CN107490377A - Indoor map-free navigation system and navigation method - Google Patents
Indoor map-free navigation system and navigation method Download PDFInfo
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- CN107490377A CN107490377A CN201710580983.4A CN201710580983A CN107490377A CN 107490377 A CN107490377 A CN 107490377A CN 201710580983 A CN201710580983 A CN 201710580983A CN 107490377 A CN107490377 A CN 107490377A
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- destination object
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Classifications
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G05D1/0005—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with arrangements to save energy
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The present invention relates to a kind of indoor map-free navigation system and navigation method.The indoor of the present invention gathers indoor objects object location information without map navigation system by indoor positioning information collecting device；Real-time map and transmission destination object in mobile terminal device receiving chamber；Navigation mobile device obtains the destination object location information that indoor positioning information collecting device is provided, and is moved to target object position according to destination object location information；Three parts are established by indoor WiFi and communicated, Collaboration.The air navigation aid flow of the system is, touch display in smart mobile phone 3 can show the real-time map of the application places gathered by indoor infrared camera 1, as long as user clicks on the place wanted on the screen of smart mobile phone 3, wheel anthropomorphic robot 2 can select an optimal route to user at once, user can also unrestricted choice whether need take turns anthropomorphic robot 2 lead, convenient use person quickly reaches specified location.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to a kind of indoor map-free navigation system and navigation method.
Background technology
As the fast development and people of wireless communication technology are to the increasing of positioning service demand, wireless navigation positioning
Technology obtains original more concern.When in shopping mall, shopping or museum are visited, it is desirable to go somewhere but to look for not
To road, this is very headachy thing, if using navigation system, global position system GPS is reached for signal and is relatively easy to
Open outdoor environment high-precision location information can be provided, and for indoor environment, due to building blocking in itself,
So that the gps signal received indoors in environment is extremely faint, the effective information needed for positioning can not be therefrom obtained；If match somebody with somebody
It is again too high to put the manpower and financial cost that special guide needs.Therefore, indoor navigation system is more and more important.
And traditional indoor navigation system needs to draw indoor map, but indoor map is than the variation more frequency of outdoor
Numerous, the random appearance and movement of the property complicated and changeable, object or person of building interior all substantially reduce the real-time of indoor map,
Substantially reduce the navigator fix accuracy of indoor navigation system.
Current interior only provides navigation way without map navigation system by mobile devices such as mobile phones, and it needs user to gather around
There is the ability of identification map, also to there is preferable direction feeling.And user that child old man has any problem to map identification or sense of direction
The user of extreme difference, the navigation way that they possibly only can not be provided by mobile device find destination object.
The content of the invention
In order to tackle above mentioned problem, it is an object of the invention to propose a kind of interior without map navigation system and navigation side
Method.
Technical scheme is used by the present invention solves its problem：
It is a kind of indoor without map navigation system, including,
Indoor positioning information collecting device, for gathering indoor objects object location information in real time；
Mobile terminal device, destination object is sent for real-time map in receiving chamber and to navigation mobile device；
Navigate mobile device, for obtaining the destination object of mobile terminal device transmission, according in semantic object extraction room
The destination object location information that locating information acquisition equipment is provided, and destination object is moved to according to destination object location information
Position；
By wirelessly being communicated between indoor positioning information collecting device, mobile terminal device, navigation mobile device.With
Data information transfer between equipment.
Specifically, pass through indoor WiFi between indoor positioning information collecting device, mobile terminal device, navigation mobile device
Communicated.Indoor WiFi is throughout foundation communication is convenient and simple.
Further, indoor positioning information collecting device is image capture device, and image capture device gathers destination object figure
As information and navigation mobile device is sent to, navigation mobile device is converted to destination object image information the seat of destination object
Mark, navigation mobile device are moved to the position of destination object according to destination object coordinate.
Specifically, image capture device is the indoor infrared camera that can be used for monitoring and IMAQ simultaneously.Utilize room
Interior existing camera, resource both it had been effectively utilized, saved cost, and had eliminated installation trouble again.
