技术领域technical field
本发明涉及导航技术领域，具体涉及一种室内机器人导航装置。The invention relates to the technical field of navigation, in particular to an indoor robot navigation device.
背景技术Background technique
移动机器人是一种在可复杂环境下工作，具有自规划、自组织、自适应能力的机器人，具有行动快捷、工作效率高、结构简单、可控性强、安全性好等优势，目前在国内外正在被广泛的应用。Mobile robot is a kind of robot with self-planning, self-organization and self-adaptive ability working in a complex environment. It has the advantages of fast action, high work efficiency, simple structure, strong controllability and good safety. are being widely used.
在移动机器人相关技术研究中，导航技术属于其核心技术，也是实现智能化和自主移动的关键技术。传统的视觉导航一般采用多目视觉的方式，定位精度可以达到很高，但在运动过程中的实时运算量很大，不够灵活，且受光照等周围环境的影响比较大；其他导航方式或多或少存在着稳定性差、定位精度低、或布设维护成本高等缺点。In the research of mobile robot-related technologies, navigation technology is its core technology, and it is also the key technology to realize intelligent and autonomous movement. Traditional visual navigation generally adopts multi-eye vision, which can achieve high positioning accuracy, but the amount of real-time calculations during the movement is large, not flexible enough, and it is greatly affected by the surrounding environment such as lighting; other navigation methods or multiple At least there are disadvantages such as poor stability, low positioning accuracy, or high layout and maintenance costs.
发明内容Contents of the invention
针对上述问题，本发明旨在提供一种室内机器人导航装置。In view of the above problems, the present invention aims to provide an indoor robot navigation device.
本发明的目的采用以下技术方案来实现：The object of the present invention adopts following technical scheme to realize:
提供了一种室内机器人导航装置，包括电路板，所述电路板上设置有运动控制模块、导航与定位模块、地图管理与路径规划模块、安全模块、人机交互管理模块；An indoor robot navigation device is provided, including 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;
所述运动控制模块，用于机器人的运动姿态调整和运动状态控制；The motion control module is used for motion posture adjustment and motion state control of the robot;
所述导航与定位模块，通过在装置上贴电子标签获取机器人的准确位置，并通过其他标签位置进行导航，实现精确地机器人导航定位；The navigation and positioning module obtains the exact position of the robot by pasting electronic tags on the device, and navigates through other tag positions to realize accurate robot navigation and positioning;
所述地图管理与路径规划模块，用于地图的构建和细化，机器人运动路径的规划；The map management and path planning module is used for map construction and refinement, and robot motion path planning;
所述安全模块用在装置异常时出现发出预警；The safety module is used to issue an early warning when the device is abnormal;
所述人机交互管理模块用于实现人机交互功能。The human-computer interaction management module is used to realize the human-computer interaction function.
本发明的有益效果为：克服了目前大多数导航方式定位精度差的问题。The invention has the beneficial effects of overcoming the problem of poor positioning accuracy of most current navigation methods.
附图说明Description of drawings
利用附图对本发明作进一步说明，但附图中的实施例不构成对本发明的任何限制，对于本领域的普通技术人员，在不付出创造性劳动的前提下，还可以根据以下附图获得其它的附图。The present invention is 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, without paying creative work, other embodiments can also be obtained according to the following accompanying drawings Attached picture.
图1是本发明的结构连接示意图；Fig. 1 is the structural connection schematic diagram of the present invention;
附图标记：Reference signs:
电路板1、运动控制模块11、导航与定位模块12、地图管理与路径规划模块13、安全模块14、人机交互管理模块15。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 .
具体实施方式detailed description
结合以下实施例对本发明作进一步描述。The present invention is further described in conjunction with the following examples.
