CN107678440A - A kind of complementary locating formations, include its self-discipline mobile device and localization method - Google Patents
A kind of complementary locating formations, include its self-discipline mobile device and localization method Download PDFInfo
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- CN107678440A CN107678440A CN201711134538.1A CN201711134538A CN107678440A CN 107678440 A CN107678440 A CN 107678440A CN 201711134538 A CN201711134538 A CN 201711134538A CN 107678440 A CN107678440 A CN 107678440A
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- 230000000295 complement effect Effects 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000004807 localization Effects 0.000 title claims abstract description 6
- 238000005304 joining Methods 0.000 claims abstract description 9
- 230000000452 restraining effect Effects 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 3
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- 230000008901 benefit Effects 0.000 description 3
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- 206010003084 Areflexia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
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Abstract
The invention discloses a kind of complementary locating formations, and include its self-discipline mobile device and localization method.Wherein described align member, it is characterized in that, some groups of complementary locating formations are at least partially provided with the working region of self-discipline mobile device, when the self-discipline mobile device reaches the complementary locating formations region, self-discipline the distance between mobile device and the complementary locating formations described in the environment sensing device senses, and determine the contour line of the complementary locating formations, the anchor point that the environment sensing device further is fixed according to the characteristic point on the contour line or the crosspoint of some contour line joinings or some contour line extension lines as described group of complementary locating formations is positioned.The present invention is positioned using fixed anchor point, and positioning is more accurate.And greatly reduce cost.
Description
Technical field
The present invention relates to self-discipline priming device, more particularly to be used for restrain oneself mobile device auxiliary positioning and include its from
Restrain mobile device.
Background technology
Self-discipline mobile device is used for many industrial occasions, for example, the lorry in factory and warehouse.According to a conventional system
The transit route of system, magnetic loop or the like along truck is arranged.Because initial cost is high, the route of truck is difficult to change in the later stage
Become, therefore have developed the system using reflector.
According to it is some oneself know system, use the reflector with mark, i.e. carrying can be straight according to the reflected signal instrument on vehicle
Connect and determine which specific reflector signal comes from.This kind of system is not only fast but also effective, but these specific reflectors are costly.
The problems such as distance that additionally, there may be the number of building can show is restricted.
A kind of navigation system using full energy matries reflector has shown and described in US4811228A, these anonymous member's emitters
In strip or analogous shape.These reflectors do not indicate, but their position is accurately corrected.The position of each reflector
With depositing key together with the corresponding coordinate of traffic zone on vehicle.There is a light source on vehicle, it sends a collection strafed on traffic zone
In laser beam.The orientation of a possible reflector can be drawn after the reflection of reflector and other objects is recorded.
When vehicle seat, oneself is known on position, by the orientation of stationary vehicle or angle and actual reflector the step of starting
Association proceed by.Therefore, the premise of the known system be on vehicle physical location information oneself be transmitted to vehicle.Treating
Selection is distributed suitable three angle values on the region of search.These angle values associate with each reflector, and the position root of vehicle
Position is known to be determined according to oneself of the reflector detected.If position consistency is known in one position of the car so determined with oneself,
Then remaining angle value is associated, so as to which vehicle location is confirmed.When using a large amount of reflectors, this initial procedure is very time-consuming
Between.
To make angle position be associated with actual reflector, subsequent step is constantly carried out.The angle having detected that is with being deposited
The possibility angle position of storage reflector locations is compared, and the angle position associates with an actual reflector, so as to produce and institute
It is consistent well to store reflector locations.
After the angle position of reflector or orientation associate with actual reflector, position and progress can be determined in various manners
Navigation.Initially use triangulation.In the case of the desired location that oneself is known in a measurement point, it can be used in further traveling
Other method.The self-navigation vehicle is also equipped with the equipment for constantly updating vehicle movement, such as a mileometer.First, not only
Navigation route of the vehicle between each point according to amount is constantly determined, and the revolution phase direction of wheel of vehicle rotation is also predefined.
Such as then these can be converted into measure by the rotation of valve amount driving wheel by distance.Preferably also constantly determine
The corner of direction of traffic wheel.Data on the distance and direction are used as determining the basis of position and traveling.
System described in US4811228A wants to obtain optimum performance, it is necessary to uses a large amount of anti-envelope devices.Because making
Many combinations must be calculated before a certain association, therefore the time for carrying out this calculating is very long.If many signals detected come
During reflector, such as metal object or window outside the anonymous reflector that oneself knows from its position, this shortcoming is with regard to even more serious.
