CN104052674B - Autonomous wheeled router and its autokinetic movement control method - Google Patents
Autonomous wheeled router and its autokinetic movement control method Download PDFInfo
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Abstract
The invention provides a kind of autonomous wheeled router, including routing module, mobile base, rangefinder, monitoring camera, the routing module, the rangefinder and the monitoring camera are arranged in the mobile base, the monitoring camera and the rangefinder are attached with the routing module, and the mobile router can be connected into internet by fixed wireless broadband or 4G networks.The autokinetic movement control method of autonomous wheeled router, step 1：Environment broadband access is set；Step 2：Pretreatment；Step 3：Start operation.Patent of the present invention is by using Mobile Robotics Navigation technology so that conventional fixed-type wireless router possesses autokinetic movement control function.
Description
Technical field
Believe the present invention relates to a kind of wheel type intelligent router implementation of autonomous and based on being communicated in net node
Number and flow communication quality optimize autokinetic movement control method, belong to internet and robot crossing domain.
Background technology
With the development of Internet telephony, demand also more and more higher of the people for network insertion, it is desirable at home or
The wireless networking of safe high quality whenever and wherever possible is realized in office, current many manufacturers both provide the wireless routing of low cost
Device access scheme, for meeting this domestic demand of people, such as TP-Link WR systems, the extremely objective Intelligent routing of pole section
Device pole one, the millet route of millet company etc..But what these routers businessman researched and developed is all fixed router, is covered
The limited range communication of lid, and be not intended to lay router everywhere in whole family based on cost and convenient consideration people, institute
Actually it can not meet people's needs with fixed router technology.Therefore, the present invention propose it is a kind of it is low into
This Novel router scheme based on Mobile Robotics Navigation technology, can according to the change in location for node of being surfed the Net in environment,
Automatically the locus of itself is adjusted in real time, to obtain optimal communication quality.
In recent years, conventional router starts to intelligent development, major leading Internet company, such as millet, and 360, Huawei,
Cisco etc. is all added in this field with keen competition, and they focus on the intelligent realization of developing network access, such as intelligent number
According to packet filtering, parent's control, online shopping mall, video monitoring etc., and less relate to summary for the robot automtion of router.This hair
Bright proposed devices and methods therefor, relates only to the robotization of router, without regard to the intelligent Problems of network insertion.
With the present invention technically more similarly correlation technique in terms of the intelligent navigation of mobile robot.Navigation is mobile machine
The basic and key function of people, it is the guarantee that robot realizes many other functions.At present, in all products of mobile robot
In, wireless module is all added substantially, and its purpose realizes the transmission of robot sensing and control data, to realize navigation algorithm
The outer server pretreatment of machine and man-machine interaction.Therefore in mobile robot field, wireless module or router and robot
With reference to, be intended merely to data transfer, and to realize moving wheeled type intelligent network route as purpose device and control method there is not yet
There is correlation technique appearance.
Patent of invention《A kind of intelligent and safe patrol system based on DaNI mobile robot platforms》(publication number：
CN103336788A).The disclosure of the invention a kind of Internet information acquisition method and system of anthropomorphic robot auxiliary, including：
Anthropomorphic robot, wireless router, internet.Wherein anthropomorphic robot is used to obtain user speech instruction, and according to user
Phonetic order obtains corresponding information to internet, and feeds back to user by voice mode, is that internet information obtains terminal, nothing
Line router is that anthropomorphic robot distributes network address, is the network interface of anthropomorphic robot and internet, and internet is used to carry
For the required network information.The technology is not related to the autonomous control function of route for the purpose of surfing the Net and obtain information.
Millet company will release a millet router in the end of the year 2013, there is provided wireless routing function, it is possible to achieve family
Internet of things functional, control sweeping robot motion, but itself be fixed and irremovable.
