CN106774351A - Have the positioning navigation device and robot of virtual rail function - Google Patents
Have the positioning navigation device and robot of virtual rail function Download PDFInfo
- Publication number
- CN106774351A CN106774351A CN201710181100.2A CN201710181100A CN106774351A CN 106774351 A CN106774351 A CN 106774351A CN 201710181100 A CN201710181100 A CN 201710181100A CN 106774351 A CN106774351 A CN 106774351A
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- CN
- China
- Prior art keywords
- virtual rail
- key point
- robot
- navigation device
- positioning navigation
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention relates to a kind of positioning navigation device and robot for having virtual rail function, they include internal sensor and the exposed environmental sensor outside the device, and the device also includes performing the program of following steps：Acquisition module captures the virtual rail information set by computer terminal via communication module；Extract virtual rail key point information；Build graph structure summit and side information；Search starting point to terminal along virtual rail optimal key point path；Fusion observation data are combined by key point path, control strategy is produced；Speed is smoothed, the control instruction of mobile host equipment is issued.Realize that virtual rail function is possibly realized in robot the invention enables with the mode of pure software, it is not necessary to additionally dispose auxiliary equipment, and without changing environment.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of positioning navigation device, it has virtual rail function.
Background technology
Urban tram is the machine for realizing being cruised by desired guiding trajectory on the basis of physical track is laid.In robot
Industry, virtual rail function refers to for some reason, it is necessary to Robot desired guiding trajectory cruises；For robot, quite
In cruise on an actual trajcctorics, but do not exist in actual environment.
Autonomous positioning navigation is the key technology for realizing that service robot is practical, and it is allowed robot autonomously by passing
Sensor data are positioned and construct the cartographic information of place environment in real time, further realize navigation.Patent document CN106323269
A kind of autonomous positioning navigation equipment is disclosed, it is a kind of modular highly integrated robot localization guider, can be real
The environmental data for now being obtained by collection such as laser radar, the first-class external sensor of shooting is carried out autonomous synchronization and positions and build
Figure (SLAM) simultaneously controls host system, such as sweeping robot, and autonomous action and path planning is carried out in the middle of any environment.
Virtual rail function is realized in the robot for coupled the said equipment, at present can using visible light camera,
Other detecting instrument line walkings such as infrared thermography, to realize that pressing desired trajectory cruises, but the program is needed in use environment
Deployment auxiliary equipment, it is impossible to ensure environment consistency and cleaning, it is relatively costly.This is the deficiencies in the prior art part.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of positioning navigation device and robot for having virtual rail function,
They make it possible to realize virtual rail function in robot with the mode of pure software.
The positioning navigation device of tool virtual rail function of the invention, including internal sensor and exposed outside the device
Environmental sensor, it is characterized in that the device also includes performing the program of following steps：
Acquisition module captures the virtual rail information set by computer terminal via communication module；
Extract virtual rail key point information；
Build graph structure summit and side information；
Search starting point to terminal along virtual rail optimal key point path；
Fusion observation data are combined by key point path, control strategy is produced；
Speed is smoothed, the control instruction of mobile host equipment is issued.
The restrictive condition for extracting virtual rail key point information is to ask single order reciprocal according to slope of curve piecewise fitting
It is 0 point.
The internal sensor includes gyroscope, accelerometer and electronic compass.
The environmental sensor is laser radar and/or vision sensor.
The present invention also provides a kind of robot for having virtual rail function, including positioning navigation device, it is characterized in that：This is determined
Position guider is as described above.
The artificial sweeping robot of machine.
The positive effect of the present invention is：The virtual rail that the present invention can give according to user, extracts track key point
(intersection, flex point etc. characterize the characteristic point of track characteristic), builds virtual rail graph structure (Graph)；According to the starting point of robot,
And the terminal of user's setting, the nearest virtual rail key point of difference initial search point, and can reach mesh using Graph search
The most short virtual rail of point；Using trajectory planning strategy, and sensor is combined, autonomous smoothing moves to specific bit without collision
Put, realize fixed point cruise function；
The present invention need not additionally dispose auxiliary equipment, be not required to increase cost, using more convenient and flexible, quick, and
Without changing environment.
Brief description of the drawings
Fig. 1 is the hardware architecture diagram of positioning navigation device of the invention.
Fig. 2 is the program flow diagram of positioning navigation device of the invention.
Specific embodiment
Preferred embodiment is given in conjunction with accompanying drawing, is described in further detail with to the present invention.