参见图1，本实施例的一种室内机器人导航装置，包括电路板1，所述电路板上设置有运动控制模块11、导航与定位模块12、地图管理与路径规划模块13、安全模块14、人机交互管理模块15；Referring to Fig. 1, a kind of indoor robot navigation device of the present embodiment comprises circuit board 1, and described circuit board is provided with motion control module 11, navigation and positioning module 12, map management and path planning module 13, security module 14, Human-computer interaction management module 15;
所述运动控制模块11，用于机器人的运动姿态调整和运动状态控制；The motion control module 11 is used for motion posture adjustment and motion state control of the robot;
所述导航与定位模块12，通过在装置上贴电子标签获取机器人的准确位置，并通过其他标签位置进行导航，实现精确地机器人导航定位；The navigation and positioning module 12 obtains the accurate position of the robot by attaching electronic tags on the device, and navigates through other tag positions to realize accurate robot navigation and positioning;
所述地图管理与路径规划模块13，用于地图的构建和细化，机器人运动路径的规划；The map management and path planning module 13 is used for the construction and refinement of maps, and the planning of robot motion paths;
所述安全模块14用在装置异常时出现发出预警；The safety module 14 is used to issue an early warning when the device is abnormal;
所述人机交互管理模块15用于实现人机交互功能。The human-computer interaction management module 15 is used to realize the human-computer interaction function.
本实施例克服了目前大多数导航方式定位精度差的问题。This embodiment overcomes the problem of poor positioning accuracy in most current navigation methods.
优选的，所述安全模块14，用于定时检测装置自身的安全状态，并执行相应的报警处理。Preferably, the safety module 14 is used for regularly detecting the safety state of the device itself, and performing corresponding alarm processing.
本优选实施例便于及时查找问题。This preferred embodiment is convenient for finding problems in time.
优选的，所述人机交互管理模块15，通过多种人机接口实现人机交互通讯、显示、配置和管理。Preferably, the human-computer interaction management module 15 realizes human-computer interaction communication, display, configuration and management through various human-machine interfaces.
本优选实施例提升了客户体验。This preferred embodiment improves customer experience.
优选的，所述导航与定位模块12包括第一定位子模块和第二评估子模块，所述第一定位子模块用于对未知位置标签进行定位，获取定位结果；所述第二评估子模块用于建立评价指标对该定位结果的精确性进行评估。Preferably, the navigation and positioning module 12 includes a first positioning submodule and a second evaluation submodule, the first positioning submodule is used to locate unknown location tags and obtain positioning results; the second evaluation submodule It is used to establish an evaluation index to evaluate the accuracy of the positioning result.
所述第一定位子模块在对未知位置标签进行定位时，利用已知位置标签和阅读器对未知位置标签完成定位；When the first positioning sub-module locates the unknown position tag, it uses the known position tag and the reader to complete the positioning of the unknown position tag;
该第一定位子模块包括第一变量计算单元、第二变量计算单元和位置确定单元；所述第一变量计算单元用于计算已知位置标签和未知位置标签在各阅读器上接收的信号强度；所述第二变量计算单元用于求取未知位置标签的信号接收强度和已知位置标签的信号接收强度之间的距离；所述位置确定单元用于求取未知位置标签的位置。The first positioning sub-module 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 strength received by each reader on the known position tag and the unknown position tag ; 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 position determination unit is used to obtain the position of the unknown position tag.
所述第一变量计算单元在计算已知位置标签和未知位置标签在各阅读器上接收的信号强度时，标签发射信号的收信场强在室内信道传播过程中的强度变化采用路径损耗模型反映，阅读器的信号接收强度S的计算公式为：When the first variable calculation unit calculates the signal strengths received by tags with known locations and tags with unknown locations on each reader, the strength change of the received field strength of the tag’s transmitted signal during indoor channel propagation is reflected by the path loss model , the formula for calculating the signal receiving strength S of the reader is:
