CN105823478A - Autonomous obstacle avoidance navigation information sharing and using method - Google Patents
Autonomous obstacle avoidance navigation information sharing and using method Download PDFInfo
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- CN105823478A CN105823478A CN201610142551.0A CN201610142551A CN105823478A CN 105823478 A CN105823478 A CN 105823478A CN 201610142551 A CN201610142551 A CN 201610142551A CN 105823478 A CN105823478 A CN 105823478A
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- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The invention discloses an autonomous obstacle avoidance navigation system for unmanned planes and robots. The system comprises an autonomous obstacle avoidance navigation module and a cloud platform. The autonomous obstacle avoidance navigation module is composed of an obstacle avoidance navigation module main body support, a plurality of ultrasonic wave sensors, a RGB-D sensor/laser radar, an inertia IMU module, a GPS module and antenna, a wireless communication module, a wireless network module, and an obstacle avoidance navigation circuit board. The cloud platform is composed of a data base module, a network firewall module, a data browsing and analyzing module, and a network communication module. Ultrasonic wave sensors, RGB-D sensor/laser radar, and inertia IMU modules are combined to improve the performance of establishing a three-dimensional map and precision of the autonomous obstacle avoidance navigation system; by combining the autonomous obstacle avoidance navigation system and the cloud platform, the maps of all scenes just need to be established for once, other autonomous obstacle avoidance navigation systems can download the maps of the scenes from the cloud platform, the work efficiency of unmanned planes and robots is improved; at the same time, the hardware requirements of obstacle avoidance navigation modules of robots in the scenes with established maps are lowered, and the cost of unmanned planes and robots is reduced therefore.
Description
Technical field
The present invention relates to technical field of automation, be related specifically to a kind of automatic obstacle avoiding navigation information and share and use
Method and a kind of automatic obstacle avoiding navigation system being applied to unmanned plane and robot.
Background technology
Along with the development of science and technology, unmanned plane, robot application field are more and more extensive, its answering in different industries
With the innovation that can bring in sector application, bring inter-trade superposition transition；Simultaneously " Robot In Every Home "
Ambitious goal be also done step-by-step.But on the road that unmanned plane and robot are universal, it is most important that and safety
Closely bound up automatic obstacle-avoiding and airmanship, if the safety of unmanned plane, robot and personnel all cannot ensure,
Other all are not all known where to begin.
The automatic obstacle avoiding navigation system of unmanned plane and robot is to ask currently without man-machine and robot research focus
Topic, relates to the crossing research field of subjects.Unmanned plane and robot obstacle-avoiding navigation are firstly the need of determining certainly
The position of body and attitude, and build surrounding map, then according to self position and attitude, surrounding
Map and final task complete path planning；In unmanned plane and robot moving process, the barrier around of detection in real time
Hinder thing, take evasion tactics to charging into barrier on path planning and be finally completed appointed task.
In unmanned plane and robot obstacle-avoiding field of navigation technology, domestic and international related personnel is proposed multiple solution party
Case.Including by ultrasonic sensor, binocular vision sensor, laser radar, RGB-D depth transducer
Or the composite module of above-mentioned multiple sensors comes detecting obstacles thing and scene map structuring；Utilize electronic compass,
Inertia IMU module, GPS module etc. carry out self attitude and determine and determine with position, are aided with Bayesian probability and calculate
Method calculates the probability that barrier occupies, thus realizes environmental information monitoring and path planning.In avoidance navigation system,
Scene map structuring is that difficulty is maximum, time-consuming at most, requires the highest part, the accuracy of scene map,
Integrity determines efficiency and the accuracy of the path planning of unmanned plane and robot.But current various robot,
After completing scene map structuring in itself application scenarios, machine can only use, but user is according to actual need
After robot to be changed, new engine people has to scene is carried out map structuring again, the telephone expenses substantial amounts of time,
Energy.
