WO2018126911A1

WO2018126911A1 - Positioning method and apparatus, service processing system and computer readable storage medium

Info

Publication number: WO2018126911A1
Application number: PCT/CN2017/118029
Authority: WO
Inventors: 宁润苏
Original assignee: 北京京东尚科信息技术有限公司; 北京京东世纪贸易有限公司
Priority date: 2017-01-04
Filing date: 2017-12-22
Publication date: 2018-07-12
Also published as: CN108267137A; CN108267137B

Abstract

Disclosed are a positioning method and positioning apparatus for a dual-drive mobile robot and a service processing system and a computer readable storage medium for positioning the dual-drive mobile robot, wherein same are helpful in solving the technical problem of inaccurate positioning in the prior art. The positioning method comprises: acquiring an initial abscissa, an initial ordinate, an initial heading angle, an initial angle of inclination and an initial roll angle of a dual-drive mobile robot (A); determining, according to the initial heading angle, the initial angle of inclination and the initial roll angle, a new heading angle, a new angle of inclination and a new roll angle of the dual-drive mobile robot (B); determining an average moving distance of a right and a left driving wheel of the dual-drive mobile robot (C); and determining, according to the initial abscissa, the initial ordinate, the new heading angle and the average moving distance of the right and left driving wheel, a new abscissa and a new ordinate of the dual-driving mobile robot (D).

Description

Positioning method, device, business processing system, and computer readable storage medium

Technical field

The present invention relates to the field of computers and software technologies thereof, and in particular, to a method, an apparatus, a service processing system, and a computer readable storage medium for positioning a dual-drive mobile robot.

Background technique

With the development of the industry, mobile robots are gradually being widely used. For example, e-commerce companies can use mobile robots to carry goods in warehouses. The two-wheel drive mobile robot usually adopts the double-drive mode of the left and right wheels. The car body train adopts the differential fixed rudder mode, and the drive motor is the servo motor. By controlling the rotational speed of the two motors, the speed control and attitude control of the vehicle are realized.

The positioning technology of the two-wheeled mobile robot is mainly based on encoder positioning and inertial navigation based positioning.

The encoder-based robot positioning method is specifically: when the robot walks between two two-dimensional code points, if the ground is strictly level and the influence of other errors is excluded, the robot can be considered to be in a straight line. An encoder is mounted on the wheel. When the wheel rotates, the encoder will send several pulse signals. After receiving the signal, the navigation solving unit can calculate the number of the pulse signals to know that the wheel is in a straight line within the measuring time. The distance so that you can get the coordinates of the robot on a straight line. However, in the case of insufficient horizontal flatness, uneven wheel radius, and uneven robot load, the robot no longer walks in a straight line, but walks the curve, especially when a certain wheel slips, the robot will produce a large Turning, causing a large error in the encoder mode positioning results.

The robot positioning method based on inertial navigation is specifically: placing the inertial measurement sensor on the center point of the carrier, collecting the basic motion data information such as the acceleration and angular velocity of the robot motion, and transforming it into the navigation coordinate system through the direction cosine matrix, after a series of The navigation algorithm can solve the velocity, position and attitude angle information of the carrier. However, due to cost reasons, the inertial navigation sensor selects the MEMS process low-cost sensor in practical applications. The zero position of the device is unstable and the random drift is serious. Especially, the displacement calculation error caused by the drift of the accelerometer in 10 seconds is up to several Ten centimeters, which is unacceptable in practical applications.

Summary of the invention

In view of this, the present invention provides a positioning method and positioning device for a dual-drive mobile robot, and a service processing system and a computer readable storage medium for positioning of the dual-drive mobile robot, which are helpful in solving the prior art. The positioning of the inaccurate technical issues.

In order to achieve the object of the invention, according to a first aspect of the present invention, a positioning method for a dual-drive mobile robot is provided, comprising: acquiring an initial abscissa, an initial ordinate, an initial heading angle of the dual-drive mobile robot, An initial tilt angle, an initial roll angle; determining a new heading angle, a new tilt angle, and a new roll angle of the dual-drive mobile robot according to the initial head angle, the initial tilt angle, and the initial roll angle; determining the double Driving an average moving distance of the left and right driving wheels of the mobile robot; determining a new horizontal of the dual-drive mobile robot according to the initial abscissa, the initial ordinate, the new heading angle, and the average moving distance of the left and right driving wheels Coordinates and new ordinates.

