CN106646341B - Indoor robot navigation device - Google Patents

Abstract

The invention provides an indoor robot navigation device, comprising a circuit board, and the circuit board is provided with a motion control module, a navigation and positioning module, a map management and path planning module, a safety module and a human-computer interaction management module. The present invention overcomes the problem of poor positioning accuracy of most current navigation methods.

Description

An indoor robot navigation device

technical field

The invention relates to the technical field of navigation, in particular to an indoor robot navigation device.

Background technique

Mobile robot is a kind of robot with self-planning, self-organizing and self-adaptive ability that can work in complex environment. It has the advantages of fast action, high work efficiency, simple structure, strong controllability and good safety. are being widely used.

In the research of mobile robot related technologies, navigation technology belongs to its core technology and is also the key technology to realize intelligent and autonomous movement. Traditional visual navigation generally adopts the method of multi-eye vision, and the positioning accuracy can be very high, but the real-time calculation amount in the movement process is large, it is not flexible, and it is greatly affected by the surrounding environment such as lighting; other navigation methods may be more Or at least there are disadvantages of poor stability, low positioning accuracy, or high installation and maintenance costs.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention aims to provide an indoor robot navigation device.

The object of the present invention adopts the following technical solutions to realize:

Provided is an indoor robot navigation device, comprising a circuit board, and the circuit board is provided with a motion control module, a navigation and positioning module, a map management and path planning module, a security module, and a human-computer interaction management module;

The motion control module is used to adjust the motion posture and control the motion state of the robot;

The navigation and positioning module obtains the precise position of the robot by attaching an electronic label to the device, and navigates through other label positions to achieve precise robot navigation and positioning;

The map management and path planning module is used for the construction and refinement of the map and the planning of the motion path of the robot;

The safety module is used to issue an early warning when the device is abnormal;

The human-computer interaction management module is used to realize the human-computer interaction function.

The beneficial effects of the present invention are as follows: the problem of poor positioning accuracy of most current navigation methods is overcome.

Description of drawings

The present invention will be further described by using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. For those of ordinary skill in the art, under the premise of no creative work, other Attached.

Fig. 1 is the structural connection schematic diagram of the present invention;

Reference number:

Circuit board 1 , motion control module 11 , navigation and positioning module 12 , map management and path planning module 13 , security module 14 , and human-computer interaction management module 15 .

Detailed ways

The present invention will be further described with reference to the following examples.

Referring to FIG. 1 , an indoor robot navigation device of this embodiment includes a circuit board 1, and the circuit board is provided with a motion control module 11, a navigation and positioning module 12, a map management and path planning module 13, a security module 14, Human-computer interaction management module 15;

The motion control module 11 is used to adjust the motion posture and control the motion state of the robot;

The navigation and positioning module 12 obtains the exact position of the robot by attaching an electronic label to the device, and performs navigation through other label positions to achieve precise robot navigation and positioning;

The map management and path planning module 13 is used for the construction and refinement of the map and the planning of the movement path of the robot;

The security module 14 is used to issue an early warning when the device is abnormal;

The human-computer interaction management module 15 is used to realize the human-computer interaction function.

This embodiment overcomes the problem of poor positioning accuracy of most current navigation methods.

Preferably, the security module 14 is used to regularly detect the security state of the device itself, and perform corresponding alarm processing.

This preferred embodiment is convenient for finding problems in time.

Preferably, the human-computer interaction management module 15 realizes human-computer interaction communication, display, configuration and management through various human-computer interfaces.

This preferred embodiment improves customer experience.

Preferably, the navigation and positioning module 12 includes a first positioning sub-module and a second evaluation sub-module, the first positioning sub-module is used to locate the unknown position label and obtain a positioning result; the second evaluation sub-module It is used to establish an evaluation index to evaluate the accuracy of the positioning result.

The first positioning sub-module utilizes the known position tag and the reader to complete the positioning of the unknown position tag when locating the unknown position tag;

The first positioning submodule includes a first variable calculation unit, a second variable calculation unit and a position determination unit;

The first variable calculation unit is used to calculate the signal strengths received by the known position tag and the unknown position tag on each reader;

The second variable calculation unit is used to obtain the distance between the signal reception strength of the unknown position tag and the signal reception strength of the known position tag;

The location determination unit is used to obtain the location of the unknown location tag.