Therefore, the present invention is directed to the problem that the scene map datum of machine human world structure can not be shared, propose first
Possessing the automatic obstacle avoiding navigation system of cloud platform, this automatic obstacle avoiding navigation system is possible not only to build application scenarios
Map, and the scene map datum of structure is uploaded to The Cloud Terrace, more can put down at cloud according to the positional information of self
Search data base on platform, download the map datum of this scene, remove scene map structuring process again from, improve machine
Device task efficiency, will make robot application more extensive.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the invention provides a kind of automatic obstacle avoiding possessing cloud platform and lead
Boat system, not only self can carry out controlled map structure to scene, more scene map datum can be uploaded to cloud
Platform, the other robot for same scene is downloaded.Realize map of a scenario building, later stage
Machine can use per capita, saves the scene map structuring step of most critical in robot obstacle-avoiding navigation, improves machine
Task efficiency, it is also possible to reduce the later stage requirement to avoidance navigation module.
For achieving the above object, the present invention is by the following technical solutions:
A kind of automatic obstacle avoiding navigation information is shared and using method, it is characterised in that: include
After unmanned plane or robot power on, automatic obstacle avoiding navigation system powers on simultaneously, and system carries out self-inspection, from
Inspection, by rear, first pass through GPS module or wireless network module carries out Primary Location, it is judged that whether self locates
In a new environment, if new environment, then own location information is transferred to cloud by wireless network module and puts down
Platform and network communication module, cloud platform and network communication module search scene three-dimensional map according to its positional information,
If finding the three-dimensional map of corresponding scene, then by wireless network transmissions to automatic obstacle avoiding navigation system, independently
Navigation system carries out self being accurately positioned according to scene three-dimensional map and sensor, enters according to task after having positioned
Row trajectory planning, issues unmanned plane or robot, by unmanned plane or machine according to the Track Pick-up movement instruction of planning
Device people completes task；
If not having the three-dimensional map of corresponding scene in cloud platform, then automatic obstacle avoiding navigation module starts scene map
Construction step, after map structuring completes, uploads to map cloud platform, carries out track rule according to task simultaneously
Draw, complete task；
If it is confirmed that be not new environment, then detect whether to store the three-dimensional map of this scene, if three-dimensional map
Overlapping with geographical location information, then open self poisoning, carrying out task path planning until completing task；If
Three-dimensional map is not inconsistent with geographical location information, then geographical location information is sent to cloud platform, downloads corresponding field
The three-dimensional map of scape, opening self poisoning, carrying out task path planning until completing task after having downloaded.
Scene map structuring step includes:
Step 1: first centered by starting point, avoidance guider or its carrier rotating 360 degrees, it is thus achieved that rise
The three dimensional point cloud that initial point is 360 °, analyzes and stores three dimensional point cloud, draws the position of next scanning element
Putting and arrive track, carrier will move to impact point according to instruction, and start 360 ° of scannings, continue to analyze also
Storage three dimensional point cloud；During whole, according to cloud data and the inertia IMU mould of sensor output
The posture position information of block output carries out the splicing of three-dimensional point cloud, forms partial 3 d map in scene, and according to
In scene, partial 3 d map and scanning strategy obtain next scanning element, until the first step that three-dimensional map builds
Complete；
Step 2, in addition it is also necessary to being modified three-dimensional map according to the cloud data of other sensors, correction completes
After, scene map structuring completes.
The wireless network module of automatic obstacle avoiding navigation system is by Internet network and cloud platform and network service mould
Block communicates, and scene three-dimensional map and the own location information that can self be drawn are uploaded to cloud platform and network service
Module, cloud platform and network communication module will according to the scene three-dimensional map data received and geographical location information
Its storage is to DBM.Cloud platform and network communication module download certain receiving automatic obstacle avoiding navigation module
During scene three-dimensional map data, first send the requests to browsing data and analyze module, browsing data and analysis
Geodata information according to automatic obstacle avoiding navigation module is searched the three-dimensional of scene in DBM by module
Map, if finding the three-dimensional map data of correspondence, is then transferred to automatic obstacle avoiding by map datum by network and leads
Model plane block；Without corresponding three-dimensional map data, then map status information will not had to be transferred to automatic obstacle avoiding
Navigation module, automatic obstacle avoiding navigation module then starts map structuring to scene, upload the data to after having built
Cloud platform.