Optionally, the determining, according to the initial heading angle, the initial tilt angle, and the initial roll angle, the new heading angle, the new tilt angle, and the new roll angle of the dual-drive mobile robot include:

Calculating the quaternion according to the initial heading angle, the initial tilt angle, and the initial roll angle according to the following formula:

among them,

Indicates the initial heading angle, θ(k) represents the initial tilt angle, γ(k) represents the initial roll angle, and a, b, c, d represent the quaternion;

Calculating the new heading angle, the new tilt angle, and the new roll angle according to the quaternion according to the following formula:

θ(k+1)=arcsin(2(cd+ab))

among them,

Indicates the new heading angle, θ(k+1) represents the new tilt angle, and γ(k+1) represents the new roll angle.

Optionally, the step of determining an average moving distance of the left and right driving wheels of the dual-drive mobile robot comprises: calculating an average moving distance of the left and right driving wheels of the dual-drive mobile robot according to the following formula:

Where U(k) represents the average moving distance of the left and right driving wheels, r represents the driving wheel radius, π represents the pi, n _R represents the number of pulses of the right drive wheel encoder in a single sampling period, and n _L represents the right drive wheel in a single sampling period The number of pulses of the encoder, n _total represents the total number of pulses of one revolution of the drive wheel.

Optionally, the determining the new abscissa and the new ordinate of the dual-drive mobile robot according to the initial abscissa, the initial ordinate, the new heading angle, and the average moving distance of the left and right driving wheels The step includes: determining the new abscissa according to the initial abscissa, the new heading angle, and the average moving distance of the left and right driving wheels according to the following formula:

Where X(k+1) represents the new abscissa and X(k) represents the initial abscissa; the new ordinate is determined according to the initial ordinate, the new heading angle and the average moving distance of the left and right driving wheels according to the following formula Y-axis:

Where Y(k+1) represents the new ordinate and Y(k) represents the initial ordinate.

In order to achieve the object of the invention, according to a second aspect of the present invention, a positioning apparatus for a dual-drive mobile robot includes: an acquisition module for acquiring an initial abscissa, an initial ordinate, and an initial of the dual-drive mobile robot a heading angle, an initial tilt angle, an initial roll angle; an angle calculation module, configured to determine a new heading angle and a new tilt angle of the dual-drive mobile robot according to the initial heading angle, the initial tilt angle, and the initial roll angle And a new roll angle; a distance calculation module, configured to determine an average moving distance of the left and right driving wheels of the dual-drive mobile robot; a coordinate calculation module, configured to determine, according to the initial abscissa, the initial ordinate, the new heading The angle and the average moving distance of the left and right driving wheels determine a new abscissa and a new ordinate of the dual-drive mobile robot.

Optionally, the angle calculation module is further configured to:

among them,

θ(k+1)=arcsin(2(cd+ab))

among them,

Optionally, the distance calculation module is further configured to: calculate an average moving distance of the left and right driving wheels of the dual-drive mobile robot according to the following formula:

Optionally, the coordinate calculation module is further configured to: determine the new abscissa according to the initial abscissa, the new heading angle, and the average moving distance of the left and right driving wheels according to the following formula:

In order to achieve the object of the invention, according to a third aspect of the invention, an electronic device for positioning of a two-wheel drive mobile robot is provided.

An electronic device according to an embodiment of the present invention includes: one or more processors; and storage means for storing one or more programs, when the one or more programs are executed by the one or more processors, The one or more processors are caused to implement a positioning method for a dual-drive robot according to an embodiment of the present invention.

In order to achieve the object of the invention, according to a fourth aspect of the invention, a computer readable storage medium for positioning of a dual drive mobile robot is provided.

A computer readable storage medium according to an embodiment of the present invention, wherein a computer program is stored thereon, and when the program is executed by the processor, a positioning method for a dual-drive robot according to an embodiment of the present invention is implemented.

