CN107219853A - A kind of open automation air navigation aid and system based on robot - Google Patents
A kind of open automation air navigation aid and system based on robot Download PDFInfo
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- CN107219853A CN107219853A CN201710556047.XA CN201710556047A CN107219853A CN 107219853 A CN107219853 A CN 107219853A CN 201710556047 A CN201710556047 A CN 201710556047A CN 107219853 A CN107219853 A CN 107219853A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
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- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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Abstract
The invention discloses a kind of open automation air navigation aid and system based on robot, according to user's request, the scene of navigation is defined as general navigation area, precision navigation area and main path area, Dijkstra's algorithm, the acquisition path end points nearest apart from robot current location and the path between the closest path end points of terminal end points are utilized based on path network in main path area；Passage path end points realizes the human intervention to path planning so that navigation is accurate controllable, more efficient.By robot self-navigation and accurate line walking positioning combination, realize general navigation area or main path area to the transition in precision navigation area using buffer strip.The width of buffer bar is gradually decrease to 0.5~1cm by 5~10cm, and the length of buffer bar effectively connects the positioning method of different accuracy between 20cm~100cm, realizes the applicability transition of positioning precision, realizes smoothly navigation effect.
Description
Technical field
The present invention relates to automation navigation system technical field, and in particular to a kind of open automation based on robot
Air navigation aid and system.
Background technology
At present, for the scene of hospital, supermarket and logistics service, the general transport that goods is completed using navigating robot
Process.The navigation mode of traditional navigation system uses infrared, laser or CCD line walking modes, and Robot specifies programme path
Accurately run and error is in millimeter rank.But use line walking mode navigate in path for fixed route, kept away for some needs
Barrier and the occasion in contexture by self path, line walking navigation mode can not realize autonomous path planning, using with limitation；In addition
Navigated by being then based on line walking, in the case where space is big, it is necessary to which whole joint strips, expend a large amount of manpowers, material resources, and shadow
Sound is attractive in appearance, also needs to do navigational environment Overall Reconstruction sometimes to ensure enough space joint strips.
It has been proposed that using the automation navigation mode of location fit shortest route-planning algorithm；Wherein, it is described to orientate as
The SLAM positioning that is imaged based on laser radar or CCD, the architecture based on wireless base station or using gyroscope/accelerometer and
The positioning based on mileage of code-disc, positioning precision is 5~10cm, and shortest path rule are carried out using A* algorithms or improved A* algorithms
Draw.Using the automation navigation mode of location fit shortest route-planning algorithm, have in path planning process to the planning in path
Uncertainty, for there is the arrow path of shelf formation, or the stream of people is relatively more and needs the scene of robot significantly corner,
If robot is path planning in above-mentioned scene, the motion of robot occurs that blocking, speed are slow for a long time；In addition,
, it is necessary to carry out high-precision navigation to robot in the regional area of some specific environment.Therefore location fit shortest path
The automation navigation mode of footpath planning algorithm, which can not be applicable some, the scene of particular demands.
The content of the invention
In view of this, the invention provides a kind of open automation air navigation aid and system based on robot, realize
Automation navigation feature in the case where user intervenes part path, while realizing different positioning precisions.
The present invention is achieved through the following technical solutions, and the open automation air navigation aid based on robot includes as follows
Step：
Step 1, the navigational environment run according to robot and user's request, it is determined that general navigation area, precision navigation area,
Precision navigation area entrance, the outlet of precision navigation area, main path area and navigation terminal；
More than two path end points are provided with main path area, each path end points are only between path end points adjacent thereto
There is path；Path between each path end points forms path network；Wherein with the track end nearest apart from robot current location
Point is main datapath section entrance, is exported using the nearest path end points of distance navigation terminal as main datapath section；
Step 2, robot real time data is obtained, robot current location is recognized, when robot is in general navigation area,
Navigated using navigation mode is automated；When robot is in precision navigation area, navigated using line walking navigation mode；
When robot is in main path area, the path network obtained based on step 1, using Dijkstra's algorithm, plans main path
Path between area's entrance and the outlet of main path area, obtains main path, and navigation is realized in the motion of Robot main path.
Wherein, buffer bar and line walking bar are provided with precision navigation area；The buffer bar connection precision navigation area entrance is with patrolling
Lines starting point, line walking bar terminal exports for precision navigation area；From precision navigation area entrance to line walking bar starting point, the width of buffer bar
0.5~1cm is gradually decrease to by 5~10cm, the length of buffer bar is between 20cm~100cm.