Further, image capture device sends the real-time map for user's selection target object to mobile terminal device.It is real
When map be image that image capture device gathers in real time, solve needs and download indoor map bag and fixed indoor map in advance
The problem of poor in timeliness.
Further, mobile terminal device is to be provided with the indoor Intelligent mobile equipment without map navigation system software.Intelligence
Mobile device is popularized, and has convenience.
Further, navigating robot is wheel anthropomorphic robot.Wheel anthropomorphic robot compares other Higher-end machines people, and cost is low, dimension
Shield is simple, and reaches the requirement for leading user's pathfinding enough.
Specifically, wheel anthropomorphic robot includes wheel and controller, in addition to it is used for the motor of driving moment rotation and is used for
The drive circuit of motor, controller pass through drive circuit and motor connection；Also include being used for the steering wheel for controlling wheel steering,
Controller is connected with steering wheel；Also include being used for the radio communication being connected with indoor positioning information collecting device and mobile terminal device
Module, wireless communication module are connected with controller.
Further, taking turns anthropomorphic robot also includes being used for the ultrasonic detection device for detecting barrier, ultrasonic detection device
It is connected with controller.Ultrasonic detection device, it is ensured that wheel anthropomorphic robot forward march is unimpeded, avoids wheel anthropomorphic robot from knocking article down
Or it is stuck in the danger at dead angle.
Further, taking turns anthropomorphic robot also includes being used for the power management module powered, power management module automatic detection electricity
Pond electricity simultaneously carries out automatic charging in mooring point.Power management module ensure that wheel anthropomorphic robot work institute subfam. Spiraeoideae, avoid taking turns
Anthropomorphic robot work occurs the situation of navigation failure because of not enough power supply in way.
A kind of indoor map-free navigation method, comprises the following steps：
Mobile terminal device, indoor positioning information collecting device, navigation mobile device establish communication connection；
In mobile terminal device receiving chamber real-time map and send user selection destination object to navigate mobile device；
The mobile device that navigates obtains the location information of destination object according to destination object from indoor positioning information collecting device；
Navigation mobile device is moved to the navigation way of target object position according to the generation of the location information of destination object；
The mobile device that navigates sends navigation way according to navigation way movement or to mobile terminal device.
Further, the navigation mobile device obtains according to the image information of destination object from indoor positioning information collecting device
The location information for taking destination object is the position continuous updating with destination object, target of the mobile device according to renewal of navigating
Object location information amendment navigation way.
Further, the navigation mobile device is real-time indoors by localization process acquisition Present navigation mobile device itself
Location information in map, and according to destination object location information and navigation mobile device current location information amendment navigation road
Line.
Further, the indoor positioning information collecting device is image capture device, and the destination object location information is
The real-time elements of a fix in the destination object indoor real-time map that locating information acquisition equipment provides indoors, the navigation movement
Equipment generates navigation way according to the real-time elements of a fix of destination object.
Further, the indoor positioning information collecting device is image capture device, and the destination object location information is
The real-time elements of a fix in the destination object indoor real-time map that locating information acquisition equipment provides indoors, the Present navigation
Mobile device itself indoors for Present navigation mobile device itself, adopt the location information in real-time map indoors by location information
Collect the real-time elements of a fix in the indoor real-time map that equipment provides, navigate coordinate of the mobile device according to described destination object
With Present navigation mobile device coordinate dynamic corrections navigation way.
Further, described image collecting device is sent for the indoor real-time of user's selection target object to mobile terminal device
The destination object that user selects is sent to navigation mobile device by map, mobile terminal device.
Specifically, the destination object of user selection be shown by clicking on mobile terminal device it is indoor in real time
Figure determines.
Further, the elements of a fix in following steps acquisition destination object indoors real-time map are passed through：
Image procossing, processing is sharpened to image, becomes apparent from destination object profile；
Image merges, and the image information of multiframe is merged；
Pattern-recognition, image is identified, extracts and select suitable destination object characteristic point；
Positioning is obtained, finds out characteristic point destination object coordinate matching in spatial reference frames.