Therefore need to make improvements, the quantity of the reflector in that class system of reduction US4811228A.
The content of the invention
It is an object of the invention to provide a kind of complementary locating formations, auxiliary positioning and self-discipline for mobile device of restraining oneself
Mobile device, so as to overcome disadvantages mentioned above.
The complementary locating formations of the present invention, the auxiliary positioning for mobile device of restraining oneself, it is characterised in that moved in self-discipline
Some groups of complementary locating formations are at least partially provided with the working region of device, when the self-discipline mobile device arrival is described auxiliary
When helping align member region, restrained oneself described in the environment sensing device senses between mobile device and the complementary locating formations
Distance, and the contour line of the complementary locating formations is determined, the environment sensing device further is according to the characteristic point on the contour line
Or the positioning that the crosspoint of some contour line joinings or some contour line extension lines is fixed as described group of complementary locating formations
Point is positioned.
Further, complementary locating formations of the invention, wherein the complementary locating formations are a circular arc panel, it is described
Anchor point is the summit for the arc-shaped profile line that the environment sensing device further scans.
Further, complementary locating formations of the invention, wherein the complementary locating formations are two polygon panels, institute
The wherein a line for stating two polygon panels connects to forming V ridges, and the anchor point is the V that the environment sensing device further scans
The summit of shape contour line, the V angles of the V ridges are more than 1.26-178.74 °.
Further, complementary locating formations of the invention, wherein the complementary locating formations are two rectangular panels, it is described
Two rectangular panels are symmetrical arranged, and longer a line connects to forming V ridges as V.
Further, complementary locating formations of the invention, wherein preferred 120-150 ° of the angle.
Further, complementary locating formations of the invention, wherein spacing between the complementary locating formations at least above
500 millimeters, be asymmetric arrangement between the complementary locating formations.
The self-discipline mobile device of the present invention, the working region that the self-discipline mobile device can be formed on a work border
Interior execution appointed task, the self-discipline mobile device include：Environment sensing device further, the environment sensing device further are described to detect
Working environment information residing for mobile device of restraining oneself；Map building block, the map building block fill with environment sensing
Electric connection is put, working environment information is perceived by multi collect environment sensing device further, to according to the working environment information
Construction two-dimensional environment map；Setting module, the setting module is electrically connected with the map building block, in the ring
The work border is set on the figure of condition；One path planning module, the path planning module electrically connect with the setting module
Connect, to plan an operating path of the self-discipline mobile device in the working region that the work border is formed；
The obstacle recognition system be break the barriers sensor senses self-discipline mobile device running environment in barrier, Yi Jiyi
Drive module, the drive module, the path planning module and obstacle recognition system are electrically connected with, to drive it is described from
Rule mobile device is mobile according to the operating path and avoids the barrier in running environment, at least local in the working region to set
Some complementary locating formations as described in claim 1-6 is any are equipped with, when the self-discipline mobile device reaches the auxiliary positioning
During member region, complementary locating formations contour line described in the environment sensing device senses, the environment sensing device further is according to institute
Characteristic point on contour line or the crosspoint of some contour line joinings or some contour line extension lines are stated as described group of auxiliary
The anchor point that align member is fixed is positioned, when the self-discipline mobile device reaches the complementary locating formations region, institute
The complementary locating formations of environment sensing device senses more than at least three are stated, pass through the anchor point and the self-discipline mobile device
Position in environmental map of distance and complementary locating formations carry out the position that Coordinate Conversion calculates the self-discipline mobile device
Put and posture.
Usually, it the map building block in the present invention, can be not included in self-discipline mobile device, but be present in certainly
The Upper system of mobile device is restrained, for example map structuring is carried out in the equipment such as main frame, server, PC.
Further, self-discipline mobile device of the invention, wherein the environment sensing device further is laser scanner, sonar biography
Sensor or ultrasonic sensor.
Another object of the present invention is the localization method of self-discipline mobile device, it is characterised in that：The self-discipline is calculated to move
The position of dynamic device and posture method include：
Complementary locating formations are arranged in each position in a limited traffic zone；
The origin position for choosing a limited traffic zone preset coordinate system XOY is O, detects the self-discipline by environment sensing device further and moves
The working environment information of limited traffic zone residing for dynamic device, and two-dimensional environment map is established in preset coordinate system；
Environment sensing device further sends the beam of one search sector of covering from the self-discipline mobile device, fan-shaped in the search
The contour line of complementary locating formations is detected in the range of area, the anchor point of the fixation on contour line is determined, selects in the sector
Area's suitable distribution has an array that at least three anchor points are formed, and extracts these anchor points, is calculated certainly by solving
Position of the mobile device relative to the complementary locating formations is restrained, according to position of the complementary locating formations in two-dimensional environment map
Put, and be that can determine that current location and the posture of self-discipline mobile device by Coordinate Conversion principle.