The technical solution according to the present invention is a navigation and positioning technology scheme in which an inertial system and an encoder are integrated with each other, and combines the advantages of both, uses an inertial navigation algorithm to determine a heading angle, uses a coded ranging algorithm to determine the displacement, and then uses the heading angle and the displacement to obtain A more accurate robot pose information. The positioning method and the positioning device for the dual-drive mobile robot according to the embodiment of the present invention can have strong error correction and anti-interference ability for complex working conditions and the ground environment, and have higher reliability than single sensor navigation and positioning. It should be noted that the further effects of the above non-conventional alternatives will be described below in conjunction with the specific embodiments.

DRAWINGS

The drawings are intended to provide a better understanding of the invention and are not intended to limit the invention. among them:

1 is a flow chart showing main steps of a positioning method for a two-wheel drive mobile robot according to an embodiment of the present invention;

2 is a schematic structural diagram of main modules of a positioning device for a two-wheel drive mobile robot according to an embodiment of the present invention.

detailed description

The exemplary embodiments of the present invention are described with reference to the accompanying drawings, which are in the Accordingly, it will be apparent to those skilled in the art that various modifications and changes can be made to the embodiments described herein without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

1 is a flow chart showing the main steps of a positioning method for a two-wheel drive mobile robot according to an embodiment of the present invention. As shown in FIG. 1, the positioning method for the two-wheel drive mobile robot of this embodiment may include the following steps A to D.

Step A: Obtain the initial abscissa, the initial ordinate, the initial heading angle, the initial tilt angle, and the initial roll angle of the dual-drive mobile robot.

Step B: Determine the new heading angle, the new tilt angle, and the new roll angle of the dual-drive mobile robot according to the initial heading angle, the initial tilt angle, and the initial roll angle.

Step C: Determine the average moving distance of the left and right driving wheels of the dual-drive mobile robot.

Step D: Determine the new abscissa and the new ordinate of the dual-drive mobile robot according to the initial abscissa, the initial ordinate, the new heading angle, and the average moving distance of the left and right driving wheels.

Optionally, in step B, the homing algorithm can determine the new heading angle, the new tilt angle, and the new roll angle of the dual-drive mobile robot according to the initial heading angle, the initial tilt angle, and the initial roll angle. The specific process is as follows.

First, the quaternion is calculated according to the following formula according to the initial heading angle, the initial tilt angle, and the initial roll angle. among them,

Indicates the initial heading angle, θ(k) represents the initial tilt angle, γ(k) represents the initial roll angle, and a, b, c, d represent the quaternion.

Due to the change of the attitude angle caused by the motion of the double-drive mobile robot, the quaternion changes accordingly, and the update equation is:

The fourth-order Pika method is used to solve the differential equation and the solution is:

among them:

Let the sampling interval be Δt, then:

among them

The three components measured for the gyroscope.

The updated direction cosine matrix can be obtained by solving the calculated quaternion:

Thereby calculating the new heading angle

The new tilt angle θ(k+1) and the new roll angle γ(k+1) are calculated as follows:

θ(k+1)=arcsin(2(cd+ab))

Optionally, step C may utilize an encoding ranging algorithm to determine an average moving distance of the left and right driving wheels of the dual-drive mobile robot. The specific process is as follows.

Since the average moving distance of the left and right driving wheels should be equal to the average of the moving distance of the left driving wheel and the moving distance of the right driving wheel, the average moving distance of the left and right driving wheels can be calculated according to the following formula:

Optionally, step D may include the following steps D1 and D2.

Step D1: Determine the new abscissa according to the initial abscissa, the new heading angle, and the average moving distance of the left and right driving wheels according to the following formula:

Where X(k+1) represents the new abscissa and X(k) represents the initial abscissa.

Step D2: Determine the new ordinate according to the initial ordinate, the new heading angle, and the average moving distance of the left and right driving wheels according to the following formula:

2 is a schematic structural diagram of main modules of a positioning device for a two-wheel drive mobile robot according to an embodiment of the present invention. As shown in FIG. 2, the positioning device 20 for a two-wheel drive mobile robot of this embodiment may include an acquisition module 21, an angle calculation module 22, a distance calculation module 23, and a coordinate calculation module 24.