Network service is all carried out under the monitoring of network firewall module, it is ensured that the safety of cloud platform.
A kind of automatic obstacle avoiding navigation system possessing cloud platform, it is characterised in that: include
Comprise automatic obstacle avoiding navigation module and cloud platform；
Automatic obstacle avoiding navigation module is arranged in unmanned plane or robot, controls unmanned plane or robot according in advance
Scene is traveled through by fixed strategy, builds the three-dimensional map of scene, three-dimensional map is stored in this locality, will simultaneously
Three-dimensional map and the positional information of this scene upload to cloud platform by wireless network；
The scene map datum received is preserved, for other unmanned planes of later stage by cloud platform according to certain strategy
Or robot obstacle-avoiding navigation module is according to geographical location information download.
Avoidance navigation module includes ultrasonic sensor, RGB-D sensor or laser radar, inertia IMU mould
Block, GPS module and antenna, wireless communication module, wireless network module and avoidance navigation circuit plate.
Described cloud platform comprises DBM, network firewall module, browsing data and analysis module and network
Communication module.
It carries out three-dimensional data data reduction according to the 3D data of RGB-D sensor to scene；According to inertia
IMU module and GPS module carry out the determination of self attitude and position；According to multiple ultrasonic sensors,
RGB-D sensor, the data fusion of inertia IMU module carry out scene map structuring, trajectory planning and obstacle
Thing is dodged, and forms movement instruction and be sent to unmanned plane or robot motion's main body, machine by wireless communication module
Device people's moving person controls robot according to instruction and moves as requested, in motor process, and inertia IMU mould
Block real time machine device human agent position in the scene and attitude, and above-mentioned information is sent to avoidance navigation electricity
Road plate, the position and the attitude information that export according to inertia IMU module are adjusted control by avoidance navigation circuit plate in real time
System instruction, forms robot motion's negative feedback control, it is achieved robot moves according to path planning.
Whole cloud platform possesses fire wall and network security is arranged, and only just may be used by the avoidance navigation module of certification
To download, it is ensured that the safety of scene map datum.
A kind of robot or unmanned plane, use the above-mentioned automatic obstacle avoiding navigation system possessing cloud platform or independently keep away
Barrier navigation information is shared and using method.
A kind of automatic obstacle avoiding navigation system possessing cloud platform is made up of two parts, comprises automatic obstacle avoiding navigation module
And cloud platform.Automatic obstacle avoiding navigation module is arranged in unmanned plane and robot, can control unmanned plane or machine
Device people travel through scene according to predetermined policy, builds the three-dimensional map of scene, map is stored in this locality,
By wireless network, map and the positional information of this scene being uploaded to cloud platform, cloud platform will receive simultaneously
Scene map datum is according to certain strategy preservation, for later stage other robot avoidance navigation module according to geography
Positional information is downloaded, and whole cloud platform possesses fire wall and network security is arranged, and is only led by the avoidance of certification
Model plane block just can be downloaded, it is ensured that the safety of scene map datum.