Beneficial effect：Characteristic point or some contour lines on contour line of the invention according to the complementary locating formations intersect
The anchor point that the crosspoint of point or some contour line extension lines is fixed as described group of complementary locating formations is positioned, and positioning is more
Add precisely.And the present invention complementary locating formations all set up regardless of material, it is not necessary to the reflecting plate of expensive mark or
Anonymous reflecting plate, greatly reduces cost.It is a further advantage of the invention that and due to by identifying complementary locating formations
Contoured line, and other pipes, the barrier on window or support member etc. are easily distinguished, and can preferably be identified, Bu Huishou
To interference, calculating speed faster, positioning faster, it is more reliable, positioning precision can reach ± 5mm.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1, the arc-shaped profile line schematic diagram that complementary locating formations of the present invention are circular arc panel.
Fig. 2, complementary locating formations of the present invention are the connected V-arrangement contour line schematic diagram of two rectangular panels.
Fig. 3, complementary locating formations of the present invention are section V-arrangement contour line schematic diagram that two L-shaped panels are connected.
Fig. 4, complementary locating formations of the present invention are the disjunct section of V-arrangement contour line signal of two rectangular panels
Figure.
Fig. 5, complementary locating formations of the present invention are in finite region schematic layout pattern.
Fig. 6, self-discipline mobile device of the invention positioning schematic diagram.
Fig. 7, the present invention self-discipline mobile device composition schematic diagram.
Reference：1st, anchor point.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
According to Fig. 1 to 7, complementary locating formations of the invention, for the auxiliary positioning for mobile device of restraining oneself, its feature
It is, some groups of complementary locating formations is at least partially provided with the working region of self-discipline mobile device, when the self-discipline moves
Mobile device of being restrained oneself when dynamic device reaches the complementary locating formations region, described in the environment sensing device senses with it is described auxiliary
The distance between align member is helped, and determines the contour line of the complementary locating formations, the environment sensing device further is according to
Characteristic point or the crosspoint of some contour line joinings or some contour line extension lines on contour line are determined as described group of auxiliary
The anchor point 1 that position component is fixed is positioned.
Usually, it the map building block in the present invention, can be not included in self-discipline mobile device, but be present in certainly
The Upper system of mobile device is restrained, for example map structuring is carried out in the equipment such as main frame, server, PC.
Wherein described complementary locating formations can be a circular arc panel, and the anchor point is that the environment sensing device further is swept
The summit for the arc-shaped profile line retouched.
Wherein described complementary locating formations can also be two polygon panels, wherein the one of described two polygon panels
Bar side connects to forming V ridges, and the anchor point is the summit for the V-arrangement contour line that the environment sensing device further scans, the V ridges
V angles are more than 1.26-178.74 °, it is therefore an objective to avoid disturbing.
Preferably, the complementary locating formations are two rectangular panels, and described two rectangular panels are symmetrical arranged, longer
A line connects to forming V ridges as V.It is highly preferred that wherein described preferred 120-150 ° of angle.
Further, complementary locating formations of the invention, for the auxiliary positioning for mobile device of restraining oneself, wherein the auxiliary
Spacing between align member is asymmetric arrangement between the complementary locating formations at least above 500 millimeters, avoids auxiliary fixed
Position component malfunctions or impacted in the matching process.
Contour line described in foregoing invention can also be to be installed after the auxiliary location structure of each shape overturns 180 degree
The contour line of formation, the anchor point of the fixation can also be determined in advance as these contour lines along the XOY coordinate systems parallel to X
Axle or Y direction translation certain distance after and contour line on characteristic point, crosspoint, extension line crosspoint corresponding to point conduct
The anchor point of calculating.