It is preferred that automation navigation mode is completed using A* algorithms.
Wherein, buffer bar and line walking bar are the bar with color-identifying degree.
Open automation navigation system based on robot includes server, sensor and controller；
Server is used to set general navigation area, precision navigation area, precision navigation area entrance, the outlet of precision navigation area, master
Datapath section and navigation terminal, and by the data transfer of setting to controller；Demarcation has two or more in wherein general navigation area
Path end points；Each path end points only have path between path end points adjacent thereto；Path between each path end points is formed
Path network；
Sensor is for gathering the real time data of robot and environment and real time data being sent into controller；
Controller includes being automatically positioned unit, being accurately positioned unit and virtual tracking unit；
Robot and the real time data of environment that the data and sensor that controller is provided based on server are sent, identification
Robot is in general navigation area, precision navigation area or main path area, is carried out not according to different recognition result control machine people
With the navigation of mode：
When robot is in general navigation area, unit unlatching is automatically positioned, being automatically positioned unit is used for control machine people
Automation navigation is carried out using navigation mode is automated；
When robot is in precision navigation area, unit unlatching is accurately positioned, being accurately positioned unit is used for control machine people
Navigated using line walking navigation mode；
When robot is in main path area, virtual tracking unit is opened, and virtual tracking unit is based on path network, is utilized
Dijkstra's algorithm, the path between planning main path area's entrance and the outlet of main path area, obtains main path and control machine
People moves along main path.
Wherein, there are buffer bar and line walking bar in precision navigation area；Buffer bar connection precision navigation area's entrance and line walking
Bar starting point, line walking bar terminal exports for precision navigation area；From precision navigation area entrance to line walking bar starting point, the width of buffer bar by
5~10cm is gradually decrease to 0.5~1cm, and the length of buffer bar is between 20cm~100cm.
It is preferred that system also includes processor of single chip computer, in precision navigation area, processor of single chip computer performs accurate line walking and appointed
Business, controller navigation feature temporary suspension or dormancy；In main path area and general navigation area, processor of single chip computer is to sensor
Data just handle and the data after processing are sent into controller.
Wherein, controller also includes security control unit, is responsible for obtaining the Azimuth ＆ Range of robot and nearest barrier,
When robot and obstacle distance are less than given threshold, control machine people is slowed down or pause movement.
It is preferred that controller also includes clock kernel unit, clock kernel unit issues the message that excites of assigned frequency, control
Device processed often receive once excite message after be waken up once, and perform a path planning.
Wherein, connect between processor of single chip computer and controller and by communication between controller and server
Connect.
Beneficial effect：
1. the open automation air navigation aid of the present invention based on robot, according to user's request, by navigation
Scene is defined as general navigation area, precision navigation area and main path area, and Di Jiesite is utilized based on path network in main path area
Draw algorithm, obtain path end points nearest apart from robot current location with apart from the closest path end points of terminal end points it
Between path；Passage path end points realizes the human intervention to path planning so that navigation is accurate controllable, more efficient.
2. the open automation air navigation aid of the present invention based on robot, by robot self-navigation and accurately
Line walking positioning combination, realizes general navigation area or main path area to the transition in precision navigation area using buffer strip.The width of buffer bar
Degree is gradually decrease to 0.5~1cm by 5~10cm, and the length of buffer bar is between 20cm~100cm, by determining for different accuracy
Position mode is effectively connected, and is realized the applicability transition of positioning precision, is realized smoothly navigation effect.
3. the open automation navigation system of the present invention based on robot, based on controller, sensor kimonos
Business device, realizes a kind of modular automation navigation system, passage path end points realizes the human intervention to path planning, real
Now accurately and efficiently navigate.
4. the open automation navigation system of the present invention based on robot, by robot self-navigation and accurately
Line walking positioning combination, realizes the positioning precision that 10cm~1mm is not waited, it is adaptable to different scene demands.
5. the open automation navigation system of the present invention based on robot, in precision navigation area, by single-chip microcomputer
The accurate line walking task of computing device, controller navigation feature temporary suspension or dormancy, have saved system energy consumption, have reduced control
The calculated load of device；In main path area and general navigation area, processor of single chip computer carries out just handling to the data of sensor, utilizes
Communication is communicated with controller, based on this, and controller can be not interposing at robot interior, so as to reduce robot
Weight, and extend the cruising time of robot.