When the first variable calculation unit calculates the signal strengths of the known position tag and the unknown position tag received on each reader, the intensity change of the received field strength of the tag transmitted signal in the indoor channel propagation process is reflected by a path loss model. , the calculation formula of the signal receiving strength S of the reader is:

Among them, P _f is the signal transmission power of the tag, d is the distance between the reader and the tag, PL(d ₀ ) is the signal reception strength attenuation of the signal received by the reader at the reference point d ₀ , PL(d ₀ ') is the reading is the attenuation of the signal reception strength of the signal received by the transmitter at the reference point d ₀ ', σ represents the standard deviation of the ambient noise, and the unit is dB;

Before the actual positioning, a two-step method is used to obtain the signal strength correction factor:

The first step: select a number of test position labels, record the signal strength received by the test position label on each reader, establish a discrete relationship database with the signal strength on each test position label, and use the signal received strength of the reader. The signal strength of the test location label obtained by the calculation formula of S and the signal strength in the discrete relationship database are used as the basis to calculate the signal strength correction coefficient,

Step 2: Let the standard deviation of the signal strength of each test position label CS _ρ in the discrete relational database on each reader be σ(CS _ρ ), ρ=1,...,m, where m is the number of test position labels, The standard deviation of the signal strength of the test position label CS _ρ on each reader obtained from the calculation formula of the signal reception strength S of the reader is σ ^* (CS _ρ ), then the signal strength correction coefficient is:

FD=SP+3

In actual positioning, the optimized calculation formula of the signal receiving strength of the reader is used, specifically: S'=FD×S;

Using the optimized formula for calculating the received signal strength of the reader, the calculated received signal strength vector of an unknown location tag WZ _i on each reader for: in, Represents the calculated signal receiving strength of WZ _i on the reader R _l , l=1,2,...,L; using the optimized formula for calculating the signal receiving strength of the reader, a known position label YZ calculated _j Received signal strength vector at each reader for: in, Indicates the calculated received signal strength of YZ _j on the reader R _l , l=1,2,...,L.

In the process of calculating the signal reception strength, the first variable calculation unit of this preferred embodiment fully considers the complexity of the electromagnetic wave transmission environment in the indoor environment, and combines two reference points for calculation, which can restore the transmitted signal more accurately ; When calculating the signal strength of the unknown position label and the known position label, a signal strength correction coefficient is introduced to make the calculation of the signal strength more accurate.

Preferably, the distance between the received signal strength of the unknown location tag and the received signal strength of the known location tag is calculated according to the following formula:

in, represents the distance between the received signal strength of the unknown location label WZ _i and the signal received intensity of the known location label YZ _j , and M represents the number of known location labels YZ _j .

The obtaining of the position of the unknown position label is performed in the following manner:

(1) Express the distance between the signal reception strength of the unknown location tag and the signal reception strength of the known location tag as a vector form: calculate The smallest k elements in , as the nearest neighbor to the unknown position label WZ _i , express each distance as a vector:

(2) Assign different weights to the known location labels according to the degree of proximity, thereby estimating the WZ _i coordinates

in, is the coordinate of the known position label YZ _j ;

In the process of calculating the signal reception strength distance, the second variable calculation unit of this preferred embodiment fully considers the influence of the distance between the reader and the tag on the reliability of the signal reception strength, and the obtained tag distance is more reliable; In the process of location labeling, the distance between the known location label and the unknown location label is fully considered, and the obtained location is more accurate.

Preferably, the establishing an evaluation index to evaluate the accuracy of the positioning result, specifically: regularly using the positioning estimation error WC to evaluate the positioning accuracy,

where E is the expected value, Estimate the position for WZ _i , is the real position of WZ _i .

The second evaluation sub-module is also provided with a positioning fault alarm mechanism, and the positioning fault alarm mechanism is:

(1) Set the threshold for the error allowed by the bit positioning, record the positioning estimation error WC obtained by periodic calculation for a period of time, and accumulate and record the number β of the positioning estimation error WC that is greater than the error threshold,

(2) Let the positioning estimation error obtained by a certain calculation be WC _λ , and η is the satisfaction The number of positioning estimation errors, where WC _max and WC _min respectively represent the average value, maximum value and minimum value of the positioning estimation error WC in the regular records of this period of time. When the following evaluation formula is satisfied, it is judged that there is a positioning failure in the robot positioning, and a corresponding alarm prompt is issued:

Among them, ξ is the number of positioning estimation errors WC recorded regularly in the period of time, wherein λ=1, . . . , ξ.