Patent of invention《A kind of visualization tele-robotic based on LabVIEW Robotics》(publication number：
CN102880180A a kind of visualization tele-robotic based on LabVIEW Robotics) is designed, belongs to visualization, wireless penetration
Robot development and research field, the long-range motion control of robot wireless penetration can be achieved, visual pattern obtains and distance of obstacle prison
The functions such as survey.The system is mainly including the microcomputer of master control, environmental monitoring camera, robot vision camera, ultrasound
Ripple distance measuring sensor, wireless router and several parts of NI LabVIEW Robotics Starter Kit2.0 hardware platforms.
The invention is the theme with mobile robot, and router is wherein one small individual module and is for transmitting information.
The content of the invention
The defects of present invention is unable to autonomous for conventional router, it is proposed that a kind of new based on mobile robot
The wheel type mobile router of airmanship.The router can not only control it manually by the end application for being connected into router
It is mobile, but also autonomous mode can be realized, according to the position for being connected into node and the change of data traffic, automatic adjustment space
Position, ensure the most preferably accessible quality of access node.
The invention provides a kind of autonomous wheeled router, including routing module, mobile base, rangefinder, monitoring camera
Head, the routing module, the rangefinder and the monitoring camera are arranged in the mobile base, the monitoring camera
It is attached with the rangefinder and the routing module, in addition to a fixed wireless routing is used for connecing for broadband network
Enter；The routing module is central controller, and the routing module reads and handled the fixed wireless routing, the prison
Camera, the data of the rangefinder are controlled, the routing module reads the information of the mobile base and controls the mobile bottom
Seat is mobile；The monitoring camera provides the image information of environment, and the rangefinder provides the depth information of environment, the environment
Image information and the depth information of the environment be used for the space orientation and drawing of person recognition and router；The mobile bottom
Seat realizes mobile control and the avoidance of router.
As a further improvement on the present invention, the monitoring camera and the rangefinder are all general using in the market
USB or mini USB joints, it is attached with the routing module.
As a further improvement on the present invention, being spliced using Le Gaoshi between the mobile base and the routing module
With thimble magnetic adsorption usb data joint.
As a further improvement on the present invention, the routing module is using the OpenWRT wireless routings increased income.OpenWRT:
Open source system.
As a further improvement on the present invention, the mobile base uses double-wheel differential type base, the mobile base
Controller is by optimizing motor control and sensor signal analysis algorithm burned single-chip microcomputer in advance, and base is used in single-chip microcomputer
In event triggering and small virtual machine technology.
As a further improvement on the present invention, the rangefinder is laser range finder.
A kind of autokinetic movement control method of autonomous wheeled router using described in above-mentioned any one, it includes as follows
Step：Wherein point of step 1 and step 2 without priority,
Step 1：A fixed wireless routing is set to be used for the access of broadband network in the environment；
Step 2：Pretreatment：Synchronous positioning and draughtsmanship, wheeled router based on laser range finder pass through autonomous time
Environment is gone through, obtains whole environmental information, including fixed broadband route launched wifi signal distribution plots and the two dimension of environment
Map, they are stored in router SD in advance, called when needed；
Step 3：Start operation：Wheeled router is charged, place in a room, once there are user wifi accesses, road
By device just according to the data traffic of user node and wifi signal intensities, automatic trigger position adjustment algorithm：Router is utilized and deposited
Figure information and wifi in SD card synchronously position and draughtsmanship, obtains the locus of user's access node, then utilizes
The method of potential energy field, using the data traffic and wifi signal intensities of user node and route bridging output as absorption potential function,
Calculate the target location of robot, last router control chassis it is autonomous be moved to target location.
As a further improvement on the present invention, by cell phone application, either mobile phone browser or PC browsers are carried out wirelessly
Remote control.
As a further improvement on the present invention, using kd tree formats map and topological map mixedly figure characteristic manner：Will
Kd trees are applied in the high efficiency sign of form map, and using low resolution map grid, depletion region are adopted for barrier and its surrounding
With High Resolution Ground Map lattice, and whole environment is divided into multiple subgraphs, is characterized with topological mode, each subgraph is form
Map.
