CN107063242A - Have the positioning navigation device and robot of virtual wall function - Google Patents
Have the positioning navigation device and robot of virtual wall function Download PDFInfo
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- CN107063242A CN107063242A CN201710181089.XA CN201710181089A CN107063242A CN 107063242 A CN107063242 A CN 107063242A CN 201710181089 A CN201710181089 A CN 201710181089A CN 107063242 A CN107063242 A CN 107063242A
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- virtual wall
- navigation device
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- positioning navigation
- wall function
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- 230000004927 fusion Effects 0.000 claims abstract description 9
- 230000007613 environmental effect Effects 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000010845 search algorithm Methods 0.000 claims abstract description 5
- 238000010408 sweeping Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 2
- 238000000605 extraction Methods 0.000 claims description 2
- 230000011218 segmentation Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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- 230000008439 repair process Effects 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The present invention relates to a kind of positioning navigation device and robot for having virtual wall function, including internal sensor and the exposed environmental sensor outside the device, in addition to perform the program of following steps：Acquisition module captures the virtual wall information set via communication module；Straight line information in virtual wall is extracted using Hough transform algorithm；Built using dichotomy and update segment lookup tree, with reference to sensing data, searched and data are observed under all angles, produce the observation data after fusion；Using raytrace algorithms, global navigation map is built；Using heuristic search algorithm, with reference to the beginning and end of host equipment, a smooth collisionless path is searched for；Using dynamic window algorithm, feasible window is found；Speed is smoothed, the control instruction of mobile host equipment is issued.The invention enables realizing that virtual wall function is possibly realized in robot with the mode of pure software, use more facilitates, and its precision is high.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of positioning navigation device, it has virtual wall function.
Background technology
In robot industry, virtual wall refers to for some reason, it is necessary to set the border that no thoroughfare to prevent machine
People enters some region, e.g. there is the region of valuable breakables；For robot, set up equivalent on the boundary line
The true wall of one side, but be not present in actual environment.
Autonomous positioning navigation is the key technology for realizing that service robot is practical, and it allows robot autonomously by passing
The cartographic information of environment where sensor data are positioned and constructed in real time, further realizes 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
Autonomous synchronous positioning is now carried out with building by the environmental data for collecting such as laser radar, the first-class external sensor of shooting is obtained
Figure (SLAM) simultaneously controls host system, such as sweeping robot, and autonomous action and path planning are carried out among any environment.
Virtual wall function is realized in the robot for coupled the equipment, there are following two modes at present：
One is active virtual wall, and it launches infrared signal or ultrasonic signal by active transmitter part, is matched somebody with somebody by robot
The infrared or ultrasonic receiver put receives the signal, to realize the effect in the region for avoiding the signal；
Two be magnetic boundary line virtual wall, and it is attached on restricted area border by magnetic stripe, and robot motion passes through to the region
The related sensor of carrying detects magnetic stripe, to realize the effect for avoiding the region.
It is not difficult to summarize, above-mentioned implementation is both needed to outside host equipment and autonomous positioning navigation equipment, configuration is extra
Hardware device auxiliary implement, and change environment, it is clear that the implementation of these modes is also improved in addition to using upper inconvenience
Cost, in place of this is the deficiencies in the prior art.
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 wall function, it
To realize virtual wall function in robot with the mode of pure software.
The thinking of the present invention is that user is set virtually in the interactive interface of Web page application program or client application
After wall, this information is sent to the robot of the present invention, virtual wall is regarded true wall, the avoidance in path planning by robot.
The positioning navigation device of the virtual wall function of tool of the present invention, including internal sensor and the exposed ring outside the device
Border sensor, it is characterized in that the device also includes the program for performing following steps：
Acquisition module captures the virtual wall information set via communication module；
Straight line information in virtual wall is extracted using Hough transform algorithm；
Built using dichotomy and update segment lookup tree, with reference to sensing data, searched and observe data under all angles, produce
Observation data after raw fusion；
Using raytrace algorithms, global navigation map is built；
Using heuristic search algorithm, with reference to the beginning and end of host equipment, a smooth collisionless path is searched for；
Using dynamic window algorithm, feasible window is found；
Speed is smoothed, the control instruction of mobile host equipment is issued.
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 of the virtual wall function of tool, including is automatically positioned guider, it is characterized in that：Should
It is automatically positioned guider as described above.
The artificial sweeping robot of machine or security protection patrol robot.
The robot of the present invention receives after the virtual wall information that sets, extracts it by the positioning navigation device of coupling
In straight line information, with reference to sensing data, produce the observation data after fusion and build global navigation map, so as to base
The virtual wall avoidance of robot is realized in pure software mode, does not change environment in use, without additional aids, is produced into
This is low；
It can switch or change the location and shape of virtual wall as the case may be, using more convenient and flexible, quick；
And the motor behavior anomaly that interference fringe comes in conventional art is overcome, its precision is high.
Brief description of the drawings
Fig. 1 is the hardware architecture diagram of the positioning navigation device of the present invention.