Further, the navigation mobile device, which obtains positioning, to use different positioning sides according to the difference of destination object
Case, if positioned to moving object, obtain the data of moving object in image using the difference of two frames and utilize centroid method
Show that the dot center returns to navigation mobile device；If being tracked to specific moving object, then filtered using population
Ripple algorithm carries out location tracking to it and returns to coordinate；Then it is directly to sit the object if being positioned to fixed object
Mark returns to navigation mobile device.
Further, navigate mobile device in moving process by ultrasound examination barrier, and according to the position of barrier
Put modification navigation way.
Further, Automatic-searching mooring point is standby after the mobile device that navigates sends navigation way to mobile terminal device or enters
Row charging.
The beneficial effects of the invention are as follows：A kind of indoor map-free navigation system and navigation method of the present invention, utilizes interior
Airmanship, solve the problems, such as that GPS is difficult to be accurately positioned indoors；Using image vision location technology, without drawing in advance
Indoor map, avoid indoor map it is frequently changeable and the shortcomings that be difficult to accurate navigation；Navigation instruction is operated user's oneself
Complete, and instructed succinctly on mobile terminal device, it is simple to operate；Using indoor existing monitoring camera, cost is saved, is reduced
Installation trouble；Navigation robot, solves the puzzlement of the user to map identification difficulty or sense of direction difference, and this is
System may also be combined with more Higher-end machines people and realize various human nature services.
Brief description of the drawings
The invention will be further described with example below in conjunction with the accompanying drawings.
Fig. 1 is the indoor configuration diagram without map navigation system；
Fig. 2 is the main structure schematic diagram for taking turns anthropomorphic robot；
Fig. 3 is the main control chip schematic diagram of wheel shape robot controller；
Fig. 4 is the power circuit principle figure of wheel shape robot power supply management module；
Fig. 5 is the driver circuit schematic diagram for taking turns anthropomorphic robot；
Fig. 6 is the WiFi module schematic diagram for taking turns anthropomorphic robot；
Fig. 7 is the steering wheel schematic diagram for taking turns anthropomorphic robot；
The step of Fig. 8 is indoor map-free navigation method is schemed；
Fig. 9 is the localization method block diagram of indoor map-free navigation method；
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, below with reference to
The embodiment of accompanying drawing description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.It is real below
The element applied in example only illustrates as one kind, and is not considered as limiting the invention, the skill in field involved by the present invention
The element that art personnel can possess same or like function with other as needed is replaced.
Shown in reference picture 1, interior of the invention is broadly divided into three parts, including indoor positioning without map navigation system
Information collecting device, navigation mobile device, mobile terminal device；
Indoor positioning information collecting device, using indoor infrared camera 1 in this embodiment, but the interior of the present invention
Locating information acquisition equipment is not limited only to indoor infrared camera 1, the equipment that indoor positioning information can be also gathered including other,
Such as RSSI harvesters, camera；In this embodiment, indoor infrared camera 1 is used to gather indoor real-time map, destination object
Image information, navigation mobile device image information；
Navigate mobile device, using the wheel anthropomorphic robot 2 based on ARM embedded microprocessors in this embodiment, but
The navigation mobile device of the present invention is not limited only to the wheel anthropomorphic robot 2 based on ARM embedded microprocessors, also automatic including other
Perform the installations of work；In this embodiment, wheel anthropomorphic robot 2 is used to handle image information, and it is fixed to be changed according to image information
Position coordinate, generate navigation way and target object position is moved to according to navigation way.
Mobile terminal device, using smart mobile phone 3 in this embodiment, but the mobile terminal device of the present invention not only limits
In smart mobile phone 3, also including other Intelligent mobile equipments, such as tablet personal computer, notebook computer, intelligent wearable equipment；This reality
Apply in example, smart mobile phone 3 is used for the navigation way that real-time map and navigation mobile device return in receiving chamber, is additionally operable to send mesh
Mark object or mobile terminal device coordinate；
Shown in reference picture 2, the indoor wheel anthropomorphic robot 2 without map navigation system of the invention, including power management module
21st, wheel 22 and controller 23, power management module 21 are connected with controller 23, for providing the wheel work electricity consumption of anthropomorphic robot 2；
Also include the motor 24 for being used for the rotation of driving moment 22 and the drive circuit 25 for motor 24, controller 23 passes through driving
Circuit 25 is connected with motor 24, and motor 24 is connected with wheel 22；Also include the rudder for being used to control wheel 22 to turn to as shown in Figure 7
Machine 26, controller 23 are connected with steering wheel 26, and steering wheel 26 is connected with wheel 22；Also include being used for and indoor positioning information collecting device
The wireless communication module 27 connected with mobile terminal device, wireless communication module 27 are WiFi module as shown in Figure 6, WiFi moulds
Block is connected with controller 23；Also include being used for the ultrasonic detection device 28 for detecting barrier, ultrasonic detection device 28 and control
Device 23 processed connects.