The second evaluation sub-module of this preferred embodiment evaluates the positioning accuracy of the robot, which ensures the long-term reliability of the positioning of the robot, and helps to improve the positioning effect, so as to obtain a more reliable positioning of the robot. The positioning can prompt the accuracy of the positioning according to the historical estimation error data, and provide a more scientific basis for the improvement of the positioning accuracy.

The indoor robot navigation device of the present invention is used to navigate and locate the indoor robot. When the number of readers is 20, 21, 22, 23, and 24 respectively, the 100 navigation situations of the robot are analyzed, and the navigation efficiency and navigation time are used as evaluations. The parameters of the performance of the navigation device, compared with not adopting the present invention, the beneficial effects produced by the present invention are shown in the following table:

Number of readers Improved robot navigation efficiency Reduced navigation failure rate 20 30% 30% twenty one 32% 32% twenty two 33% 33% twenty three 35% 35% twenty four 36% 36%

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that , the technical solutions of the present invention may be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims (3)

1. An indoor robot navigation device is characterized by comprising a circuit board, wherein a motion control module, a navigation and positioning module, a map management and path planning module, a safety module and a human-computer interaction management module are arranged on the circuit board;

the motion control module is used for adjusting the motion attitude and controlling the motion state of the robot;

the navigation and positioning module acquires the accurate position of the robot by sticking the electronic tag on the device and navigates through the positions of other tags to realize accurate navigation and positioning of the robot;

the map management and path planning module is used for constructing and refining a map and planning a motion path of the robot;

the safety module is used for sending out early warning when the device is abnormal;

the human-computer interaction management module is used for realizing a human-computer interaction function;

the navigation and positioning module comprises a first positioning submodule and a second evaluation submodule, the first positioning submodule is used for positioning the unknown position tag to obtain a positioning result, and the second evaluation submodule is used for establishing an evaluation index to evaluate the accuracy of the positioning result;

the first positioning sub-module comprises a first variable calculation unit, which is used for calculating the received signal strength of the known position tag and the unknown position tag on each reader:

the strength change of the receiving field strength of the label transmitting signal in the indoor channel propagation process is reflected by adopting a path loss model, and the calculation formula of the signal receiving strength S of the reader is as follows:

wherein, P_fIs the signal transmission power of the tag, d is the reader-to-tag distance, PL (d)₀) For the reader at a reference point d₀By the amount of signal received strength attenuation of the received signal, PL (d)₀') is the reader at reference point d₀' where the signal reception intensity attenuation amount of the received signal, σ denotes the standard deviation of the environmental noise, and has a unit of dB;

before actual positioning, a two-step method is adopted to obtain a signal strength correction coefficient:

the first step is as follows: selecting a plurality of test position tags, recording the signal intensity of the test position tags received by each reader, establishing a discrete relation database of the signal intensity on each test position tag, calculating a signal intensity correction coefficient based on the signal intensity of the test position tag obtained by a calculation formula of the signal receiving intensity S of the reader and the signal intensity in the discrete relation database,

the second step is that: setting each test position label CS in discrete relation database_ρThe standard deviation of the signal strength at each reader is σ (CS)_ρ) Where ρ is 1.. and m is the number of test location tags, and the test location tags CS are obtained by a calculation formula of the signal reception intensity S of the reader_ρThe standard deviation of the signal strength at each reader is σ^*(CS_ρ) Then the signal strength correction factor is:

FD＝SP+3

in actual positioning, a calculation formula of the signal receiving strength of the reader after optimization is adopted, and the calculation formula specifically comprises the following steps: s' ═ FD × S;

calculating the tag WZ of an unknown position by adopting an optimized calculation formula of the signal receiving intensity of the reader_iReceived signal strength vector at each readerComprises the following steps:wherein,represents the calculated WZ_iAt reader R_l1,2, …, L; calculating a certain known position label YZ by adopting an optimized calculation formula of the signal receiving intensity of the reader_jReceived signal strength vector at each readerComprises the following steps:wherein,denotes the calculated YZ_jAt reader R_lL equals 1,2, …, L.

2. The indoor robot navigation device of claim 1, wherein: the safety module detects the safety state of the device at regular time and executes corresponding alarm processing.

3. The indoor robot navigation device of claim 2, wherein: the man-machine interaction management module realizes man-machine interaction communication, display, configuration and management through various man-machine interfaces.