CN106871889A - A kind of control method of changeable navigation pattern - Google Patents
A kind of control method of changeable navigation pattern Download PDFInfo
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- CN106871889A CN106871889A CN201710198315.5A CN201710198315A CN106871889A CN 106871889 A CN106871889 A CN 106871889A CN 201710198315 A CN201710198315 A CN 201710198315A CN 106871889 A CN106871889 A CN 106871889A
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- navigation
- crusing robot
- pattern
- coordinate
- map
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—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
Abstract
The invention provides a kind of control method of changeable navigation pattern, it is applied in the navigation system of crusing robot, comprises the following steps：Step S1, the corresponding navigation map of pattern of being navigated according to each, build a standard navigation hum pattern；Step S2, the navigation pattern according to selection, obtain the current relative position coordinates of crusing robot in the navigation map of correspondence navigation pattern；Step S3, the first absolute coordinate that the current relative position coordinates of crusing robot are converted to fit standard navigation information figure；Step S4, the first absolute coordinate of crusing robot is imported in standard navigation hum pattern, and the coordinate of the transformer station for needing to patrol and examine with reference to crusing robot obtains the current guidance path of crusing robot.The beneficial effect of its technical scheme is that realization can provide unified navigation to different navigation patterns, overcomes existing navigation system applicability and the poor problem of compatibility.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of control method of changeable navigation pattern.
Background technology
Transformer station is the hinge of power transmission network, and Substation Station equipment routing inspection is operated in guarantee transformer station and normally produces, safety fortune
Row aspect occupy and its consequence, by crusing robot can overcome existing manual inspection banding come workload it is big
And less efficient defect, and crusing robot navigation system when patrol task is performed is to ensure that crusing robot can be just
The important step of patrol task is often carried out, existing navigation system includes magnetic stripe navigation pattern, areflexia laser navigation pattern etc.,
But its navigation mode of these navigation patterns is different, and crusing robot is typically only capable to select a kind of navigation pattern therein to enter
Row navigation, and cannot provide multiple navigation patterns in realize switching, therefore need badly a kind of applicability and compatibility more preferably and
It is made the control method of navigation pattern switching.
The content of the invention
For crusing robot in the prior art in above mentioned problem present on navigation pattern, one kind is now provided and is aimed at
Switch navigation pattern in various navigation patterns, and overcome existing navigation system applicability and compatibility poor changeable
The control method of navigation pattern.
Concrete technical scheme is as follows：
A kind of control method of changeable navigation pattern, is applied in the navigation system of crusing robot, wherein,
A plurality of guiders are provided, each described guider correspond to provide a navigation pattern and each described in lead
The corresponding navigation map of model plane formula；
Comprise the following steps：
Step S1, according to the corresponding navigation map of each described navigation pattern, build a standard navigation hum pattern；
Step S2, the navigation pattern according to selection, obtain in the navigation map of the correspondence navigation pattern
The current relative position coordinates of the crusing robot；
Step S3, the current relative position coordinates of the crusing robot are converted to adaptation standard navigation letter
Cease the first absolute coordinate of figure；
Step S4, first absolute coordinate of the crusing robot is imported in the standard navigation hum pattern, and
The coordinate of the transformer station for needing to patrol and examine with reference to the crusing robot obtains the current guidance path of the crusing robot.
Preferably, in the step S2, the relative position coordinates are obtained and is comprised the following steps：
Step S21, the transformer station that will be patrolled and examined in the navigation map of current selection are defined as first zero coordinate；
Step S22, the current location according to the crusing robot, obtain the current location relative to the described 1st
The position coordinates of point coordinates, and the position coordinates is defined as the relative position coordinates.