Automatic obstacle avoiding navigation module on described unmanned plane or robot, comprise avoidance navigation module main body rack,
Multiple ultrasonic sensors, RGB-D sensor/laser radar, inertia IMU module, GPS module and sky
Line, wireless communication module, wireless network module and avoidance navigation circuit plate.Avoidance navigation circuit plate is whole keeping away
The core of barrier navigation module, is responsible for each sensor in whole module and (comprises ultrasonic sensor, RGB-D
Sensor/laser radar, inertia IMU module, GPS module, wireless communication module, wireless network module)
Between information mutual, it carries out three dimensions according to the 3D data of RGB-D sensor/laser radar to scene
According to data reduction；The determination of self attitude and position is carried out according to inertia IMU module and GPS module；According to
Multiple ultrasonic sensors, RGB-D sensor/laser radar, the data fusion of inertia IMU module carry out field
Scape map structuring, trajectory planning and barrier are dodged；Trajectory planning and barrier are dodged the motor control of formation
Instruction is sent to unmanned plane or motion planning and robot control part by wireless communication module；Robot leads according to avoidance
The instruction of model plane block completes the traversal of scene；Avoidance navigation circuit buttress is according to the field formed in robot ergodic process
Scape cloud data, self posture position data carry out data splicing, ultimately form the three-dimensional map of scene and self
Location；After completing scene three-dimensional map structure, avoidance navigation circuit buttress is according to scene three-dimensional map, path rule
Plan slightly, the position of self and attitude, the needs task of completing carry out path planning and movement instruction will be formed,
Being sent to robot, robot will move according to the path of planning；At robot kinematics, ultrasound wave
Sensor and RGB-D sensor ceaselessly monitor whether charge into barrier on path, charge into obstacle when running into
Start Robot dodge strategy after thing, judge to charge into the type of barrier simultaneously；Scene is completed at automatic obstacle avoiding navigation module
After three-dimensional map is bought, the time, the multiple information such as scene location of self that scene map, map are formed are led to
Cross wireless network module and upload to cloud platform storage.
Described cloud platform comprises DBM, network firewall module, browsing data and analysis module, network
Communication module.Network communication module is responsible for receiving that automatic obstacle avoiding navigation module sends over asks summed data, and
According to communication protocol, automatic obstacle avoiding module is communicated；When receiving the scene ground that automatic obstacle avoiding navigation module is uploaded
During diagram data, first integrity and correctness according to the agreement map datum to uploading verifies, by rear
Robot position information according to uploading simultaneously carries out being stored in data base；When receiving under automatic obstacle avoiding navigation module
After carrying the instruction of scene map, browsing data and analysis module according to geographical location information, data base is searched
Rope, and the result and data of searching scene map are sent to the automatic obstacle avoiding navigation module of request；Automatic obstacle avoiding
Navigation system is all carried out with all communication with cloud platform under the protection of network firewall.
The invention have the benefit that employing ultrasonic sensor, RGB-D sensor/laser radar, inertia
The scheme of the multi sensor combinations such as IMU module improves the three-dimensional map structuring capacity of automatic obstacle avoiding navigation system
And precision；And by the way of automatic obstacle avoiding navigation system and cloud platform combine, by automatic obstacle avoiding navigation system
The scene map datum obtained is stored in cloud platform, makes each scene map only need to build once, and other are independently kept away
Barrier navigation system only need to download the map of this scene, eliminating of science from cloud platform when Same Scene is run
Automatic obstacle avoiding navigation system difficulty is maximum, time-consuming at most, require the highest scene map structuring step, improves
Unmanned plane and machine task efficiency；Keeping away working robot in the scene completing map structuring simultaneously
The requirement of barrier navigation module hardware reduces, and advantageously reduces the cost of whole unmanned plane and robot.
Accompanying drawing explanation
Below according to accompanying drawing, the present invention is described in further detail.
Fig. 1 is the automatic obstacle avoiding navigation system front view being applied to unmanned plane and robot of the present invention；
Fig. 2 is the automatic obstacle avoiding navigation system top view being applied to unmanned plane and robot of the present invention
Wherein, 1 is scene ground, and 2 is wheels of robot, and 3 is robot motion's main body, and 4 is that machine is artificial
Making power supply, 5 support automatic obstacle avoiding navigation system structure for robot, and 6 is the main body of automatic obstacle avoiding navigation system
Structure, 7 is inertia IMU module, and 8 is rear apparent direction ultrasonic wave module, and 9 is GPS module body, 10
For the antenna of GPS module, 11 is the body of wireless network module, and 12 is the antenna of wireless network module, 13
For front apparent direction ultrasonic wave module, 14 is ultrasonic wave module receiving portion, and 15 is ultrasonic wave module emitting portion,
16 is the visible light part of RGB-D sensor, and 17 is the body of RGB-D sensor, and 18 navigate for avoidance
Circuit board, 19 is the infrared receiver part of RGB-D sensor, and 20 is the laser facula of RGB-D sensor
Emitting portion, 21 is right apparent direction ultrasonic wave module, and 22 is left view direction ultrasonic wave module, and 23 is channel radio
Letter module, 24 is Internet network, and 25 is cloud platform and network communication module, and 26 is network firewall,
27 is DBM, and 28 is browsing data and analysis module.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in further detail.