Fig. 2 is the program flow diagram of the positioning navigation device of the present invention.
Embodiment
Preferred embodiment is provided in conjunction with accompanying drawing, to be described in further detail 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 use
Environmental sensor, directly measure and observe due to needing to carry out external environment condition, and must be exposed in its exterior.
The characteristics of positioning navigation device of the present invention has high modularization, significantly reduces and machine human host system
The degree of coupling of system, such as sweeping robot or security protection patrol robot, is easy to quickly be integrated into existing machine human host system
System simultaneously can flexible expansion.
Referring to Fig. 2, on software, the present invention includes some program modules in order to realize virtual wall function, and they are logical
Believe module 21, it is used for the setting terminal transmission information with virtual wall, plays bridge beam action；Acquisition module 22, it is used to obtain
The virtual wall information set is taken, and carries out related data storage；Lines detection module 23, it utilizes Hough transform algorithm, carried
The straight line information in virtual wall is taken, unnecessary noise is filtered, is that segment lookup tree builds and quick to provide more accurate data
The premise of lookup；Segment lookup tree builds module 24, and it is used for the straight line information extracted using lines detection module, utilizes two points
Method builds segment lookup tree, accelerates Fusion efficiency；Measurement data fusion module 25, it is used to look into reference to segmentation
Look for tree and system to connect multi-sensor data, with reference to angle information, carry out Data Fusion of Sensor, obtain for decision-making control
Multi-sensor Fusion information in part processed, data supporting is provided for navigation barrier avoiding function；
Task management scheduler module 26, 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 control centre of whole system；
Map structuring memory module 27, for the virtual wall information extracted using lines detection module, real-time update navigation
Map datum, main to utilize SLAM related algorithms, constructing environment map is the most crucial module of intelligent mobile algorithm, module master
Will be for the ease of in path planning, cooking up the path for getting around virtual wall；
Autonomous positioning module 28, based on current sensor information, using correlation matching algorithm, obtains current posture information,
So that smart machine knows oneself present position in the environment in real time, " Where am I " (I where) problem is solved；
Global path planning module 29, utilizes heuristic search algorithm, search starting point to the global optimal road of collisionless of terminal
Footpath, the navigation task for guiding smart machine completion to set, solution " How To Go " (how to get to) problem；Local paths planning mould
Block 291, with reference to present speed information, smooth collisionless control decision is produced using dynamic window algorithm so that smart machine
Can be with the collisionless navigation task for completing to specify；
Motion-control module 292, with reference to smart machine motion model, produces motion control decision-making, control smart machine with
The collisionless movement of certain rate smoothing；
Intelligent mobile module 293, it receives motion-control module instruction, the movement of control device collisionless.
Said procedure block combiner gets up executable following steps：
Step one：The virtual wall information that acquisition module capture is sent by communication module；
Step 2：In lines detection module, using Hough transform algorithm, respective handling, mark are carried out to virtual wall information
Its life cycle, starting point, terminal, extraction linear characteristic；
Step 3：According to straight line starting point, the angle information of terminal, built using dichotomy and update segment lookup tree；
Step 4：According to sensor data information, with reference to segment lookup tree, search and observe data under all angles, produce
Observation data under all angles after fusion；
Step 5：Using multi-sensor data, with reference to raytrace algorithms, global navigation map is built；
Step 6：After communication module receives navigation task, using global navigation map, and self-positioning information in real time, profit
With heuristic search algorithm, with reference to smart machine starting and terminal point, a smooth collisionless path is searched for；If terminal is unreachable,
Terminate current task；If so, then entering next step；
Step 7：Using dynamic window algorithm, feasible window and control strategy are searched for；If finding the window, enter
Next step, otherwise, is transferred to previous step, attempts to search for other reachable paths；
Step 8：Speed is smoothed, control instruction is issued to host equipment, control host equipment movement.
Compared with existing virtual wall technology, the hardware device that the present invention need not be aided in additionally, extra production cost makes
It is more intelligent in addition, without changing environment, increase deletion and more facilitate with more convenient and flexible, quick, meanwhile, also gram
The motor behavior exception that interference fringe comes is taken, more accurately, reliably.
Described above is only presently preferred embodiments of the present invention, not does any formal limitation 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, in the range of technical solution of the present invention is not departed from, when the technology contents using the disclosure above make a little change or repair
The equivalent embodiment for equivalent variations is adornd, as long as being the content without departing from technical solution of the present invention, the technology according to the present invention is real
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 (10)
1. a kind of positioning navigation device for having virtual wall function, including internal sensor and the exposed environmentally sensitive outside the device
Device, it is characterized in that the device also includes the program for performing following steps：
Acquisition module captures the virtual wall information set by computer terminal via communication module；
Extract the straight line information in virtual wall；
Build and update segment lookup tree, with reference to sensing data, data are observed under lookup all angles and the sight after fusion is produced
Survey data；
Build global navigation map；
With reference to the beginning and end of host equipment, a smooth collisionless path is searched for；
Find feasible window；
Speed is smoothed, the control instruction of mobile host equipment is issued.