Preferably, in the step S1, the method for building the standard navigation hum pattern includes：
Step S11, the transformer station that will be patrolled and examined are defined as first zero coordinate；
Step S12, according to each navigation pattern, the spy of all objects of reference is obtained in the corresponding navigation map
Levy a little；
Step S13, the point on the basis of the first zero coordinate, obtain the characteristic point relative to the zero point coordinate
Relative coordinate；
Step S14, build a relative position figure according to all relative coordinates；
Step S15, according to the relative position figure build a two-dimensional digital point cloud distribution map；
Step S16, one wireless navigation device of offer obtain the crusing robot in the navigation position of operating path in real time
Figure；
Step S17, the wireless navigation device obtain position of the crusing robot in the navigation position figure in real time
Coordinate is put, and the position coordinates is defined as the second absolute coordinate, the survey monitor is built according to second absolute coordinate
The cloud data figure of the operating path of device people；
Step S18, all relative coordinates are obtained in the two-dimensional digital point cloud distribution map, and will be all described
Relative coordinate is converted to the 3rd absolute coordinate in the adaptation cloud data figure；
Step S19, according to obtain the 3rd absolute coordinate and second absolute coordinate be built into the standard
Hum pattern.
Preferably, the wireless navigation device is GPS navigation unit or Beidou navigation unit.
Preferably, the navigation pattern includes：
Areflexia laser navigation pattern, for laser radar, it is arranged on the crusing robot guider, leads to
Cross the laser radar and be scanned to constitute a two dimensional navigation map, and according in the two dimensional navigation map to patrolling and examining position
The position of planning carries out patrolling and examining positioning in advance.
Preferably, the navigation pattern includes：
Magnetic stripe navigation pattern；
The guider includes that navigate magnetic stripe and magnetic sensor；
The navigation magnetic stripe is layed in the patrolling and examining on route of the crusing robot
The magnetic sensor is arranged at the bottom of the crusing robot, and the magnetic sensor is used to real-time detection institute
The position of navigation magnetic stripe is stated, and as the layout path of the navigation magnetic stripe builds the magnetic stripe navigation map for patrolling and examining route.
Preferably, the navigation pattern includes：
Wireless signal basic point navigation pattern, the guider includes reception of wireless signals unit and locating base station；
The radio receiving unit is arranged on the crusing robot；
The locating base station is arranged at the patrolling and examining at position of the detector people；
The wireless signal receiver of the crusing robot is determined according to the wireless signal of the wireless signal transmission
Position, and then constitute the wireless navigation figure for patrolling and examining route.
Preferably, the navigation pattern includes：
Satellite navigation, the guider is that the Beidou navigation unit that is arranged on the crusing robot or GPS lead
Boat unit, the coodinate navigation figure of the crusing robot is obtained by GPS navigation unit or Beidou navigation unit.
Above-mentioned technical proposal has the following advantages that or beneficial effect：By the standard navigation hum pattern for building, it is right to be capable of achieving
Different navigation patterns are switched over, and then realization can provide unified navigation to different navigation patterns, overcome existing leading
Boat system suitability and the poor problem of compatibility.
Brief description of the drawings
With reference to appended accompanying drawing, more fully to describe embodiments of the invention.However, appended accompanying drawing be merely to illustrate and
Illustrate, and be not meant to limit the scope of the invention.
Fig. 1 is a kind of flow chart of the control method embodiment of changeable navigation pattern of the present invention；
During Fig. 2 is a kind of control method embodiment of changeable navigation pattern of the present invention, on obtaining crusing robot
The flow chart of relative coordinate；
During Fig. 3 is a kind of control method embodiment of changeable navigation pattern of the present invention, on building standard navigation information
The flow chart of figure.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
Technical scheme includes a kind of control method of changeable navigation pattern.
A kind of embodiment of the control method of changeable navigation pattern, is applied in the navigation system of crusing robot, its
In,
A plurality of guiders are provided, each guider corresponds to the navigation pattern that provides and each navigation pattern pair
The navigation map answered；
As shown in figure 1, comprising the following steps：
Step S1, the corresponding navigation map of pattern of being navigated according to each, build a standard navigation hum pattern；
Step S2, the navigation pattern according to selection, obtain crusing robot in the navigation map of correspondence navigation pattern
Current relative position coordinate；
Step S3, the current relative position coordinates of crusing robot are converted to the first exhausted of fit standard navigation information figure
To coordinate；
Step S4, the first absolute coordinate of crusing robot is imported in standard navigation hum pattern, and combine inspection machine
People needs the coordinate of the transformer station for patrolling and examining, the guidance path current to obtain crusing robot.