Brief description of the drawings
Fig. 1 is the open automation air navigation aid flow chart of the present invention.
Fig. 2 is present system hardware logic structure schematic diagram, wherein：
2.1 be controller；
2.2 be processor of single chip computer；
2.3~2.N sensors；
Fig. 3 is controller schematic internal view, wherein：
3.1 be SLAM positioning nodes；
3.2 be external interface node；
3.3 be the data fusion node of system；
3.4 be the PID control node of system；
3.5 be the navigation path planning node of system；
3.6 be the path planning node of system；
3.7 are accurately positioned node for the CCD of system；
3.0.1 uploaded for single-chip microcomputer, each hardware gathered data of specified format；
3.0.2 for the data flow and map datum needed for SLAM is positioned；
3.0.3 the current location estimated data calculated for SLAM positioning nodes；
3.0.4 it is obtained current location estimated data after multi-data fusion；
3.0.5 the free routing data obtained for system using path planning algorithms such as A*；
3.0.6 the path locus data obtained for system using shortest route-planning algorithm between node；
3.0.7 the tire control data exported for system after PID arithmetic to external interface node；
3.0.8 the final director data exported for external interface node to single-chip microcomputer；
3.0.9 it is the system precise position data calculated by CCD and fixed lines.
Fig. 4 is system overall navigation process schematic, wherein：
4.1 be navigation starting point；
4.2 be navigation terminal；
4.3 be virtual route starting point；
4.4 be virtual route terminal；
4.5 and 4.6 be the path of A* algorithmic rules；
4.7 be abandoned path and end points after being calculated through Dijkstra's algorithm；
4.8 be barrier.
Fig. 5 is the mechanical structure schematic diagram of system, wherein：
5.1 be indicator lamp；
5.2 be laser radar used in SLAM or depth of field CCD；
5.3 be controller；
5.4 be processor of single chip computer；
5.5 be driving wheel；
5.6 be universal wheel；
5.7 be ultrasonic wave obstacle sensor；
5.8 be that linear CCD or laser are accurately positioned unit.
Fig. 6 is schematic diagram of the robot in SLAM navigation and the switching of precision navigation state, wherein：
6.1 be precision navigation area；
6.2 be the precise motion path of robot；
6.3 be the buffer strip between path planning and exact path；
6.4 be the path that robot is positioned based on SLAM；
6.5 robot to be moved under SLAM paths.
Fig. 7 is the composition schematic diagram of the open automation navigation system of the invention based on robot.
Fig. 8 is the controller schematic diagram of the open automation navigation system of the invention based on robot.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The invention provides a kind of open automation air navigation aid and system based on robot,
A kind of open automation air navigation aid based on robot, as shown in figure 1, comprising the following steps：
Step 1, the navigational environment run according to robot and user's request, it is determined that general navigation area, precision navigation area,
Precision navigation area entrance, the outlet of precision navigation area, main path area and navigation terminal；
Two or more path end points are provided with main path area, and set the adjacent path end of each path end points
Point, each path end points only have path between path end points adjacent thereto；The path that path between each path end points is formed
Network；It is nearest with distance navigation terminal wherein using the path end points nearest apart from robot current location as main datapath section entrance
Path end points be main datapath section outlet；
According to precision navigation demand, buffer bar and line walking bar are pasted in precision navigation area, artificial path planning is carried out；It is described
Buffer bar one end is connected with precision navigation area entrance, and the other end is connected with line walking bar starting point, and line walking bar terminal is located at precision navigation
Area border；Along precision navigation area entrance to line walking bar starting point direction, the width of buffer bar is gradually decrease to 0.5 by 5~10cm~
1cm, the length of buffer bar is between 20cm~100cm；Buffer bar and line walking bar are the bar with color-identifying degree；
Step 2, robot real time data is obtained, robot current location is recognized, it is to be in typically to lead to determine robot
Navigating area, precision navigation area or main path area；
When robot is in general navigation area, navigated using navigation mode is automated；
When robot is in precision navigation area, navigated using line walking navigation mode
When robot is in main path area, the path network obtained based on step 1 utilizes Dijkstra's algorithm, rule
The path between main path area entrance and the outlet of main path area is drawn, main path is obtained, Robot main path motion, realization is led
Boat.