As it is shown in figure 1, the present invention include automatic obstacle avoiding navigation system agent structure 6, inertia IMU module 7,
Backsight ultrasonic wave module 8, forward-looking ultrasound mode block 13, the right side regard ultrasonic wave module 21, left view ultrasonic wave module
22, GPS module 9, wireless network module 11, RGB-D sensor assembly 17 and avoidance navigation circuit plate
18. wherein, and backsight ultrasonic wave module 8, forward-looking ultrasound mode block 13, the right side surpass regarding ultrasonic wave module 21, left view
Sound wave module 22 is separately mounted to the surrounding of automatic obstacle avoiding navigation system agent structure 6, is responsible for monitoring four in real time
Barrier on individual direction, and testing result is sent to avoidance navigation circuit plate 18；Avoidance navigation circuit plate
18 inside being positioned at agent structure 6, for the core of whole avoidance navigation module, are responsible for ultrasound wave in system and pass
Sensor, RGB-D sensor 17, inertia IMU module 7, GPS module 9, wireless communication module 23, nothing
Information between line mixed-media network modules mixed-media 11 is mutual, and scene is entered by it according to the 3D data of RGB-D sensor 17
Row three-dimensional data data reduction；Self attitude and position is carried out according to inertia IMU module 7 and GPS module 9
Determination；Melt according to multiple ultrasonic sensors, RGB-D sensor 17, the data of inertia IMU module 7
Conjunction carries out scene map structuring, trajectory planning and barrier and dodges, and forms movement instruction and pass through radio communication mold
Block 23 is sent to robot motion's main body 3, and robot motion's main body 3 controls the wheel 2 of robot according to instruction
Moving as requested, in motor process, inertia IMU module 7 real time machine device human agent 3 is in scene
In position and attitude, and above-mentioned information is sent to avoidance navigation circuit plate 18, avoidance navigation circuit plate 18
The position exported according to inertia IMU module and attitude information are adjusted in real time control instruction, forms robot fortune
Dynamic negative feedback control, it is achieved robot moves according to path planning.
In robot body 3 motor process, it is positioned at the RGB-D of independent navigation obstacle avoidance system main body 6 head
Sensor 17 is transferred to avoidance navigation electricity according to the three-dimensional scenic cloud data in apparent direction before certain frequency output
Road plate 18, avoidance navigation circuit plate 18 judges preceding object principle condition according to above-mentioned data, and by above-mentioned three-dimensional
The position and attitude data packing storage of scene cloud data and the output of inertia IMU module 7.If automatic obstacle avoiding
Navigation system is in scene map structuring duty, then avoidance navigation circuit plate 18 will enter according to ergodic algorithm
Row robot body 3 Motion trajectory: first centered by starting point, robot rotating 360 degrees, it is thus achieved that
The three dimensional point cloud of starting point 360 °, avoidance navigation circuit plate 18 is by analysis and stores three-dimensional point cloud number
According to, and analyze the position of next scanning element and arrive track, robot body 3 will be according to avoidance navigation electricity
The instruction of road plate 18 moves to impact point, and starts 360 ° of scannings, and avoidance navigation circuit plate 18 continues to analyze
And store three dimensional point cloud, during whole, avoidance navigation circuit plate 18 will sense according to RGB-D
The cloud data of device 17 output and the posture position information of inertia IMU module 7 output carry out the spelling of three-dimensional point cloud
Connect, form partial 3 d map in scene, avoidance navigation circuit plate 18 according to partial 3 d map in scene
Next scanning element is obtained with scanning strategy, until avoidance navigation circuit plate 18 is by scene three-dimensional map closed loop,