As a further improvement on the present invention, in the automatic trigger position adjustment algorithm of step 3：Algorithm includes positioning and fortune
Dynamic control two parts, for positioning, are proposed based on the mixing map to prestore, using SIFT (scale invariant feature conversion) or
SURF (acceleration robust feature) image characteristic point obtains fast positioning of the wheeled router in topological map, then recycles base
Realize wheeled router in topological node form map in the adaptive monte carlo method of form of cost laser rangefinder
Be accurately positioned, the locus of user's access node is finally quickly calculated using Wifi triangle polyester fibres technology；For motion
Control, using the method for potential energy field, the data traffic and Wifi signal intensities that are exported with user node and route bridging design
Potential energy force function, set the two dimensional motion model of robot as:
Wherein, qrFor the two-dimensional position of wheeled router, u inputs for Two dimensional control, and controller is as follows:
WhereinFor the potential energy power caused by i-th of user, by wheeled router and the alternate position spike of userDetermine, ki(Si) it is weights, by the flow S of i-th of useriDetermine, n is wheeled router access customer number；For the potential energy power caused by j-th of barrier around wheeled router, by the position of wheeled router and barrier
DifferenceDetermine, αjFor weights, m is barrier number；FruWifi, which is route, for fixed broadband is distributed potential energy power, kru(Sru) be
FruWeights, by mobile router total flow SruDetermine, finally, the control input u calculated by formula (2), lead to
Cross and integral and calculating is carried out to model (1), obtain the position of wheeled router subsequent time, it is general based on incomplete by designing
Property constraint Two-wheeled controller, it is possible to control chassis it is autonomous be moved to target location.
The beneficial effects of the invention are as follows：
Patent of the present invention is by using Mobile Robotics Navigation technology so that conventional fixed-type wireless router possesses independently
Motion control function.The present invention passes through design robot Navigation Control algorithm so that roboticized router can be according to ring
The locus distribution of access node, automatically adjusts self-position, ensures the normal ON and entirety of all nodes in border
Optimal connection signal intensity.The present invention makes full use of the computing resource of routing module to realize the motion control of wheeled router
System, this router can realize many additional functions, such as family's monitoring, amusement, study etc..
Brief description of the drawings
Fig. 1 is present system composition and the illustrative view of functional configuration of modules；
Fig. 2 is autokinetic movement control method flow chart of the present invention based on connection signal intensity.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
Each functions of modules of route system is formed as shown in figure 1, the router of the present invention includes routing module, low cost
Mobile robot base, cost laser rangefinder, inexpensive monitoring camera.
For whole system using Intelligent routing module as central controller, the function of realization is mainly wireless network route, network
The information of the reading and processing of camera data, the digital independent of scanning laser range finder and processing, mobile foundation is read and control
System；IP Camera provides the image information of environment, and scanning laser range finder provides the depth information of environment, for person recognition
Space orientation and drawing function with router；Mobile base is used for realizing mobile control and the avoidance of router.Based on module
The consideration of change, camera and laser range finder are all using the general USB or mini USB joints of in the market, with Intelligent routing mould
Block is attached；Being spliced using Le Gaoshi between base and routing module and thimble magnetic adsorption usb data joint, connection
Firm and convenient disassembly.
Intelligent routing module of the present invention uses market using the OpenWRT wireless routing solutions increased income, this scheme
On very universal routing hardware of increasing income, its powerful CPU and big internal memory are ensured outside normal intelligent routing function, moreover it is possible to are road
Control is moved by device intelligent independent computing resource is provided so that overall compact hardware, reduced overall volume, also reduce
Cost.This thinking that robot autonomous motion control arithmetic is realized on routing hardware is important feature of the invention, with biography
System robot has the difference of essence using computer on extra embedded device or plate.
