobile Robot direct of travel respectively, and two supporting rollers are respectively arranged at mobile machine
People is along the two ends, left and right, rear portion of direct of travel；Said two driving wheel is respectively by being accurately positioned motor driving；Said two drives
Wheel speed is identical, and described mobile machine People's Bank of China enters, and said two driving wheel speed speed the most described variant mobile robot is real
Turn now to.
8. if claim 1 or 2 or 3 or 4 is for moving the location aware method of robot, it is characterised in that described moving machine
Device people also include: four driving wheels, is respectively arranged at bottom mobile robot and all around holds；Described four driving wheels respectively by
It is accurately positioned motor to drive；The speed of described four driving wheels is identical, and described mobile machine People's Bank of China enters；By along mobile machine
The driving wheel speed speed of people's direct of travel left and right sides is variant, and described mobile robot realizes turning to or overall the most flat
Move.
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| CN107677285B (en) * | 2017-04-11 | 2019-05-28 | 平安科技（深圳）有限公司 | The path planning system and method for robot |
| CN107132844A (en) * | 2017-05-24 | 2017-09-05 | 浙江大学 | A kind of mobile robot is based on attitude detection module and distinguishingly target motion from antidote |
| CN107132844B (en) * | 2017-05-24 | 2019-07-16 | 浙江大学 | A kind of mobile robot is based on attitude detection module and distinguishingly target is moved from antidote |
| CN107314770B (en) * | 2017-06-27 | 2019-08-30 | 浙江国自机器人技术有限公司 | A kind of mobile robot and its master controller, positioning system and method |
| CN107314770A (en) * | 2017-06-27 | 2017-11-03 | 浙江国自机器人技术有限公司 | A kind of mobile robot and its master controller, alignment system and method |
| WO2020057278A1 (en) * | 2018-09-20 | 2020-03-26 | 北京京东尚科信息技术有限公司 | Method and apparatus for planning path of unmanned device |
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