所述式子中，Pf为标签的信号发射功率，d为阅读器与标签距离，PL(d0)为阅读器在参考点d0处接收信号的信号接收强度衰减量，PL(d0′)为阅读器在参考点d0′处接收信号的信号接收强度衰减量，σ表示环境噪声的标准偏差，单位为dB；In the formula, Pf is the signal transmission power of the tag, d is the distance between the reader and the tag, PL(d0 ) is the signal reception strength attenuation of the signal received by the reader at the reference point d0 , PL(d0 ') is the signal reception strength attenuation of the signal received by the reader at the reference point d0 ', σ represents the standard deviation of the environmental noise, in dB;
在实际定位之前，采用两步法求取信号强度改正系数：Before the actual positioning, a two-step method is used to obtain the signal strength correction coefficient:
第一步：选取若干个测试位置标签，记录该测试位置标签在各阅读器上接收到的信号强度，建立各个测试位置标签上与信号强度的离散关系数据库，将由所述阅读器的信号接收强度S的计算公式得到的该测试位置标签的信号强度与离散关系数据库中的信号强度作为基础，计算出信号强度改正系数，The first step: select several test location tags, record the signal strength received by the test location tag on each reader, establish a discrete relationship database between each test location tag and signal strength, and use the signal reception strength of the reader Based on the signal strength of the test position tag obtained by the calculation formula of S and the signal strength in the discrete relational database, the signal strength correction coefficient is calculated,
第二步：设离散关系数据库中的各个测试位置标签CSρ在各阅读器上的信号强度的标准差为σ(CSρ),ρ＝1,…,m，m为测试位置标签的数量，由所述阅读器的信号接收强度S的计算公式得到的测试位置标签CSρ在各阅读器上的信号强度的标准差为σ*(CSρ)，则该信号强度改正系数为：The second step: set the standard deviation of the signal strength of each test location label CSρ on each reader in the discrete relational database as σ(CSρ ), ρ=1,...,m, m is the number of test location labels, The standard deviation of the signal strength of the test position label CSρ obtained by the calculation formula of the signal receiving strength S of the reader on each reader is σ* (CSρ ), then the signal strength correction coefficient is:
FD＝SP+3FD=SP+3
实际定位的时候，采用优化后的阅读器的信号接收强度的计算公式，具体为：S′＝FD×S；In the actual positioning, use the optimized calculation formula of the signal receiving strength of the reader, specifically: S'=FD×S;
采用优化后的阅读器的信号接收强度的计算公式，计算出的某未知位置标签WZi在各阅读器上的接收的信号强度向量为：所述式子中，表示计算得到的WZi在阅读器Rl上的信号接收强度，l＝1,2,…,L；采用优化后的阅读器的信号接收强度的计算公式，计算出的某已知位置标签YZj在各阅读器上的接收的信号强度向量为：所述式子中，表示计算得到的YZj在阅读器Rl上的信号接收强度，l＝1,2,…,L。Using the optimized formula for calculating the received signal strength of the reader, the calculated signal strength vector of an unknown position tag WZi received on each reader for: In the formula, Indicates the calculated signal receiving strength of WZi on the reader Rl , l=1,2,...,L; using the optimized formula for calculating the signal receiving strength of the reader, the calculated YZ of a certain known position tagj is the received signal strength vector at each reader for: In the formula, Indicates the calculated received signal strength of YZj on the reader Rl , l=1, 2,...,L.
本优选实施例第一变量计算单元在进行信号接收强度的计算过程中，充分考虑了在室内环境中电磁波的传输环境复杂性，且结合2个参考点进行计算，能够更为准确的还原发射信号；在进行未知位置标签和已知位置标签的信号强度计算时，引入信号强度改正系数，使得信号强度的计算更为精确。In this preferred embodiment, the first variable calculation unit fully considers the complexity of the electromagnetic wave transmission environment in the indoor environment during the calculation of the signal reception strength, and performs calculations in conjunction with two reference points, which can restore the transmitted signal more accurately ; When calculating the signal strength of unknown location tags and known location tags, a signal strength correction factor is introduced to make the calculation of signal strength more accurate.
优选的，所述未知位置标签的信号接收强度和已知位置标签的信号接收强度之间的距离按照下列公式进行计算：Preferably, the distance between the signal reception strength of the unknown location tag and the signal reception strength of the known location tag is calculated according to the following formula:
所述式子中，表示未知位置标签WZi的信号接收强度和已知位置标签YZj的信号接收强度之间的距离，M表示已知位置标签YZj的数量。In the formula, Indicates the distance between the signal reception strength of the unknown location tag WZi and the signal reception strength of the known location tag YZj , and M represents the number of known location tags YZj .