Double-wheel differential type mobile base only need to complete simple motor control and avoidance control using extremely simple mentality of designing
System.The control of traditional mobile base is all the instruction according to host computer using single-chip microcomputer, reads information and the life of sensor
Operated into pwm signal controlled motor；Host computer is polled method and obtains the information of sensor and carry out PID or sensor letter
Number analysis.The defects of this traditional approach is its excessive communication bandwidth taken between single-chip microcomputer and host computer, and is excessively accounted for
With the calculation resources of host computer.The controller of the mobile base of the present invention is calculated by optimizing motor control and sensor signal analysis
Method burned single-chip microcomputer, and being used in single-chip microcomputer based on event triggering and small virtual machine technology in advance, can not only be significantly
Channel width demand is reduced, and realizes that online programming facilitates the debugging that base controls by virtual machine technique.We develop
A kind of program language compiler of analytical type, it is similar to matlab explanation thinking one by one, but unlike its be directed to bottom
The characteristics of seat control, more simply, user program is compiled into bytecode by compiler, and the void of base is input to by USB/ serial ports
On plan machine, the virtual machine parses bytecode one by one, and calls the processing function inside base single-chip microcomputer, processing or activating event
Receptance function, such as detection of obstacles, motor overheating etc..It is this based on the method for virtual machine low cost more than 16 single-chip microcomputers
Can is realized.
As shown in Fig. 2 Fig. 2 is the autokinetic movement control method flow chart based on connection signal intensity of router.
Router of the present invention can be autonomous according to the spatial position change of access node adjustment self-position, this is
Current all intelligent routers all without New function.When using router of the present invention, need in environment one it is fixed
Wireless routing be used for broadband network access.This method realizes that step is as follows：
(1) pre-process：Synchronous positioning and draughtsmanship, wheeled router based on laser range finder pass through autonomous traversal ring
Border, whole environmental information is obtained, including fixed broadband route the two-dimensional map of launched wifi signal distribution plots and environment.
In view of the error of wifi distributions, we use kd tree formats map and topological map mixedly figure characteristic manner：We are by kd
Tree is applied in the high efficiency sign of form map, barrier and its with around using low resolution (20 centimetres * 20 lis of map grid
Rice), depletion region use High Resolution Ground Map lattice (5 centimetres * 5 centimetres), and entirely environment is divided into multiple subgraphs, with opening up
The mode of flutterring characterizes, and each subgraph is form map, such as the house in the Room of Room 31, each each Room in room are a topology sections
Point.The positioning time while mixing of multiresolution map and topological map is to ensure that there are enough positioning precisions in robot
It is greatly reduced.Because the two figure information are in domestic. applications, substantially long period will not change, so in advance by them
Deposit is called when needed in router SD.
(2) start operation：Wheeled router is charged, place in a room, once there are user Wifi accesses, router
Just according to the data traffic of user node and wifi signal intensities, automatic trigger position adjustment algorithm：Algorithm includes positioning and fortune
Dynamic control two parts.
Firstly, for positioning, the present invention is proposed based on the mixing map to prestore, is utilized SIFT (scale invariant feature conversion)
It is then sharp again or SURF (acceleration robust feature) image characteristic point obtains fast positioning of the wheeled router in topological map
Realize wheeled router with the adaptive monte carlo method of the form based on cost laser rangefinder in topological node form
Being accurately positioned in figure, the locus of user's access node is finally quickly calculated using Wifi triangle polyester fibres technology.It is this
Not only more traditional single Orientation on map method more rapidly and efficiently, but also can calculate user Wifi accesses to localization method
The position of point.