The invention provides a kind of open automation navigation system based on robot, the signal of system hardware logical construction
Figure is as shown in Fig. 2 system includes server, sensor and controller；
Server is used to set general navigation area, precision navigation area, precision navigation area entrance, the outlet of precision navigation area, master
Datapath section and navigation terminal, and by the data transfer of setting to controller；Demarcation has two or more in wherein general navigation area
Path end points；Each path end points only have path between path end points adjacent thereto；Path between each path end points is formed
Path network；
Buffer bar and line walking bar are provided with precision navigation area；Buffer bar connection precision navigation area's entrance rises with line walking bar
Point, line walking bar terminal exports for precision navigation area；From precision navigation area entrance to line walking bar starting point, the width of buffer bar by 5~
10cm is gradually decrease to 0.5~1cm, and the length of buffer bar is between 20cm~100cm；
Sensor is for gathering the real time data of robot and environment and real time data being sent into controller；Wherein machine
The real time data of people and environment include robot self-position estimated data, robot speed's data and surrounding terrain data and
The range data of robot and barrier.
Controller includes being automatically positioned unit, being accurately positioned unit and virtual tracking unit；
Data and robot and the real time data of environment that controller is provided based on server, identification robot are in general
Navigation area, precision navigation area or main path area, the navigation of different modes is carried out according to different recognition result control machine people：
When robot is in general navigation area, unit unlatching is automatically positioned, being automatically positioned unit is used for control machine people
Automation navigation is carried out using navigation mode is automated；
When robot is in precision navigation area, unit unlatching is accurately positioned, being accurately positioned unit is used for control machine people
Navigated using line walking navigation mode；
When robot is in main path area, virtual tracking unit is opened, and virtual tracking unit is based on path network, is utilized
Dijkstra's algorithm, the path between planning main path area's entrance and the outlet of main path area, obtains main path and control machine
People moves along main path.
Preferably, system also includes processor of single chip computer, and in main path area and general navigation area, the data to sensor are entered
Row is just handled, and is connected between processor of single chip computer and controller and by communication between controller and server.
Based on this, controller can be not interposing at robot interior, so as to reduce robot weight, and extend the cruising time of robot；
In precision navigation area, accurate line walking task, controller navigation feature temporary suspension or dormancy are performed by processor of single chip computer, saved
System energy consumption, reduces the calculated load of controller.
System composition schematic diagram is as shown in fig. 7, system includes robot peripheral hardware, sensor, processor of single chip computer, controller
And server.Controller schematic diagram by interface unit as shown in figure 8, in addition to wireless forms of communication, can also be communicated；Control
Device processed also includes interface unit, and interface unit includes input connectivity port and control connectivity port, the connection of input connectivity port
Controller and server, control connectivity port connection controller and processor of single chip computer.
Further, controller also includes security control unit, be responsible for obtaining the orientation of robot and nearest barrier with
Distance, when robot is less than given threshold with obstacle distance, control machine people is slowed down or pause movement；Controller also includes
Clock kernel unit, clock kernel unit issue assigned frequency excites message, and controller is after often receiving and once exciting message
It is waken up once, and performs once-through operation, carries out path planning.The each unit of controller independent fortune in the way of program node
OK.
Specific embodiment：
Controller 2.1 is the mainboard based on high arithmetic speed processor, and it is in the nature industrial computer hardware.Controller uses base
In the ROS software kits of linux system, multiple nodes can be run, installation site is as shown in Fig. 5 5.3.
Processor of single chip computer 2.2 passes through I/O port or 2.3~2.N of sensor device specified protocols and each sensor device
Communicated between 2.3~2.N, installation site is as shown in Fig. 5 5.4.2.3~2.N of sensor device is obtained after data, is used
Each item data that the internal processes of processor of single chip computer 2.2 are uploaded to 2.3~2.N of sensor device just handle, after processing
Data be uploaded to controller 2.1.In precision navigation area, controller pause path planning function, robot is handled by single-chip microcomputer
Device coordinates the motion for being accurately positioned unit realization along high light reflectivity bar.