In above-mentioned technical proposal, for the navigation map that different navigation patterns is provided, build one and unify standard navigation letter
Breath figure, wherein standard navigation hum pattern can be adapted to each navigation pattern, the navigation mould that specific adaptation procedure is selected by using person
Formula, obtains the relative position coordinates of current crusing robot in the navigation map of the navigation pattern；
The relative position coordinates of current robot can be converted to adaptation by crusing robot by the data processor for providing
First absolute coordinate of standard navigation hum pattern；
Crusing robot can be imported in standard navigation hum pattern by the first absolute coordinate that will be formed, and then is led in standard
The guidance path of current crusing robot is obtained in boat hum pattern.
In a kind of preferably implementation method, as shown in Fig. 2 in step s 2, obtaining relative position coordinates including following
Step：
Step S21, the transformer station that will be patrolled and examined in the navigation map of current selection are defined as first zero coordinate；
Step S22, the current location according to crusing robot, obtain position of the current location relative to first zero coordinate
Coordinate, and position coordinates is defined as relative position coordinates.
In above-mentioned technical proposal, each navigation pattern of user's selection will make the present bit of current crusing robot
The position coordinates that the crusing robot correspondence first zero is formed with reference to first zero coordinate is put, this position coordinates is used as current relative
Position coordinates is imported in standard navigation hum pattern, finally to obtain the guidance path of the crusing robot.
In a kind of preferably implementation method, as shown in figure 3, in step sl, the method for building standard navigation hum pattern
Including：
Step S11, the transformer station that will be patrolled and examined are defined as first zero coordinate；
Step S12, pattern of being navigated according to each, obtain the characteristic point of all objects of reference in corresponding navigation map；
Step S13, the point on the basis of first zero coordinate, obtain relative coordinate of the characteristic point relative to zero point coordinate；
Step S14, according to all relative coordinates build a relative position figure；
Step S15, according to relative position figure build a two-dimensional digital point cloud distribution map；
Step S16, one wireless navigation device of offer obtain crusing robot in the navigation position figure of operating path in real time；
The latitude and longitude coordinates of step S17, wireless device to real-time acquisition crusing robot in navigation position figure, and will
Latitude and longitude coordinates are defined as the second absolute coordinate, and the point cloud number of the operating path of crusing robot is built according to the second absolute coordinate
According to figure；
Step S18, all relative coordinates are obtained in two-dimensional digital point cloud distribution map, and by the conversion of all relative coordinates
It is the 3rd absolute coordinate in adaptation cloud data figure；
Step S19, according to obtain the 3rd absolute coordinate and the second absolute coordinate be built into standard information figure.
In above-mentioned technical proposal, it is necessary to explanation is that above-mentioned object of reference is corresponding in standard navigation hum pattern is built
Characteristic point can be the object for needing to patrol and examine in transformer station, such as transformer；
By will be in each corresponding navigation map of pattern that navigates it is relative with first zero coordinate composition on characteristic point
Coordinate, and then form relative position figure；
Barrier according to relative position figure combination transformer station forms digitised points cloud distribution map, further combined with live field
Scape builds accurate two-dimensional digital point cloud distribution map, and wherein two-dimensional digital point cloud distribution map is patrolled comprising barrier and needs
Examine the relative coordinate of object；
The second absolute coordinate figure in the further path run obtained by wireless navigation device in region of patrolling and examining
I.e. latitude and longitude coordinates, the cloud data figure of operating path is built according to the latitude and longitude coordinates for obtaining；
The all relative coordinates obtained in two-dimensional digital point cloud distribution map are converted into adaptation to be adapted in cloud data figure
The 3rd absolute coordinate；
The absolute coordinate of satellite photo set the 3rd and the second absolute coordinate and barrier that combining wireless navigation equipment is obtained
The absolute coordinate of thing is hindered to build the standard navigation hum pattern of three-dimensional navigation, it is necessary to explanation is that relative coordinate is eventually converted into absolutely
It is latitude and longitude coordinates to coordinate.
In a kind of preferably implementation method, wireless navigation device is GPS navigation unit or Beidou navigation unit.