Referring to Fig. 1, on hardware, positioning navigation device of the invention includes internal sensor 11, the and of environmental sensor 12
Algorithm arithmetic element 13, internal sensor is integrated in a series of sensors on the PCB inside the present apparatus, contains gyro
The inertial navigation sensors such as instrument, accelerometer and electronic compass, it is to need outside host system to possess originally, now without outer
The assistance of portion's host system, you can voluntarily gather the data of correlation；Laser radar, vision sensor (camera) are preferential uses
Environmental sensor, external environment condition is directly measured and is observed due to needing, and must be exposed in its exterior.
The characteristics of positioning navigation device of the invention has high modularization, significantly reduces and machine human host system
System, the degree of coupling of such as sweeping robot, are easy to quickly to be integrated into existing robot host system and can flexible expansion.
Referring to Fig. 2, on software, the present invention includes some program modules in order to realize virtual rail function, and they are：
Communication module 21, is mainly used in the transmission with the relevant information of the computer terminal for setting virtual rail, plays bridge
Effect；
Acquisition module 22, the virtual rail information that capture communication module is sent, carries out related data storage；
Track key point extraction module 23, according to virtual rail information, can ask single order to fall according to the slope of curve, piecewise fitting
Number is the restrictive conditions such as 0 point, puies forward virtual rail key point information；
Sensor data acquisition filtration module 24, gathers sensing data, using correlation filtering, removes measurement data
Noise；
Odometer module 25, obtains the mileage of robot, for self-positioning module provides priori；
Mapping module 26, it is main to utilize SLAM related algorithms, constructing environment map, the map to can be used for global path planning
And self-positioning module, it is the nucleus module in intelligent mobile algorithm；
Autonomous positioning module 27, based on current sensor information, with reference to map structuring memory module, is calculated using relevant matches
Method, obtains current posture information so that smart machine knows oneself present position in the environment in real time；
Track key point graph structure builds module 28, using key point information and sensing in track key point extraction module
The cartographic information of device data acquisition filtration module, with reference to accessibility between key point, builds graph structure summit and side information, is edge
Virtual rail key track search provides data supporting；
Portable Batch System module 29, the module is mainly used in managing the navigation task that user issues, including sets task
Sequence, task distribution, tasks carrying logic, call path planning service etc. part, be the Zhong Kong centers of whole system；
Global key point path searcher module 291, task and autonomous positioning module are issued according to Portable Batch System module
Information, with reference to heuristic search algorithm, using track key point graph structure, search starting point to terminal along virtual rail optimal road
Footpath, guides smart machine to complete cruise task；
Local path planning module 292, using data after Multi-sensor Fusion, current virtual track nodal information and from
Location information, with reference to present speed information, produces smooth collisionless control decision so that smart machine can be with collisionless complete
Into specified cruise task；
Motion-control module 293, the collisionless control decision produced using local path planning module；Combined with intelligent equipment
Motion model, produces motion control decision-making, and control smart machine is with certain collisionless movement of rate smoothing；
Intelligent mobile module 294, receives motion-control module instruction, the movement of control device collisionless.
Said procedure block combiner gets up to perform following steps：
Step one：Communication module receives the corresponding virtual rail information of interactive module transmission；
Step 2：After acquisition module receives the virtual rail relevant information, according to virtual rail information, can be according to curve
It is the restrictive conditions such as 0 point that slope, piecewise fitting ask single order reciprocal, puies forward virtual rail key point information；
Step 3：With reference to mapping module cartographic information and track key point information, and accessibility between key point, figure is built
Structure summit and side information；
Step 4：After communication module receives navigation task, according to autonomous positioning module information, with reference to searching algorithm, profit
With track key point graph structure, search starting point to terminal along virtual rail optimal key point path；
Step 5：According to the key point path that above-mentioned steps are produced, with reference to robot present fusion observation and self-positioning letter
Breath, and according to robot movement velocity and model, produce control strategy；If nothing, into next step, otherwise, exit, appoint
Business terminates；
Step 6：According to above-mentioned control decision, speed is smoothed, issues control instruction to mobile device, controlled
Mobile device movement processed.
The above is only presently preferred embodiments of the present invention, and any formal limitation is not done to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, not departing from the range of technical solution of the present invention, when making a little change using the technology contents of the disclosure above or repair
The Equivalent embodiments for equivalent variations are adornd, as long as being the content without departing from technical solution of the present invention, according to technology reality of the invention
Any simple modification, equivalent variations and modification that confrontation above example is made, still fall within the scope of technical solution of the present invention
It is interior.
Claims (6)
1. a kind of positioning navigation device for having virtual rail function, including internal sensor and the exposed environment outside the device are passed
Sensor, it is characterized in that the device also includes performing the program of following steps：
Acquisition module captures the virtual rail information set by computer terminal via communication module；
Extract virtual rail key point information；
Build graph structure summit and side information；
Search starting point to terminal along virtual rail optimal key point path；
Fusion observation data are combined by key point path, control strategy is produced；
Speed is smoothed, the control instruction of mobile host equipment is issued.