The implementation of navigation issues target point by server and association requests are excited.As shown in Figure 3 and Figure 4, server
Current map and fixed obstacle 4.8 and the data of all main paths 4.7 and 4.9 are issued to controller.Server connects via outside
Mouth node 3.2 sends the position data of target point 4.2 to controller.System is via SLAM positioning nodes 3.1 and multi-data fusion section
Point 3.3 calculates its own position data 3.0.4.It is determined that after aims of systems point and self-position data, software systems are opened
Path planning node 3.5 is opened to calculate and the nearest path end points of main path 4.7 and 4.9 in navigating robot position, and using A* roads
Footpath planning algorithm planning navigating robot moves to the route 4.5 of main path path end points.Path planning node 3.6 is opened simultaneously
Select optimal main path 4.9.
In main path area, mulitpath data 3.0.5 and 3.0.6 is sent by respective nodes 3.5 with 3.6 with multiple spot coordinate format
Enter PID control node 3.4；PID control node calls SLAM to position 3.1 and calculates its own position with multi-data fusion node 3.3
Put data 3.0.4.Via its internal pid algorithm computing, it can finally be moved to the output of outside interface node 3.2 along specified path
Optimal tire drive scheme data, the data are transfused to single-chip microcomputer, and single-chip microcomputer passes through formula (1)：
The speed is converted into the speed of revolver and right wheel, single-chip microcomputer deduces algorithm by flight path and calculates acquisition current machine
The position according to a preliminary estimate of people, the estimated location is uploaded to controller.
Data fusion node in controller obtains the estimated location, and Kalman filtering is done to the position, defeated after filtering
Go out to SLAM positioning nodes, SLAM positioning nodes are according to estimated position data, surrounding terrain data and surrounding terrain data institute
The part of correspondence Reference Map, is modified so that the corresponding Reference Map of surrounding terrain data to estimated position data
Part matches.
Virtual tracking unit in controller is based on path network, using Dijkstra's algorithm, and planning main path area enters
Path between mouth and the outlet of main path area, obtains main path and control machine people moves along main path.
Navigation system of the present invention is as shown in figure 5, be automatically positioned unit using SLAM positioning methods, required sensing
Device equipment includes ultrasonic avoidance sensor 5.1, laser radar or depth of field ccd sensor 5.2, tire code-disc and acceleration sensing
Device.These sensor devices are connected by some cables with processor of single chip computer 2.2.Processor of single chip computer passes through USB, serial ports
It is connected with network interface bus with controller 2.1, and carries out the communication based on bus protocol.Using laser radar or depth of field CCD
SLAM algorithms positioning precision is 5~10cm.
In actual scene, robot specifies the accurate operation of programme path along certain in designated area realization and error is in millimeter
Rank.As shown in Figure 6, it is necessary to which the region 6.1 accurately run is some pockets in global map.Robot is in the region
Outside positioned using SLAM modes, and using the foregoing description automation navigation mode realize overall path planning.Work as robot
Attempt enter accurate operation area and realize along path planning navigate when, robot automate first navigation close to buffer strip 6.3,
And unlatching is accurately positioned unit 5.8.Buffer strip and precise motion path 6.2 are the high light reflectivity bar for being affixed on designated area in advance.
Buffer area 6.3 is the band that width is constantly decreased to 0.5~1cm by 5~10cm between zone boundary to guidance path, bar
Belt length is more than 20cm, less than 100cm.It is accurately positioned unit and recognizes the band, while controller suspends path planning function, machine
People is accurately positioned motion of the unit realization along high light reflectivity bar with processor of single chip computer.Because the width of buffer strip constantly subtracts
It is small, therefore the position deviation of Robot its path lateral also constantly reduces, and finally realizes the precision navigation along thin path 6.2.
When robot departs from precision navigation area, positioned again using SLAM, when robot is in general navigation area, from
Dynamic positioning unit is opened, and is automatically positioned unit and is carried out automation navigation using navigation mode is automated for control machine people；When
When robot is in main path area, virtual tracking unit is opened, and virtual tracking unit is based on path network, utilizes Di Jiesitela
Algorithm, the path between planning main path area's entrance and the outlet of main path area obtains main path and control machine people along main path
Motion.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (10)
1. a kind of open automation air navigation aid based on robot, it is characterised in that comprise the following steps：
Step 1, the navigational environment run according to robot and user's request, it is determined that general navigation area, precision navigation area, accurate
Navigation area entrance, the outlet of precision navigation area, main path area and navigation terminal；
More than two path end points are provided with main path area, each path end points only have road between path end points adjacent thereto
Footpath；Path between each path end points forms path network；Wherein using the path end points nearest apart from robot current location as
Main path area entrance, is exported using the nearest path end points of distance navigation terminal as main datapath section；
Step 2, robot real time data is obtained, identification robot current location, when robot is in general navigation area, is utilized
Automation navigation mode is navigated；When robot is in precision navigation area, navigated using line walking navigation mode；Work as machine
When device people is in main path area, the path network obtained based on step 1, using Dijkstra's algorithm, planning main path area enters
Path between mouth and the outlet of main path area, obtains main path, and navigation is realized in the motion of Robot main path.