Three-dimensional map closed loop means that the first step that three-dimensional map builds completes, in addition it is also necessary to according to ultrasonic sensor, point
Three-dimensional map is modified by cloud data, and after having revised, scene map structuring completes.If automatic obstacle avoiding is led
Boat system has obtained the three-dimensional map of scene, then avoidance navigation circuit plate 18 is according to RGB-D sensor 17
The cloud data of output carries out self poisoning, as the benefit of the position and attitude data of inertia IMU module 7 output
Repaying, determine self particular location in the scene, avoidance navigation circuit plate 18 is according to self position and needs
Completing of task, has planned the path of task on scene map, and path planning uses based on dynamically intending newton
Method carries out Dynamic Recurrent least square Jacobian and estimates that carrying out minimizing of function to achieve the objective realizes optimum road
Footpath, after path planning completes, avoidance navigation circuit plate 18 exports control instruction to robot body 3, machine
Device human agent 3 controls the wheel 2 of robot and moves as requested, in motor process, and inertia IMU
Module 7 real time machine device human agent 3 position in the scene and attitude, and above-mentioned information is sent to avoidance
Navigation circuit plate 18, the position exported according to inertia IMU module and attitude are believed by avoidance navigation circuit plate 18
Breath adjusts control instruction in real time, forms robot motion's negative feedback control, it is achieved robot transports according to path planning
Dynamic.Meanwhile, avoidance navigation circuit plate 18 exports according to RGB-D sensor 17 cloud data, ultrasound wave
The data of sensor output judge whether charge into barrier on path, charge into barrier if run into, then basis
Obstacle information and scene map generate avoidance path, until completing task.
Being positioned at the GPS module 9 at independent navigation obstacle avoidance system main body 6 top is that unmanned plane or robot are in open ground
During band environment, unmanned plane or robot are carried out self poisoning, as the position of inertia IMU module 7 output
The compensation put, at opening environment, avoidance navigation circuit plate 18 can carry out track rule according to GPS information
Draw, but need the barrier monitoring on motion path in real time by RGB-D sensor 17, ultrasonic sensor
And landform, and its path is modified.
The wireless network module 11 of automatic obstacle avoiding navigation system is by Internet network 24 and cloud platform and network
Communication module 25 communicates, and scene three-dimensional map and the own location information that can self be drawn are uploaded to cloud platform
With network communication module 25, cloud platform and network communication module 25 according to the scene three-dimensional map data received
It is stored to DBM 27 with geographical location information.Cloud platform and network communication module 25 are receiving certainly
When main avoidance navigation module downloads certain scene three-dimensional map data, first send the requests to browsing data and divide
Geodata information according to automatic obstacle avoiding navigation module is existed by analysis module 28, browsing data and analysis module 28
DBM 27 is searched the three-dimensional map of scene, if finding the three-dimensional map data of correspondence, then by ground
Diagram data is transferred to automatic obstacle avoiding navigation module by network；Without corresponding three-dimensional map data, then will
Not having map status information to be transferred to automatic obstacle avoiding navigation module, automatic obstacle avoiding navigation module then starts ground to scene
Figure builds, and upload the data to cloud platform after having built.The network service of whole system is all at network firewall
Carry out under the monitoring of module, it is ensured that the safety of cloud platform.