所述求取未知位置标签的位置，采用以下方式进行：The method of obtaining the position of the unknown position label is carried out in the following manner:
(1)将未知位置标签的信号接收强度和已知位置标签的信号接收强度之间的距离表示为向量形式：计算中最小的k个元素，作为与未知位置标签WZi最近邻的标签，将各距离表示为向量形式：(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 are used as the nearest neighbor label to the unknown position label WZi , expressing each distance as a vector form:
(2)依据邻近程度赋予已知位置标签不同权重，从而估算出WZi坐标(2) Giving different weights to the known position tags according to the degree of proximity, so as to estimate the WZi coordinates
所述式子中，为已知位置标签YZj的坐标；In the formula, is the coordinates of the known position label YZj ;
本优选实施例第二变量计算单元在计算信号接收强度距离过程中，充分考虑了阅读器与标签的距离对信号接收强度可信度的影响，获取的标签距离可靠性更高；在求取未知位置标签过程中，充分考虑了已知位置标签和未知位置标签距离，求取的位置更为准确。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 receiving strength in the process of calculating the signal receiving strength distance, and the obtained tag distance is more reliable; when calculating the unknown In the process of location labeling, the distance between known location labels and unknown location labels is fully considered, and the obtained location is more accurate.
优选地，所述建立评价指标对该定位结果的精确性进行评估，具体为：定期采用定位估计误差WC对定位精度进行评估，Preferably, the establishment of the evaluation index to evaluate the accuracy of the positioning result is specifically: regularly using the positioning estimation error WC to evaluate the positioning accuracy,
所述式子中，E为期望值，为WZi估算位置，为WZi真实位置。In the formula, E is the expected value, Estimated position for WZi , is the real position of WZi .
所述第二评估子模块还设有定位故障报警机制，该定位故障报警机制为：The second evaluation sub-module is also provided with a positioning fault alarm mechanism, and the positioning fault alarm mechanism is:
(1)位定位所允许的误差设定阈值，记录一段时间定期计算得到的定位估计误差WC，累积记录大于该误差阈值的定位估计误差WC的数量β，(1) Set the threshold value of the error allowed by bit positioning, record the position estimation error WC obtained by regular calculation for a period of time, and accumulate the number β of the position estimation error WC greater than the error threshold,
(2)设某一次计算得到的定位估计误差为WCλ，η为满足的定位估计误差的数量，其中WCmax、WCmin分别表示该一段时间定期记录中定位估计误差WC的平均值、最大值和最小值，当满足下列评判公式时，判断机器人定位出现定位故障，并进行相应的报警提示：(2) Suppose the location estimation error obtained by a certain calculation is WCλ , and η is satisfied The number of positioning estimation errors of , where WCmax and WCmin respectively represent the average value, maximum value and minimum value of the positioning estimation error WC in the periodical records for a certain period of time. When the following evaluation formula is met, it is judged that there is a positioning fault in the positioning of the robot, and a corresponding alarm prompt is issued:
所述式子中，ξ为该一段时间定期记录的定位估计误差WC的数量，其中，λ＝1,…,ξ。In the formula, ξ is the number of location estimation errors WC regularly recorded during the period, where λ=1,...,ξ.
本优选实施例第二评估子模块对机器人定位精度进行评估，保证了机器人定位的长期可靠性，并且有助于对定位效果进行改进，获得机器人更加可靠的定位；设置定位故障报警机制，使得该定位能够依据历史估计误差数据提示定位的准确性，为对定位精度的改进提供更为科学的依据。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 and obtain a more reliable positioning of the robot; a positioning fault alarm mechanism is set to make the positioning of the robot more reliable. Positioning can prompt the accuracy of positioning based on historical estimation error data, providing a more scientific basis for improving positioning accuracy.
采用本发明室内机器人导航装置对室内机器人进行导航定位，当阅读器数量分别为20、21、22、23、24时，对机器人的100次导航情况进行分析，并将导航效率和导航时间作为评价导航装置性能的参数，与未采用本发明相比，本发明产生的有益效果如下表所示：Use the indoor robot navigation device of the present invention to navigate and position the indoor robot. When the number of readers is 20, 21, 22, 23, and 24, analyze the 100 navigation situations of the robot, and use the navigation efficiency and navigation time as evaluation The parameter of navigation device performance, compared with not adopting the present invention, the beneficial effect that the present invention produces is as shown in the table below:
最后应当说明的是，以上实施例仅用以说明本发明的技术方案，而非对本发明保护范围的限制，尽管参照较佳实施例对本发明作了详细地说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的实质和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting 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 , the technical solution of the present invention may be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.
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| CN201710115138.XACN106646341B (en) | 2017-02-28 | 2017-02-28 | Indoor robot navigation device |
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| CN201710115138.XACN106646341B (en) | 2017-02-28 | 2017-02-28 | Indoor robot navigation device |
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