Secondly, the method for utilizing potential energy field for motion control, the present invention, the number exported with user node and route bridging
Potential energy force function is designed according to flow and Wifi signal intensities.Set the two dimensional motion model of robot as:
Wherein, qrFor the two-dimensional position of wheeled router, u inputs for Two dimensional control.The present invention devises following controller:
WhereinFor the potential energy power caused by i-th of user, by wheeled router and the alternate position spike of userDetermine, ki(Si) it is weights, by the flow S of i-th of useriDetermine, n is wheeled router access customer number；For the potential energy power caused by j-th of barrier around wheeled router, by the position of wheeled router and barrier
DifferenceDetermine, αjFor weights, m is barrier number；FruWifi, which is route, for fixed broadband is distributed potential energy power (due to fixation
Formula Wifi signal distributions are fixed, thus its be distributed potential energy power can off-line calculation, this force direction becomes strong direction with Wifi signals, its
Size is inversely proportional with signal intensity), kru(Sru) it is FruWeights, by mobile router total flow SruDetermine.Finally, by
The control input u that formula (2) is calculated, by carrying out integral and calculating to model (1), wheeled route can be readily available
The position of device subsequent time.By designing the general Two-wheeled controller based on nonholonomic restriction, it is possible to control bottom
Disk it is autonomous be moved to target location.
It acts not only as routing function to the present invention, and it is also one family supervisory-controlled robot simultaneously.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (9)
- A kind of 1. autonomous wheeled router, it is characterised in that：Including routing module, mobile base, rangefinder, monitoring camera, The routing module, the rangefinder and the monitoring camera are arranged in the mobile base, the monitoring camera and The rangefinder is attached with the routing module, in addition to a fixed low-cost wireless is route for broadband network Access；The routing module is central controller, and the routing module reads and handled the fixed wireless routing, institute Monitoring camera, the data of the rangefinder are stated, the routing module reads the information of the mobile base and controls the shifting Dynamic base movement；The monitoring camera provides the image information of environment, and the rangefinder provides the depth information of environment, described The depth information of the image information of environment and the environment is used for the space orientation and drawing of person recognition and router；The shifting Dynamic base realizes mobile control and the avoidance of router, and the routing module is according to the data traffic and wifi signals of user node Intensity, automatic trigger position adjustment algorithm：Router is synchronously positioned and drawing skill using the figure information and wifi existed in SD card Art, the locus of user's access node is obtained, then using the method for potential energy field, exported with user node and route bridging Data traffic and wifi signal intensities calculate the target location of mobile router, last router control as potential function is adsorbed Chassis processed it is autonomous be moved to target location；In automatic trigger position adjustment algorithm：Algorithm includes positioning and motion control two Point, for positioning, propose based on the mixing map to prestore, accelerated using the conversion of SIFT scale invariant features or SURF sane special Levy image characteristic point and obtain fast positioning of the wheeled router in topological map, then recycle and be based on cost laser ranging The adaptive monte carlo method of form of instrument realizes wheeled router being accurately positioned in topological node form map, last profit The locus of user's access node is quickly calculated with wifi triangle polyester fibres technology；For motion control, potential energy field is utilized Method, the data traffic and wifi signal intensities that are exported with user node and route bridging design potential energy force function, set machine The two dimensional motion model of device people is:<mrow> <msub> <mover> <mi>q</mi> <mo>&CenterDot;&CenterDot;</mo> </mover> <mi>r</mi> </msub> <mo>=</mo> <mi>u</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>Wherein, qrFor the two-dimensional position of wheeled router, u inputs for Two dimensional control, and controller is as follows:<mrow> <mi>u</mi> <mo>=</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>k</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>S</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <msubsup> <mi>F</mi> <mi>i</mi> <mi>c</mi> </msubsup> <mrow> <mo>(</mo> <msubsup> <mi>&Delta;q</mi> <mi>i</mi> <mi>c</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>&alpha;</mi> <mi>j</mi> </msub> <mo>&CenterDot;</mo> <msubsup> <mi>F</mi> <mi>j</mi> <mi>o</mi> </msubsup> <mrow> <mo>(</mo> <msubsup> <mi>&Delta;q</mi> <mi>j</mi> <mi>o</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>k</mi> <mrow> <mi>r</mi> <mi>u</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>S</mi> <mrow> <mi>r</mi> <mi>u</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <msup> <mi>F</mi> <mrow> <mi>r</mi> <mi>u</mi> </mrow> </msup> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>WhereinFor the potential energy power caused by i-th of user, its size is by wheeled router and the alternate position spike of userDetermine, ki(Si) be weights, its size by i-th of user flow SiDetermine, n is wheeled router access customer number；For the potential energy power caused by j-th of barrier around wheeled router, its size is by wheeled router and barrier Alternate position spikeDetermine, αjFor weights, m is barrier number；FruWifi, which is route, for fixed broadband is distributed potential energy power, kru (Sru) it is FruWeights, by mobile router total flow SruDetermine, finally, the control calculated by formula (2) is defeated Enter u, by model (1) carry out integral and calculating, obtain the position of wheeled router subsequent time, by design it is general based on The Two-wheeled controller of nonholonomic restriction, it is possible to control chassis it is autonomous be moved to target location.