Controller 23 in earlier figures 2 is as shown in Figure 3 using STM32F103ZET6 chips, its schematic diagram；
, can shown in the power circuit principle figure reference picture 4 of power management module 21 that is connected with controller 23 in earlier figures 2
With realization power supply, the function of electricity Autonomous test, automatic charging.
Shown in reference picture 5, drive circuit 25, including BTS7960 chips, 74HC244 chips and motor 24, BTS7960 cores
Piece is connected with motor 24, and BTS7960 chips are connected with 74HC244 chips；
Shown in reference picture 8, indoor map-free navigation method according to embodiments of the present invention, comprise the following steps：
Step S1：Smart mobile phone 3, indoor infrared camera 1, wheel anthropomorphic robot 2 access indoor Wi-Fi hotspot；
In an embodiment of the present invention, indoor infrared camera 1 installs each control point indoors, and coverage is throughout whole
Individual interior, gather indoor realtime graphic；Wheel anthropomorphic robot 2 is distributed in the indoor mooring point specially set, can detect access
The positional information of smart mobile phone 3 of the interior without map navigation system real-time map indoors.
Wherein, wheel anthropomorphic robot 2 be by the smart mobile phones 3 of indoor WiFi base station feedbacks access WiFi temporal information and
Positional information determines the positional information of the real-time map indoors of smart mobile phone 3.
Step S2：In the receiving chamber of smart mobile phone 3 real-time map and by user select destination object be sent to wheel shape machine
People 2；
In an embodiment of the present invention, smart mobile phone 3 can receive indoor real-time map, Zhi Houzhi after accessing Wi-Fi hotspot
Energy mobile phone 3 can ask user to select to need the destination object of tracing navigation, when neighbouring navigation mobile device receives certain intelligence
After the navigation requests that mobile phone 3 is sent, the wheel anthropomorphic robot 2 nearest apart from the smart mobile phone 3 will be led to the smart mobile phone 3
News, the wheel anthropomorphic robot 2 can receive the target object information of user's selection.
Specifically, indoor real-time map is gathered by indoor infrared camera 1, smart mobile phone is sent to by WiFi communication
3, it is shown on the screen of smart mobile phone 3；The destination object for needing tracing navigation is by clicking on the screen of smart mobile phone 3 by user
The indoor real-time map of display determines；
Step S3：Take turns the positioning letter that anthropomorphic robot 2 obtains destination object according to destination object from indoor infrared camera 1
Breath；
In an embodiment of the present invention, the wheel anthropomorphic robot 2 can be to room after receiving the target object information that user selects
Interior infrared camera 1 asks indoor real-time image information, and wheel anthropomorphic robot 2 enters according to indoor real-time image information to destination object
Row positioning, determines destination object position coordinate.
Specifically, the step of wheel anthropomorphic robot 2 positions according to indoor real-time image information to destination object is such as Fig. 9 institutes
Show.
Wherein, different targeting schemes can be used according to the difference of destination object by taking turns anthropomorphic robot 2, if to moving object
Positioned, then obtain the data of moving object in image using the difference of two frames and show that the dot center returns to using centroid method
Take turns anthropomorphic robot 2；If being tracked to specific moving object, then positioning is carried out to it using population filtering algorithm and chased after
Track and return coordinate to wheel anthropomorphic robot 2；Then it is directly to return to the object coordinates if being positioned to fixed object
Take turns anthropomorphic robot 2.
Step S4:Wheel anthropomorphic robot 2, which receives whether leading for the transmission of smart mobile phone 3, to be confirmed to instruct.