2. a kind of open automation air navigation aid based on robot as claimed in claim 1, it is characterised in that accurately lead
Buffer bar and line walking bar are provided with navigating area；Buffer bar connection precision navigation area's entrance and line walking bar starting point, line walking bar terminal
Exported for precision navigation area；From precision navigation area entrance to line walking bar starting point, the width of buffer bar is gradually decrease to by 5~10cm
0.5~1cm, the length of buffer bar is between 20cm~100cm.
3. a kind of open automation air navigation aid based on robot as claimed in claim 1 or 2, it is characterised in that institute
Automation navigation mode is stated to complete using A* algorithms.
4. a kind of open automation air navigation aid based on robot as claimed in claim 2, it is characterised in that buffer bar
It is the bar with color-identifying degree with line walking bar.
5. a kind of open automation navigation system based on robot, it is characterised in that system include server, sensor and
Controller；
Server is used to set general navigation area, precision navigation area, precision navigation area entrance, the outlet of precision navigation area, main path
Area and navigation terminal, and by the data transfer of setting to controller；Demarcation has two or more path in wherein general navigation area
End points；Each path end points only have path between path end points adjacent thereto；Path between each path end points forms path
Network；
Sensor is for gathering the real time data of robot and environment and real time data being sent into controller；
Controller includes being automatically positioned unit, being accurately positioned unit and virtual tracking unit；
Robot and the real time data of environment that the data and sensor that controller is provided based on server are sent, recognize machine
People is in general navigation area, precision navigation area or main path area, and not Tongfang is carried out according to different recognition result control machine people
The navigation of formula：
When robot is in general navigation area, unit unlatching is automatically positioned, unit is automatically positioned and is utilized for control machine people
Automation navigation mode carries out automation navigation；
When robot is in precision navigation area, unit unlatching is accurately positioned, unit is accurately positioned and is utilized for control machine people
Line walking navigation mode is navigated；
When robot is in main path area, virtual tracking unit is opened, and virtual tracking unit is based on path network, outstanding using enlightening
Si Tela algorithms, the path between planning main path area's entrance and the outlet of main path area, obtain main path and control machine people edge
Main path is moved.
6. a kind of open automation navigation system based on robot as claimed in claim 5, it is characterised in that accurately lead
There are buffer bar and line walking bar in navigating area；The buffer bar connects precision navigation area's entrance and line walking bar starting point, and line walking bar terminal is
Precision navigation area is exported；From precision navigation area entrance to line walking bar starting point, the width of buffer bar is gradually decrease to by 5~10cm
0.5~1cm, the length of buffer bar is between 20cm~100cm.
7. a kind of open automation navigation system based on robot as claimed in claim 5, it is characterised in that system is also
Including processor of single chip computer, in precision navigation area, processor of single chip computer performs accurate line walking task, and controller navigation feature is temporary transient
Hang up or dormancy；In main path area and general navigation area, processor of single chip computer carries out just processing to the data of sensor and will place
Data after reason are sent to controller.
8. a kind of open automation navigation system based on robot as described in claim 5 or 6, it is characterised in that institute
Stating controller also includes security control unit, is responsible for obtaining the Azimuth ＆ Range of robot and nearest barrier, when robot with
When obstacle distance is less than given threshold, control machine people is slowed down or pause movement.
9. a kind of open automation navigation system based on robot as described in claim 5 or 6, it is characterised in that institute
Stating controller also includes clock kernel unit, and clock kernel unit issue assigned frequency excites message, and controller receives often
Once excite after message and be waken up once, and perform a path planning.
10. a kind of open automation navigation system based on robot as claimed in claim 7, it is characterised in that described
Connected between processor of single chip computer and controller and by communication between controller and server.
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