- 2. autonomous wheeled router according to claim 1, it is characterised in that：The monitoring camera and the rangefinder All using the general USB or mini USB joints of in the market, it is attached with the routing module.
- 3. autonomous wheeled router according to claim 1, it is characterised in that：The mobile base and the routing module Between using Le Gaoshi splicing and thimble magnetic adsorption usb data joint.
- 4. autonomous wheeled router according to claim 1, it is characterised in that：The routing module uses what is increased income OpenWRT wireless routings, OpenWRT:Open source system.
- 5. autonomous wheeled router according to claim 1, it is characterised in that：The mobile base uses double-wheel differential type Base, the controller of the mobile base by optimizing motor control and sensor signal analysis algorithm burned single-chip microcomputer in advance, And used in single-chip microcomputer based on event triggering and small virtual machine technology.
- 6. autonomous wheeled router according to claim 1, it is characterised in that：The rangefinder is laser range finder.
- 7. the autokinetic movement control method of the autonomous wheeled router as described in claim 1 to 6 any one, its feature exist In it comprises the following steps：Wherein point of step 1 and step 2 without priority,Step 1：A fixed broadband is set to route the access for broadband network in the environment；Step 2：Pretreatment：Synchronous positioning and draughtsmanship, wheeled router based on laser range finder pass through autonomous traversal ring Border, whole environmental information is obtained, including fixed broadband route the two-dimensional map of launched wifi signal distribution plots and environment, They are stored in router SD card in advance, called when needed；Step 3：Start operation：Wheeled router is charged, place in a room, once there are user wifi accesses, router Just according to the data traffic of user node and wifi signal intensities, automatic trigger position adjustment algorithm：Router, which utilizes, has SD Figure information and wifi in card synchronously position and draughtsmanship, obtains the locus of user's access node, then utilizes potential energy The method of field, the data traffic and wifi signal intensities exported using user node and route bridging are used as absorption potential function, calculated Go out the target location of robot, last router control chassis it is autonomous be moved to target location；In the automatic trigger position adjustment algorithm of step 3：Algorithm includes positioning and motion control two parts, for positioning, proposes Based on the mixing map to prestore, robust feature image characteristic point is accelerated to obtain using the conversion of SIFT scale invariant features or SURF Fast positioning of the wheeled router in topological map, then recycles the form based on cost laser rangefinder adaptively to cover Special Carlow method realizes wheeled router being accurately positioned in topological node form map, finally utilizes wifi triangle polyester fibre skills Art quickly calculates the locus of user's access node；For motion control, using the method for potential energy field, with user node and The data traffic and wifi signal intensities of route bridging output design potential energy force function, set the two dimensional motion model of robot For:<mrow> <msub> <mover> <mi>q</mi> <mo>&CenterDot;&CenterDot;</mo> </mover> <mi>r</mi> </msub> <mo>=</mo> <mi>u</mi> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>Wherein, qrFor the two-dimensional position of wheeled router, u inputs for Two dimensional control, and controller is as