The obtaining module 21 is configured to obtain an initial abscissa, an initial ordinate, an initial heading angle, an initial tilt angle, and an initial roll angle of the dual-drive mobile robot.

The angle calculation module 22 is configured to determine a new heading angle, a new tilt angle, and a new roll angle of the dual-drive mobile robot according to the initial heading angle, the initial tilt angle, and the initial roll angle.

The distance calculation module 23 is for determining the average moving distance of the left and right driving wheels of the two-wheel drive mobile robot.

The coordinate calculation module 24 is configured to determine the new abscissa and the new ordinate of the dual-drive mobile robot according to the initial abscissa, the initial ordinate, the new heading angle, and the average moving distance of the left and right driving wheels.

Optionally, the angle calculation module 22 is further configured to: calculate the quaternion according to the initial heading angle, the initial tilt angle, and the initial roll angle according to the following formula:

among them,

And the angle calculation module 22 is further configured to calculate a new heading angle according to the quaternion according to the following formula

The new tilt angle θ(k+1) and the new roll angle γ(k+1).

θ(k+1)=arcsin(2(cd+ab))

Optionally, the distance calculation module 23 is further configured to calculate an average moving distance of the left and right driving wheels of the dual-drive mobile robot according to the following formula:

Optionally, the coordinate calculation module 24 is further configured to: determine the new abscissa according to the initial formula, the new heading angle, and the average moving distance of the left and right driving wheels according to the following formula:

Where X(k+1) represents the new abscissa and X(k) represents the initial abscissa; according to the initial ordinate, the new heading angle and the average moving distance of the left and right driving wheels, the new ordinate is determined according to the following formula:

The positioning method and the positioning device for the dual-drive mobile robot according to the embodiment of the present invention are a navigation and positioning technology scheme that fuses the inertial system and the encoder, and combines the advantages of the two, and uses the inertial navigation algorithm to determine the heading angle, and uses the coding test. The distance algorithm determines the displacement, and then uses the heading angle and displacement to obtain a more accurate robot pose information. The positioning method and the positioning device for the dual-drive mobile robot according to the embodiment of the present invention can have strong error correction and anti-interference ability for complex working conditions and the ground environment, and have higher reliability than single sensor navigation and positioning.

The present invention also provides a service processing system for positioning of a two-wheel drive mobile robot. The business processing system includes a memory; and a processor coupled to the memory, the processor configured to perform the positioning method for a dual-drive robot of the present invention based on instructions stored in the memory.

The present invention also provides a computer readable storage medium for positioning of a two-drive mobile robot, on which computer program instructions are stored, which are executed by the processor to implement the positioning method for a dual-drive robot of the present invention. step.

The above specific embodiments do not constitute a limitation of the scope of the present invention. Those skilled in the art will appreciate that a wide variety of modifications, combinations, sub-combinations and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

A positioning method for a dual-drive mobile robot, comprising:

Obtaining an initial abscissa, an initial ordinate, an initial heading angle, an initial tilt angle, and an initial roll angle of the dual-drive mobile robot;

Determining a new heading angle, a new tilt angle, and a new roll angle of the dual-drive mobile robot according to the initial heading angle, the initial tilt angle, and the initial roll angle;

Determining an average moving distance of the left and right driving wheels of the dual-drive mobile robot;

Determining a new abscissa and a new ordinate of the two-wheel drive mobile robot according to the initial abscissa, the initial ordinate, the new heading angle, and an average moving distance of the left and right driving wheels.
The positioning method for a two-wheel drive mobile robot according to claim 1, wherein said determining said new two-wheel drive mobile robot based on said initial heading angle, said initial tilt angle, and said initial roll angle The steps of the heading angle, the new tilt angle, and the new roll angle include:

Calculating the quaternion according to the initial heading angle, the initial tilt angle, and the initial roll angle according to the following formula:

among them,
Indicates the initial heading angle, θ(k) represents the initial tilt angle, γ(k) represents the initial roll angle, and a, b, c, d represent the quaternion;

Calculating the new heading angle, the new tilt angle, and the new roll angle according to the quaternion according to the following formula:

θ(k+1)=arcsin(2(cd+ab))

among them,
Indicates the new heading angle, θ(k+1) represents the new tilt angle, and γ(k+1) represents the new roll angle.
The positioning method for a two-wheel drive mobile robot according to claim 2, wherein the determining the average moving distance of the left and right driving wheels of the dual-drive mobile robot comprises:

Calculate the average moving distance of the left and right driving wheels of the dual-drive mobile robot according to the following formula:
Where U(k) represents the average moving distance of the left and right driving wheels, r represents the driving wheel radius, π represents the pi, n R represents the number of pulses of the right drive wheel encoder in a single sampling period, and n L represents the right drive wheel in a single sampling period The number of pulses of the encoder, n total represents the total number of pulses of one revolution of the drive wheel.
The positioning method for a two-wheel drive mobile robot according to claim 3, wherein said according to said initial abscissa, said initial ordinate, said new heading angle, and an average movement of said left and right driving wheels The steps of determining the new abscissa and the new ordinate of the dual-drive mobile robot include:

Determining the new abscissa according to the initial abscissa, the new heading angle, and the average moving distance of the left and right driving wheels according to the following formula:
Where X(k+1) represents the new abscissa and X(k) represents the initial abscissa;

Determining the new ordinate according to the initial ordinate, the new heading angle, and the average moving distance of the left and right driving wheels according to the following formula:
Where Y(k+1) represents the new ordinate and Y(k) represents the initial ordinate.
A positioning device for a dual-drive mobile robot, comprising:

Obtaining a module, acquiring an initial abscissa, an initial ordinate, an initial heading angle, an initial tilt angle, and an initial roll angle of the dual-drive mobile robot;

An angle calculation module, configured to determine a new heading angle, a new tilt angle, and a new roll angle of the dual-drive mobile robot according to the initial heading angle, the initial tilt angle, and the initial roll angle;

a distance calculation module, configured to determine an average moving distance of the left and right driving wheels of the dual-drive mobile robot;

And a coordinate calculation module, configured to determine a new abscissa and a new ordinate of the dual-drive mobile robot according to the initial abscissa, the initial ordinate, the new heading angle, and an average moving distance of the left and right driving wheels.
The positioning device for a two-wheel drive mobile robot according to claim 5, wherein the angle calculation module is further configured to:

Calculating the quaternion according to the initial heading angle, the initial tilt angle, and the initial roll angle according to the following formula:

among them,
Indicates the initial heading angle, θ(k) represents the initial tilt angle, γ(k) represents the initial roll angle, and a, b, c, d represent the quaternion;

Calculating the new heading angle, the new tilt angle, and the new roll angle according to the quaternion according to the following formula:

θ(k+1)=arcsin(2(cd+ab))

among them,
Indicates the new heading angle, θ(k+1) represents the new tilt angle, and γ(k+1) represents the new roll angle.
The positioning device for a dual-drive mobile robot according to claim 6, wherein the distance calculation module is further configured to:

Calculate the average moving distance of the left and right driving wheels of the dual-drive mobile robot according to the following formula:
Where U(k) represents the average moving distance of the left and right driving wheels, r represents the driving wheel radius, π represents the pi, n R represents the number of pulses of the right drive wheel encoder in a single sampling period, and n L represents the right drive wheel in a single sampling period The number of pulses of the encoder, n total represents the total number of pulses of one revolution of the drive wheel.
The positioning device for a dual-drive mobile robot according to claim 7, wherein the coordinate calculation module is further configured to:

Determining the new abscissa according to the initial abscissa, the new heading angle, and the average moving distance of the left and right driving wheels according to the following formula:
Where X(k+1) represents the new abscissa and X(k) represents the initial abscissa;

Determining the new ordinate according to the initial ordinate, the new heading angle, and the average moving distance of the left and right driving wheels according to the following formula:
Where Y(k+1) represents the new ordinate and Y(k) represents the initial ordinate.
An electronic device for positioning a two-wheel drive mobile robot, comprising:

One or more processors;

a storage device for storing one or more programs,

The one or more programs are executed by the one or more processors such that the one or more processors implement the method of any one of claims 1 to 4.
A computer readable storage medium for positioning a two-drive mobile robot, on which is stored a computer program, wherein the program is executed by a processor to implement the method of any one of claims 1 to 4.