2. the positioning navigation device of virtual rail function is had as claimed in claim 1, it is characterized in that：The extraction virtual rail
The restrictive condition of key point information is to seek the point that single order inverse is 0 according to slope of curve piecewise fitting.
3. the positioning navigation device of virtual rail function is had as claimed in claim 1, it is characterized in that：The internal sensor bag
Include gyroscope, accelerometer and electronic compass.
4. the positioning navigation device of virtual rail function is had as claimed in claim 1, it is characterized in that：The environmental sensor is
Laser radar and/or vision sensor.
5. a kind of robot for having virtual rail function, including coupling positioning navigation device in the inner, it is characterized in that：The positioning
Guider is as claimed in claim 1.
6. the robot of virtual rail function is had as claimed in claim 5, it is characterized in that：The artificial sweeper device of machine
People.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181100.2A CN106774351A (en) | 2017-03-24 | 2017-03-24 | Have the positioning navigation device and robot of virtual rail function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181100.2A CN106774351A (en) | 2017-03-24 | 2017-03-24 | Have the positioning navigation device and robot of virtual rail function |
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| Publication Number | Publication Date |
|---|---|
| CN106774351A true CN106774351A (en) | 2017-05-31 |
Family
ID=58967668
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| CN201710181100.2A Pending CN106774351A (en) | 2017-03-24 | 2017-03-24 | Have the positioning navigation device and robot of virtual rail function |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108152829A (en) * | 2017-12-22 | 2018-06-12 | 华中科技大学 | A kind of two-dimensional laser radar for installing the linear guide additional builds map device and its builds drawing method |
| CN108845573A (en) * | 2018-05-30 | 2018-11-20 | 上海懒书智能科技有限公司 | A kind of laying of AGV visual track and optimization method |
| CN109316134A (en) * | 2018-11-12 | 2019-02-12 | 上海岚豹智能科技有限公司 | A kind of cleaning method and sweeper of sweeper |
| CN109597418A (en) * | 2019-02-27 | 2019-04-09 | 福州大学 | Robot distributing collaborative obstacle avoidance method based on independent virtual central point |
| CN111413960A (en) * | 2018-12-19 | 2020-07-14 | 深圳市优必选科技有限公司 | Cruising method and device based on virtual track and terminal equipment |
| CN112215443A (en) * | 2020-12-03 | 2021-01-12 | 炬星科技（深圳）有限公司 | Robot rapid routing customization method and device |
| WO2021036408A1 (en) * | 2019-08-30 | 2021-03-04 | 上海商汤智能科技有限公司 | Vehicle positioning system and method, and vehicle control method and apparatus |
| CN113034928A (en) * | 2021-02-26 | 2021-06-25 | 山东交通学院 | Accompanying system of road maintenance safety warning robot |
-
2017
- 2017-03-24 CN CN201710181100.2A patent/CN106774351A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108152829A (en) * | 2017-12-22 | 2018-06-12 | 华中科技大学 | A kind of two-dimensional laser radar for installing the linear guide additional builds map device and its builds drawing method |
| CN108845573A (en) * | 2018-05-30 | 2018-11-20 | 上海懒书智能科技有限公司 | A kind of laying of AGV visual track and optimization method |
| CN109316134A (en) * | 2018-11-12 | 2019-02-12 | 上海岚豹智能科技有限公司 | A kind of cleaning method and sweeper of sweeper |
| CN109316134B (en) * | 2018-11-12 | 2021-07-30 | 上海岚豹智能科技有限公司 | Sweeping method of sweeper and sweeper |
| CN111413960A (en) * | 2018-12-19 | 2020-07-14 | 深圳市优必选科技有限公司 | Cruising method and device based on virtual track and terminal equipment |
| CN109597418A (en) * | 2019-02-27 | 2019-04-09 | 福州大学 | Robot distributing collaborative obstacle avoidance method based on independent virtual central point |
| CN109597418B (en) * | 2019-02-27 | 2021-03-02 | 福州大学 | Robot distributed cooperative obstacle avoidance method based on independent virtual center point |
| WO2021036408A1 (en) * | 2019-08-30 | 2021-03-04 | 上海商汤智能科技有限公司 | Vehicle positioning system and method, and vehicle control method and apparatus |
| CN112215443A (en) * | 2020-12-03 | 2021-01-12 | 炬星科技（深圳）有限公司 | Robot rapid routing customization method and device |
| CN113034928A (en) * | 2021-02-26 | 2021-06-25 | 山东交通学院 | Accompanying system of road maintenance safety warning robot |
| CN113034928B (en) * | 2021-02-26 | 2022-05-31 | 山东交通学院 | Accompanying system of road maintenance safety warning robot |
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Application publication date: 20170531 |