In an embodiment of the present invention, after taking turns the location information that anthropomorphic robot 2 determines destination object, smart mobile phone can be asked
The confirmation whether 3 ejections need to lead instructs.
Step S5：Anthropomorphic robot 2 is taken turns according to the positional information of smart mobile phone 3 and the location information of destination object generation navigation road
Line.
Step S6：The step S5 navigation ways generated are returned to smart mobile phone 3 by wheel anthropomorphic robot 2.
In an embodiment of the present invention, if what user selected in step S4 is that need not lead instruction, anthropomorphic robot 2 is taken turns
Navigation way is then returned into smart mobile phone 3, user oneself reaches destination object position according to navigation way.
Step S7：Wheel anthropomorphic robot 2 is moved to the current location of smart mobile phone 3.
In an embodiment of the present invention, if what user selected in step S4 is to need to lead instruction, wheel anthropomorphic robot 2
Auto-navigation can be carried out according to the positional information of smart mobile phone 3, be moved to the position of smart mobile phone 3, wherein the wheel self-conductance of anthropomorphic robot 2
Boat technology is same as the prior art, repeats no more.
Step S8：Take turns anthropomorphic robot 2 and navigation road is generated according to the location information of current own location information and destination object
Line.
Specifically, wheel anthropomorphic robot 2 determines the principle of current own location information with determining destination object in step S3
Location information is identical.
Wherein, it is continuous updating to take turns 2 current own location information of anthropomorphic robot and the location information of destination object, navigation
Route can constantly be corrected according to the change of location information.
Step S9:Wheel anthropomorphic robot 2 leads user to be moved to target object position according to navigation way.
Wherein, anthropomorphic robot 2 is taken turns during movement, because wheel anthropomorphic robot 2 is provided with avoiding obstacles by supersonic wave device, is taken turns
Anthropomorphic robot 2 can change navigation way by ultrasound examination barrier, and according to the position of barrier.
Step S10：The mooring point of navigating robot finding nearby, which is stopped and reenters standby mode, waits making for next time
With.
In an embodiment of the present invention, navigating robot can detect self electric quantity after each navigation terminates, when itself electricity
When measuring too low, navigating robot can carry out automatic charging at mooring point.
Shown in reference picture 9, the localization method step of indoor map-free navigation method of the invention includes,
S301, image procossing, processing is sharpened to image, becomes apparent from destination object profile；
S302, image merge, the image information of multiframe are merged；
S303, pattern-recognition, image is identified, extracts and select suitable destination object characteristic point；
S304, positioning is obtained, finds out characteristic point destination object coordinate matching in spatial reference frames.
More than, simply presently preferred embodiments of the present invention, the invention is not limited in above-mentioned embodiment, as long as its with
Identical means reach the technique effect of the present invention, should all belong to protection scope of the present invention.
Claims (10)
1. a kind of interior is without map navigation system, it is characterised in that：Including,
Indoor positioning information collecting device, for gathering indoor objects object location information in real time；Mobile terminal device, for connecing
Receive indoor real-time map and the image information of destination object is sent to navigation mobile device；
Navigate mobile device, for obtaining the destination object of mobile terminal device transmission, is obtained according to the image information of destination object
The location information in the destination object indoor real-time map that locating information acquisition equipment is provided indoors is taken, and according to target pair
As location information is moved to target object position；
By wirelessly being communicated between the indoor positioning information collecting device, mobile terminal device, navigation mobile device.
2. a kind of interior according to claim 1 is without map navigation system, it is characterised in that：The indoor positioning information is adopted
Integrate equipment as image capture device, described image collecting device gathers indoor real-time image information and is sent to navigation movement and sets
Standby, navigation mobile device is by the coordinate in localization process acquisition destination object indoors real-time map, and navigate mobile device root
The position of destination object is moved to according to the coordinate in destination object indoors real-time map.
3. a kind of interior according to claim 1 is without map navigation system, it is characterised in that：It is described navigation mobile device be
Take turns anthropomorphic robot (2).