In a kind of preferably implementation method, navigation pattern includes：
Areflexia laser navigation pattern, for laser radar, it is arranged on crusing robot guider, by laser thunder
It is scanned to constitute a two dimensional navigation map up to patrolling and examining position, and is entered according in the position of two dimensional navigation map planning in advance
Row patrols and examines positioning.
In a kind of preferably implementation method, navigation pattern includes：
Magnetic stripe navigation pattern；
Guider includes that navigate magnetic stripe and magnetic sensor；
Navigation magnetic stripe is layed in the patrolling and examining on route of crusing robot
Magnetic sensor is arranged at the bottom of crusing robot, and magnetic sensor is used to the position of real-time detection navigation magnetic stripe
Put, and as the layout path of navigation magnetic stripe builds the magnetic stripe navigation map for patrolling and examining route.
In a kind of preferably implementation method, navigation pattern includes：
Wireless signal basic point navigation pattern, guider includes reception of wireless signals unit and locating base station；
Radio receiving unit is arranged on crusing robot；
Locating base station is arranged at the patrolling and examining at position of detector people；
The wireless signal receiver of crusing robot is positioned according to the wireless signal of wireless signal transmission, and then structure
Into the wireless navigation figure for patrolling and examining route.
It should be noted that wireless reception of signals can be radio-frequency apparatus or bluetooth equipment.
In a kind of preferably implementation method, navigation pattern includes：
Satellite navigation, guider is the Beidou navigation unit or GPS navigation unit being arranged on crusing robot, is led to
Cross GPS navigation unit or Beidou navigation unit obtains the coodinate navigation figure of crusing robot.
Preferred embodiments of the present invention are the foregoing is only, embodiments of the present invention and protection model is not thereby limited
Enclose, to those skilled in the art, should can appreciate that done by all utilization description of the invention and diagramatic content
Scheme obtained by equivalent and obvious change, should be included in protection scope of the present invention.
Claims (8)
1. a kind of control method of changeable navigation pattern, is applied in the navigation system of crusing robot, it is characterised in that
A plurality of guiders are provided, each described guider is corresponded to and provides navigation pattern and each navigation mould
The corresponding navigation map of formula；
Comprise the following steps：
Step S1, according to the corresponding navigation map of each described navigation pattern, build a standard navigation hum pattern；
Step S2, the navigation pattern according to selection, obtain described in the navigation map of the correspondence navigation pattern
The current relative position coordinates of crusing robot；
Step S3, the current relative position coordinates of the crusing robot are converted to the adaptation standard navigation hum pattern
The first absolute coordinate；
Step S4, first absolute coordinate of the crusing robot is imported in the standard navigation hum pattern, and combined
The crusing robot needs the coordinate of the transformer station for patrolling and examining to obtain the current guidance path of the crusing robot.
2. the control method of changeable navigation pattern according to claim 1, it is characterised in that in the step S2,
The relative position coordinates are obtained to comprise the following steps：
Step S21, the transformer station that will be patrolled and examined in the navigation map of current selection are defined as first zero coordinate；
Step S22, the current location according to the crusing robot, obtain the current location and are sat relative to the first zero
Target position coordinates, and the position coordinates is defined as the relative position coordinates.
3. the control method of changeable navigation pattern according to claim 1, it is characterised in that in the step S1,
The method for building the standard navigation hum pattern includes：
Step S11, the transformer station that will be patrolled and examined are defined as first zero coordinate；
Step S12, according to each navigation pattern, the feature of all objects of reference is obtained in the corresponding navigation map
Point；
Step S13, the point on the basis of the first zero coordinate, obtain the characteristic point relative relative to the zero point coordinate
Coordinate；
Step S14, build a relative position figure according to all relative coordinates；
Step S15, according to the relative position figure build a two-dimensional digital point cloud distribution map；
Step S16, one wireless navigation device of offer obtain the crusing robot in the navigation position figure of operating path in real time；
Step S17, the wireless navigation device obtain position of the crusing robot in the navigation position figure and sit in real time
Mark, and the position coordinates is defined as the second absolute coordinate, the crusing robot is built according to second absolute coordinate
Operating path cloud data figure；
Step S18, all relative coordinates are obtained in the two-dimensional digital point cloud distribution map, and will be all described relative
Coordinate Conversion is the 3rd absolute coordinate in the adaptation cloud data figure；
Step S19, according to obtain the 3rd absolute coordinate and second absolute coordinate be built into the standard information
Figure.