2. have the positioning navigation device of virtual wall function as claimed in claim 1, it is characterized in that：In the extraction virtual wall
The step of straight line information, uses Hough transform algorithm.
3. have the positioning navigation device of virtual wall function as claimed in claim 1, it is characterized in that：The structure updates segmentation and looked into
The algorithm for looking for tree is dichotomy.
4. have the positioning navigation device of virtual wall function as claimed in claim 1, it is characterized in that：It is described to build global navigation ground
The algorithm of figure is raytrace algorithms.
5. have the positioning navigation device of virtual wall function as claimed in claim 1, it is characterized in that：It is described to find feasible window
Algorithm be dynamic window algorithm.
6. have the positioning navigation device of virtual wall function as claimed in claim 1, it is characterized in that：One smooth nothing of the search
The algorithm of collision path is heuristic search algorithm.
7. have the positioning navigation device of virtual wall function as claimed in claim 1, it is characterized in that：The internal sensor includes
Gyroscope, accelerometer and electronic compass.
8. have the positioning navigation device of virtual wall function as claimed in claim 1, it is characterized in that：The environmental sensor is sharp
Optical radar and/or vision sensor.
9. a kind of robot for having virtual wall function, including positioning navigation device in the inner is coupled, it is characterized in that：The positioning is led
The device that navigates is as claimed in claim 1.
10. have the robot of virtual wall function as claimed in claim 9, it is characterized in that：The artificial sweeping robot of machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710181089.XA CN107063242A (en) | 2017-03-24 | 2017-03-24 | Have the positioning navigation device and robot of virtual wall function |
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| CN201710181089.XA CN107063242A (en) | 2017-03-24 | 2017-03-24 | Have the positioning navigation device and robot of virtual wall function |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107450569A (en) * | 2017-09-27 | 2017-12-08 | 上海思岚科技有限公司 | The control method and equipment of a kind of sweeping robot |
| CN107644273A (en) * | 2017-09-27 | 2018-01-30 | 上海思岚科技有限公司 | A kind of navigation path planning method and equipment |
| CN108303980A (en) * | 2018-01-16 | 2018-07-20 | 上海木爷机器人技术有限公司 | The system and method for virtual wall figure layer is realized based on robot |
| CN109313822A (en) * | 2017-12-13 | 2019-02-05 | 广州艾若博机器人科技有限公司 | Virtual wall construction method and device, map constructing method, mobile electronic equipment based on machine vision |
| CN109737980A (en) * | 2018-12-29 | 2019-05-10 | 上海岚豹智能科技有限公司 | A kind of air navigation aid and its corresponding robot |
| CN110253579A (en) * | 2019-06-24 | 2019-09-20 | 合肥工业大学 | Robot localization method, apparatus, equipment and medium based on circular arc feature extraction |
| CN111538343A (en) * | 2020-06-22 | 2020-08-14 | 天津联汇智造科技有限公司 | System, method and storage medium for robot to set traffic rules |
| CN112438661A (en) * | 2020-11-25 | 2021-03-05 | 浙江欣奕华智能科技有限公司 | Intelligent equipment motion control method, device, equipment and computer storage medium |
| US11275380B2 (en) * | 2017-03-24 | 2022-03-15 | Shanghai Slamtec Co., Ltd. | Virtual wall system for mobile devices and implementation method thereof |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11275380B2 (en) * | 2017-03-24 | 2022-03-15 | Shanghai Slamtec Co., Ltd. | Virtual wall system for mobile devices and implementation method thereof |
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| CN109313822A (en) * | 2017-12-13 | 2019-02-05 | 广州艾若博机器人科技有限公司 | Virtual wall construction method and device, map constructing method, mobile electronic equipment based on machine vision |
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| CN108303980A (en) * | 2018-01-16 | 2018-07-20 | 上海木爷机器人技术有限公司 | The system and method for virtual wall figure layer is realized based on robot |
| CN109737980A (en) * | 2018-12-29 | 2019-05-10 | 上海岚豹智能科技有限公司 | A kind of air navigation aid and its corresponding robot |
| CN110253579A (en) * | 2019-06-24 | 2019-09-20 | 合肥工业大学 | Robot localization method, apparatus, equipment and medium based on circular arc feature extraction |
| CN110253579B (en) * | 2019-06-24 | 2021-11-19 | 合肥工业大学 | Robot positioning method, device, equipment and medium based on arc feature extraction |
| CN111538343B (en) * | 2020-06-22 | 2020-09-25 | 天津联汇智造科技有限公司 | System, method and storage medium for robot to set traffic rules |
| CN111538343A (en) * | 2020-06-22 | 2020-08-14 | 天津联汇智造科技有限公司 | System, method and storage medium for robot to set traffic rules |
| CN112438661A (en) * | 2020-11-25 | 2021-03-05 | 浙江欣奕华智能科技有限公司 | Intelligent equipment motion control method, device, equipment and computer storage medium |
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Application publication date: 20170818 |