4. a kind of interior according to claim 3 is without map navigation system, it is characterised in that：The wheel anthropomorphic robot (2)
Including power management module (21), wheel (22) and controller (23), the power management module (21) and the controller
(23) connect, the power management module (21) is used for the electricity Autonomous test and automatic inflatable electric work for realizing wheel anthropomorphic robot (2)
Energy；Also include the motor (24) for being used for driving moment (22) rotation and the drive circuit (25) for motor (24), it is described
Controller (23) is connected by drive circuit (25) with motor (24), and motor (24) is connected with wheel (22)；Also include being used to control
The steering wheel (26) that wheel (22) processed turns to, the controller (23) are connected with steering wheel (26), and steering wheel (26) is connected with wheel (22)；
Also include being used for the wireless communication module (27) being connected with indoor positioning information collecting device and mobile terminal device, it is described wireless
Communication module (27) is connected with controller (23).
5. a kind of indoor map-free navigation method, it is characterised in that comprise the following steps：
Mobile terminal device, indoor positioning information collecting device, navigation mobile device establish communication connection；
In mobile terminal device receiving chamber real-time map and send user selection destination object to navigate mobile device；
Navigation mobile device obtains determining for destination object according to the image information of destination object from indoor positioning information collecting device
Position coordinate；
Navigation mobile device is moved to the navigation way of target object position according to the generation of the elements of a fix of destination object；
The mobile device that navigates sends navigation way according to navigation way movement or to mobile terminal device.
A kind of 6. indoor map-free navigation method according to claim 5, it is characterised in that：The navigation mobile device root
The elements of a fix for obtaining destination object from indoor positioning information collecting device according to the image information of destination object are with target pair
The position continuous updating of elephant, navigate destination object elements of a fix amendment navigation way of the mobile device according to renewal.
A kind of 7. indoor map-free navigation method according to claim 6, it is characterised in that：The navigation mobile device leads to
Cross localization process and obtain the elements of a fix of Present navigation mobile device itself indoors in real-time map, and determined according to destination object
Position coordinate and navigation mobile device current positioning coordinate amendment navigation way.
A kind of 8. indoor map-free navigation method according to claim 6, it is characterised in that：Mesh is obtained by following steps
Mark the elements of a fix of the object indoors in real-time map：
Image procossing, processing is sharpened to image, becomes apparent from destination object profile；
Image merges, and the image information of multiframe is merged；
Pattern-recognition, image is identified, extracts and select suitable destination object characteristic point；
Positioning is obtained, finds out characteristic point destination object coordinate matching in spatial reference frames.
A kind of 9. indoor map-free navigation method according to claim 8, it is characterised in that：The navigation mobile device obtains
The elements of a fix are taken to use different targeting schemes according to the difference of destination object, if positioned to moving object, profit
The data of moving object in image are obtained with the difference of two frames and show that the dot center returns to navigation mobile device using centroid method；
If being tracked to specific moving object, then location tracking is carried out to it using population filtering algorithm and returns to seat
Mark；Then it is that the object coordinates are directly returned into navigation mobile device if being positioned to fixed object.
A kind of 10. indoor map-free navigation method according to claim 5, it is characterised in that：Navigation mobile device is moving
By ultrasound examination barrier during dynamic, and navigation way is changed according to the position of barrier.
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| CN108873914A (en) * | 2018-09-21 | 2018-11-23 | 长安大学 | A kind of robot autonomous navigation system and method based on depth image data |
| WO2018228258A1 (en) * | 2017-06-16 | 2018-12-20 | 炬大科技有限公司 | Mobile electronic device and method therein |
| CN109238286A (en) * | 2018-08-31 | 2019-01-18 | 平安科技（深圳）有限公司 | Intelligent navigation method, device, computer equipment and storage medium |
| CN109544472A (en) * | 2018-11-08 | 2019-03-29 | 苏州佳世达光电有限公司 | Object drive device and object driving method |
| CN110426030A (en) * | 2019-08-14 | 2019-11-08 | 金同磊 | Indoor navigation method and system |
| CN114460942A (en) * | 2022-02-09 | 2022-05-10 | 中国农业银行股份有限公司 | Indoor robot navigation control method, device, equipment and medium |
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