The operation principle of the present invention is:
After unmanned plane or robot power on, automatic obstacle avoiding navigation system powers on simultaneously, avoidance navigation circuit plate
18, RGB-D sensor 17, ultrasonic sensor, inertia IMU module 7, GPS module 9, wireless network
Network module 11 carries out self-inspection, after self-inspection is passed through, first passes through GPS module or wireless network module is carried out tentatively
Location, it is judged that self whether be in a new environment, if new environment, then passes through nothing by own location information
Gauze network module transfer to cloud platform and network communication module 25, cloud platform and network communication module 25 according to it
Positional information searches scene three-dimensional map, if finding the three-dimensional map of corresponding scene, is then passed by wireless network
Be passed to automatic obstacle avoiding navigation system, autonomous navigation system according to scene three-dimensional map and RGB-D sensor 17,
Ultrasonic sensor carries out self being accurately positioned, and carries out trajectory planning according to task, according to planning after having positioned
Track Pick-up movement instruction issue robot body 3, robot complete task；If do not had in cloud platform
The three-dimensional map of corresponding scene, then automatic obstacle avoiding navigation module starts scene map structuring program, and whole process is such as
Noted earlier, after map structuring completes, map is uploaded to cloud platform, carry out track rule according to task simultaneously
Draw, complete task；If it is confirmed that be not new environment, then whether detection avoidance navigation circuit plate 18 stores
The three-dimensional map of this scene, if three-dimensional map overlaps with geographical location information, then opens self poisoning, carries out
Task path is planned until completing task；If three-dimensional map is not inconsistent with geographical location information, then by geographical position
Information is sent to cloud platform, downloads the three-dimensional map of corresponding scene, opens self poisoning, enter after having downloaded
Row task path is planned until completing task.After task completes, automatic obstacle avoiding navigation system is by robot navigation
Return to charge position and carry out automatic charging, wait next task.
Claims (10)
1. an automatic obstacle avoiding navigation information is shared and using method, it is characterised in that: include
After unmanned plane or robot power on, automatic obstacle avoiding navigation system powers on simultaneously, and system carries out self-inspection, from
Inspection, by rear, first pass through GPS module or wireless network module carries out Primary Location, it is judged that whether self is in
One new environment, if new environment, is then transferred to cloud platform by own location information by wireless network module
And network communication module, cloud platform and network communication module according to its positional information search scene three-dimensional map, as
Fruit finds the three-dimensional map of corresponding scene, then by wireless network transmissions to automatic obstacle avoiding navigation system, from leading
Boat system carries out self being accurately positioned according to scene three-dimensional map and sensor, carries out according to task after having positioned
Trajectory planning, issues unmanned plane or robot, by unmanned plane or machine according to the Track Pick-up movement instruction of planning
People completes task；
If not having the three-dimensional map of corresponding scene in cloud platform, then automatic obstacle avoiding navigation module starts scene map
Construction step, after map structuring completes, uploads to map cloud platform, carries out track rule according to task simultaneously
Draw, complete task；
If it is confirmed that be not new environment, then detect whether to store the three-dimensional map of this scene, if three-dimensional map
Overlapping with geographical location information, then open self poisoning, carrying out task path planning until completing task；If
Three-dimensional map is not inconsistent with geographical location information, then geographical location information is sent to cloud platform, downloads corresponding field
The three-dimensional map of scape, opening self poisoning, carrying out task path planning until completing task after having downloaded.
2. a kind of automatic obstacle avoiding navigation information as claimed in claim 1 is shared and a using method, and it is special
Levy and be: scene map structuring step includes:
Step 1: first centered by starting point, avoidance guider or its carrier rotating 360 degrees, it is thus achieved that rise
The three dimensional point cloud that initial point is 360 °, analyzes and stores three dimensional point cloud, draws the position of next scanning element
Putting and arrive track, carrier will move to impact point according to instruction, and start 360 ° of scannings, continue to analyze also
Storage three dimensional point cloud；During whole, according to cloud data and the inertia IMU module of sensor output
The posture position information of output carries out the splicing of three-dimensional point cloud, forms partial 3 d map in scene, and according to field
In scape, partial 3 d map and scanning strategy obtain next scanning element, until the first step that three-dimensional map builds is complete
Become；
Step 2, in addition it is also necessary to being modified three-dimensional map according to the cloud data of other sensors, correction completes
After, scene map structuring completes.