4. control system according to claim 3, it is characterised in that the wireless navigation device be GPS navigation unit or
Person's Beidou navigation unit.
5. control system according to claim 1, it is characterised in that the navigation pattern includes：
Areflexia laser navigation pattern, for laser radar, it is arranged on the crusing robot guider, by institute
State laser radar and be scanned to constitute a two dimensional navigation map, and according to advance in the two dimensional navigation map to patrolling and examining position
The position of planning carries out patrolling and examining positioning.
6. control system according to claim 1, it is characterised in that the navigation pattern includes：
Magnetic stripe navigation pattern；
The guider includes that navigate magnetic stripe and magnetic sensor；
The navigation magnetic stripe is layed in the patrolling and examining on route of the crusing robot
The magnetic sensor is arranged at the bottom of the crusing robot, and the magnetic sensor is used to be led described in real-time detection
The position of boat magnetic stripe, and as the layout path of the navigation magnetic stripe builds the magnetic stripe navigation map for patrolling and examining route.
7. control system according to claim 1, it is characterised in that the navigation pattern includes：
Wireless signal basic point navigation pattern, the guider includes reception of wireless signals unit and locating base station；
The radio receiving unit is arranged on the crusing robot；
The locating base station is arranged at the patrolling and examining at position of the detector people；
The wireless signal receiver of the crusing robot is positioned according to the wireless signal of the wireless signal transmission, is entered
And constitute the wireless navigation figure for patrolling and examining route.
8. control system according to claim 1, it is characterised in that the navigation pattern includes：
Satellite navigation, the guider is the Beidou navigation unit or GPS navigation list being arranged on the crusing robot
Unit, the coodinate navigation figure of the crusing robot is obtained by GPS navigation unit or Beidou navigation unit.
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| CN201710198315.5A CN106871889B (en) | 2017-03-29 | 2017-03-29 | Control method capable of switching navigation modes |
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| CN201710198315.5A CN106871889B (en) | 2017-03-29 | 2017-03-29 | Control method capable of switching navigation modes |
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| CN112415524A (en) * | 2019-08-23 | 2021-02-26 | 深圳市优必选科技股份有限公司 | Robot and positioning navigation method and device thereof |
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|---|---|
| CN106871889B (en) | 2020-05-12 |
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Effective date of registration: 20180124 Address after: No. 5111, Wangjiang West Road, Anhui high tech Zone, Hefei, Anhui Applicant after: KEDA INTELLIGENT ELECTRICAL TECHNOLOGY CO., LTD. Applicant after: USTC Intelligent Robot Technology Co., Ltd. Applicant after: Keda Intelligent Technology Co., Ltd. Address before: No. 5111, Wangjiang West Road, Anhui high tech Zone, Hefei, Anhui Applicant before: KEDA INTELLIGENT ELECTRICAL TECHNOLOGY CO., LTD. Applicant before: USTC Intelligent Robot Technology Co., Ltd. |
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Effective date of registration: 20190723 Address after: 230000 No. 5111 Wangjiangxi Road, Hefei High-tech Zone, Anhui Province Applicant after: KEDA INTELLIGENT ELECTRICAL TECHNOLOGY CO., LTD. Applicant after: USTC Intelligent Robot Technology Co., Ltd. Applicant after: Keda Intelligent Technology Co., Ltd. Applicant after: Hefei Ke Da Intelligent Robot Technology Co., Ltd. Address before: 230000 No. 5111 Wangjiangxi Road, Hefei High-tech Zone, Anhui Province Applicant before: KEDA INTELLIGENT ELECTRICAL TECHNOLOGY CO., LTD. Applicant before: USTC Intelligent Robot Technology Co., Ltd. Applicant before: Keda Intelligent Technology Co., Ltd. |
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