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WO2018126911A1 - Procédé et appareil de localisation, système de traitement de service et support d'enregistrement lisible par ordinateur - Google Patents

Procédé et appareil de localisation, système de traitement de service et support d'enregistrement lisible par ordinateur Download PDF

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Publication number
WO2018126911A1
WO2018126911A1 PCT/CN2017/118029 CN2017118029W WO2018126911A1 WO 2018126911 A1 WO2018126911 A1 WO 2018126911A1 CN 2017118029 W CN2017118029 W CN 2017118029W WO 2018126911 A1 WO2018126911 A1 WO 2018126911A1
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WO
WIPO (PCT)
Prior art keywords
initial
new
angle
mobile robot
dual
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PCT/CN2017/118029
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English (en)
Chinese (zh)
Inventor
宁润苏
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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
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Application filed by 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 filed Critical 北京京东尚科信息技术有限公司
Publication of WO2018126911A1 publication Critical patent/WO2018126911A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a positioning method for a dual-drive mobile robot 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.
  • 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:
  • 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, ⁇ 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 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 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.
  • 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.
  • the angle calculation module is further configured to:
  • 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: Where U(k) represents the average moving distance of the left and right driving wheels, r represents the driving wheel radius, ⁇ 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 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: 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.
  • an electronic device for positioning of a two-wheel drive mobile robot is provided.
  • An electronic device 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.
  • 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.
  • FIG. 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
  • FIG. 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.
  • FIG. 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.
  • 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.
  • 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, ⁇ (k) represents the initial tilt angle, ⁇ (k) represents the initial roll angle, and a, b, c, d represent the quaternion.
  • the fourth-order Pika method is used to solve the differential equation and the solution is:
  • sampling interval be ⁇ t, then: among them The three components measured for the gyroscope.
  • the updated direction cosine matrix can be obtained by solving the calculated quaternion:
  • the new tilt angle ⁇ (k+1) and the new roll angle ⁇ (k+1) are calculated as follows:
  • 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.
  • the average moving distance of the left and right driving wheels can be calculated 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, ⁇ 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.
  • 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: Where Y(k+1) represents the new ordinate and Y(k) represents the initial ordinate.
  • 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.
  • 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:
  • ⁇ (k) represents the initial tilt angle
  • ⁇ (k) represents the initial roll angle
  • a, b, c, d represent the quaternion.
  • 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 ⁇ (k+1) and the new roll angle ⁇ (k+1).
  • 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: Where U(k) represents the average moving distance of the left and right driving wheels, r represents the driving wheel radius, ⁇ 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 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: Where Y(k+1) represents the new ordinate and Y(k) represents the initial ordinate.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de localisation et un appareil de localisation pour un robot mobile à double entraînement et un système de traitement de service et un support d'enregistrement lisible par ordinateur permettant de localiser le robot mobile à double entraînement, ce qui permet de résoudre le problème technique de localisation imprécise dans l'état de la technique. Le procédé de localisation comprend : l'acquisition d'une abscisse initiale, d'une ordonnée initiale, d'un angle d'orientation initial, d'un angle d'inclinaison initial et d'un angle de roulement initial d'un robot mobile à double entraînement (A) ; la détermination, en fonction de l'angle d'orientation initial, de l'angle d'inclinaison initial et de l'angle de roulement initial, d'un nouvel angle d'orientation, d'un nouvel angle d'inclinaison et d'un nouvel angle de roulement du robot mobile à double entraînement (B) ; la détermination d'une distance de déplacement moyenne d'une roue d'entraînement droite et d'une roue d'entraînement gauche du robot mobile à double entraînement (C) ; et la détermination, en fonction de l'abscisse initiale, de l'ordonnée initiale, du nouvel angle d'orientation et de la distance de déplacement moyenne des roues d'entraînement droite et gauche, d'une nouvelle abscisse et d'une nouvelle ordonnée du robot mobile à double entraînement (D).
PCT/CN2017/118029 2017-01-04 2017-12-22 Procédé et appareil de localisation, système de traitement de service et support d'enregistrement lisible par ordinateur WO2018126911A1 (fr)

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