3. a kind of automatic obstacle avoiding navigation information as claimed in claim 1 is shared and a using method, and it is special
Levy and be: the wireless network module of automatic obstacle avoiding navigation system is by Internet network and cloud platform and network
Communication module communicates, and scene three-dimensional map and the own location information that can self be drawn are uploaded to cloud platform and net
Network communication module, cloud platform and network communication module are according to the scene three-dimensional map data received and geographical position
Information is stored to DBM.Cloud platform and network communication module are under receiving automatic obstacle avoiding navigation module
When carrying certain scene three-dimensional map data, first send the requests to browsing data and analyze module, browsing data
With analyzing module, the geodata information according to automatic obstacle avoiding navigation module is searched scene in DBM
Three-dimensional map, if find correspondence three-dimensional map data, then map datum is transferred to independently by network
Avoidance navigation module；Without corresponding three-dimensional map data, then map status information will not had to be transferred to certainly
Main avoidance navigation module, automatic obstacle avoiding navigation module then starts map structuring to scene, by data after having built
Upload to cloud platform.
4. a kind of automatic obstacle avoiding navigation information as claimed in claim 1 is shared and a using method, and it is special
Levy and be: network service is all carried out under the monitoring of network firewall module, it is ensured that the safety of cloud platform.
5. the automatic obstacle avoiding navigation system possessing cloud platform, it is characterised in that: include
Comprise automatic obstacle avoiding navigation module and cloud platform；
Automatic obstacle avoiding navigation module is arranged in unmanned plane or robot, controls unmanned plane or robot according in advance
Scene is traveled through by fixed strategy, builds the three-dimensional map of scene, three-dimensional map is stored in this locality, will simultaneously
Three-dimensional map and the positional information of this scene upload to cloud platform by wireless network；
The scene map datum received is preserved, for other unmanned planes of later stage by cloud platform according to certain strategy
Or robot obstacle-avoiding navigation module is according to geographical location information download.
6. the automatic obstacle avoiding navigation system possessing cloud platform as claimed in claim 5, it is characterised in that:
Avoidance navigation module includes ultrasonic sensor, RGB-D sensor or laser radar, inertia IMU module, GPS
Module and antenna, wireless communication module, wireless network module and avoidance navigation circuit plate.
7. the automatic obstacle avoiding navigation system possessing cloud platform as claimed in claim 5, it is characterised in that:
Described cloud platform comprises DBM, network firewall module, browsing data and analysis module and network service
Module.
8. the automatic obstacle avoiding navigation system possessing cloud platform as claimed in claim 5, it is characterised in that:
It carries out three-dimensional data data reduction according to the 3D data of RGB-D sensor to scene；According to inertia IMU mould
Block and GPS module carry out the determination of self attitude and position；According to multiple ultrasonic sensors, RGB-D sensing
Device, the data fusion of inertia IMU module carry out scene map structuring, trajectory planning and barrier and dodge, and shape
Movement instruction is become to be sent to unmanned plane or robot motion's main body, robot motion's main body by wireless communication module
Control robot according to instruction to move as requested, in motor process, inertia IMU module real time machine device
Human agent position in the scene and attitude, and above-mentioned information is sent to avoidance navigation circuit plate, avoidance is navigated
The position exported according to inertia IMU module and attitude information are adjusted control instruction by circuit board in real time, form machine
People's motion negative feedback control, it is achieved robot moves according to path planning.
9. the automatic obstacle avoiding navigation system possessing cloud platform as claimed in claim 5, it is characterised in that:
Whole cloud platform possesses fire wall and network security is arranged, only just can be below by the avoidance navigation module of certification
Carry, it is ensured that the safety of scene map datum.
10. robot or a unmanned plane, uses and possesses independently keeping away of cloud platform as described in claim 1-9
Barrier navigation system or automatic obstacle avoiding navigation information are shared and using method.
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