follows:<mrow> <mi>u</mi> <mo>=</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>k</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>S</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <msubsup> <mi>F</mi> <mi>i</mi> <mi>c</mi> </msubsup> <mrow> <mo>(</mo> <msubsup> <mi>&Delta;q</mi> <mi>i</mi> <mi>c</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>m</mi> </munderover> <msub> <mi>&alpha;</mi> <mi>j</mi> </msub> <mo>&CenterDot;</mo> <msubsup> <mi>F</mi> <mi>j</mi> <mi>o</mi> </msubsup> <mrow> <mo>(</mo> <msubsup> <mi>&Delta;q</mi> <mi>j</mi> <mi>o</mi> </msubsup> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>k</mi> <mrow> <mi>r</mi> <mi>u</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>S</mi> <mrow> <mi>r</mi> <mi>u</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <msup> <mi>F</mi> <mrow> <mi>r</mi> <mi>u</mi> </mrow> </msup> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>WhereinFor the potential energy power caused by i-th of user, its size is by wheeled router and the alternate position spike of userDetermine, ki(Si) be weights, its size by i-th of user flow SiDetermine, n is wheeled router access customer number；For the potential energy power caused by j-th of barrier around wheeled router, its size is by wheeled router and barrier Alternate position spikeDetermine, αjFor weights, m is barrier number；FruWifi, which is route, for fixed broadband is distributed potential energy power, kru (Sru) it is FruWeights, by mobile router total flow SruDetermine, finally, the control calculated by formula (2) is defeated Enter u, by model (1) carry out integral and calculating, obtain the position of wheeled router subsequent time, by design it is general based on The Two-wheeled controller of nonholonomic restriction, it is possible to control chassis it is autonomous be moved to target location.
- 8. autokinetic movement control method according to claim 7, it is characterised in that：Browsed by cell phone application or mobile phone Device or PC browsers carry out wireless remote control.
- 9. autokinetic movement control method according to claim 7, it is characterised in that：Using kd tree formats map and topology ground Scheme mixedly figure characteristic manner：Kd trees are applied in the high efficiency sign of form map, barrier and its surrounding use low point Resolution ground map grid, depletion region uses High Resolution Ground Map lattice, and whole environment is divided into multiple subgraphs, with topological mode Characterize, each subgraph is form map.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410258089.1A CN104052674B (en) | 2014-06-11 | 2014-06-11 | Autonomous wheeled router and its autokinetic movement control method |
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| CN201410258089.1A CN104052674B (en) | 2014-06-11 | 2014-06-11 | Autonomous wheeled router and its autokinetic movement control method |
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| CN104052674B true CN104052674B (en) | 2018-01-12 |
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| CN105847164A (en) * | 2016-03-28 | 2016-08-10 | 乐视控股（北京）有限公司 | Split type router-based communication method and split type router |
| CN105791697B (en) * | 2016-04-15 | 2020-01-10 | 深圳市全智芯科技有限公司 | Camera device for security protection |
| CN106131913B (en) * | 2016-06-29 | 2018-12-14 | 联想(北京)有限公司 | A kind of adaptive communication method and device |
| CN106383518A (en) * | 2016-09-29 | 2017-02-08 | 国网重庆市电力公司电力科学研究院 | Multi-sensor tunnel robot obstacle avoidance control system and method |
| CN106789680A (en) * | 2016-11-14 | 2017-05-31 | 上海斐讯数据通信技术有限公司 | A kind of wireless router |
| CN109379749B (en) * | 2018-09-07 | 2022-01-04 | 普联技术有限公司 | Router control method, system, equipment and router |
| CN110087285A (en) * | 2019-04-15 | 2019-08-02 | Oppo广东移动通信有限公司 | Method for network access, device, electronic equipment and storage medium |
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