The self-discipline mobile device of the present invention, the working region that the self-discipline mobile device can be formed on a work border
Interior execution appointed task, the self-discipline mobile device include：Environment sensing device further, the environment sensing device further are described to detect
Working environment information residing for mobile device of restraining oneself；Map building block, the map building block fill with environment sensing
Electric connection is put, working environment information is perceived by multi collect environment sensing device further, to according to the working environment information
Construction two-dimensional environment map；Setting module, the setting module is electrically connected with the map building block, in the ring
The work border is set on the figure of condition；One path planning module, the path planning module electrically connect with the setting module
Connect, to plan an operating path of the self-discipline mobile device in the working region that the work border is formed；
The obstacle recognition system be break the barriers sensor senses self-discipline mobile device running environment in lower barrier, with
And a drive module, the drive module, the path planning module and obstacle recognition system are electrically connected with, to drive
It is mobile according to the operating path and avoid the barrier in running environment to state self-discipline mobile device, at least office in the working region
Portion is provided with some complementary locating formations, when the self-discipline mobile device reaches the complementary locating formations region, institute
Complementary locating formations contour line described in environment sensing device senses is stated, the environment sensing device further is according to the spy on the contour line
What sign point or the crosspoint of some contour line joinings or some contour line extension lines were fixed as described group of complementary locating formations
Anchor point is positioned, when the self-discipline mobile device reaches the complementary locating formations region, the environment sensing device further
The complementary locating formations of sensing more than at least three, pass through the anchor point and the distance and auxiliary of the self-discipline mobile device
Position of the align member in environmental map carries out position and the posture that Coordinate Conversion calculates the self-discipline mobile device.
Further, self-discipline mobile device of the invention, wherein the environment sensing device further is laser scanner, sonar biography
Sensor or ultrasonic sensor.
The localization method of the self-discipline mobile device of the present invention, it is characterised in that：Calculate the position of the self-discipline mobile device
Include with posture method：Complementary locating formations are arranged in each position in a limited traffic zone；Choose a limited traffic zone
Preset coordinate system XOY origin position is O, and limited traffic zone residing for the self-discipline mobile device is detected by environment sensing device further
Working environment information, and two-dimensional environment map is established in preset coordinate system；Environment sensing device further fills from the self-discipline is mobile
The beam for sending one search sector of covering is put, the profile of complementary locating formations is detected in the range of the search sector
Line, the stationary anchor points on contour line are determined, select have at least three anchor points composition in the fan section suitable distribution
An array, extract these anchor points（X1, Y1）（X2, Y2）（X3, Y3）......（Xn, Yn）, calculate these anchor points and institute
State the distance between environment sensing device further, by three-point fix principle and calculation formula solve computing environment sensing device further relative to
The position of the complementary locating formations（X0, Y0）, (X1-X0) 2+ (Y1-Y0) 2=R12；(X1-X0)2+(Y1-Y0)2=R12；X1-
X0)2+(Y1-Y0)2=R12；.................；(Xn-X0)2+(Yn-Y0)2=Rn2.Pass through environment sensing device further again
Relative to the deflection angle of self-discipline mobile device, environment sensing device further and the self-discipline mobile device central point（（XO1, YO1））
The distance between and environment sensing device further relative to self-discipline mobile device center line angle, existed according to complementary locating formations
Position in two-dimensional environment map, and be that can determine that current location and the posture of self-discipline mobile device by Coordinate Conversion principle.
Wherein for the contour line that complementary locating formations are detected in the range of the search sector, then in advance may be used according to software for calculation
To determine characteristic point on contour line or the crosspoint of some contour line joinings or some contour line extension lines as described group
The anchor point that complementary locating formations are fixed is positioned.
Certainly, the contour line described in foregoing invention can also be that the auxiliary location structure upset 180 degree of each shape is laggard
The contour line that row installation is formed, it is these contour lines along the XOY coordinate systems that the anchor point of the fixation, which can also be determined in advance,
Parallel to corresponding with the crosspoint of the characteristic point on contour line, crosspoint, extension line after X-axis or Y direction translation certain distance
Anchor point of the point as calculating.
Compared with prior art, the present invention has the advantages that：Wheel of the invention according to the complementary locating formations
Characteristic point or the crosspoint of some contour line joinings or some contour line extension lines on profile is as described group of auxiliary positioning
The anchor point that component is fixed is positioned, and positioning is more accurate.And the present invention complementary locating formations to reflectivity without special
It is required that the common material such as plastics, metal is applicable, it is not necessary to the reflecting plate of expensive mark or anonymous reflecting plate, is substantially reduced
Cost.It is a further advantage of the invention that and due to the contoured line by identifying complementary locating formations, and other pipe
Barrier on son, window or support member etc. easily distinguish, can preferably identify, will not be interfered, calculating speed faster,
Positioning faster, it is more reliable, positioning precision can reach ± 5mm.
Moreover, it is different to positioning accuracy request according to working environment, can be in whole working environment or in building ring
The local of border sets complementary locating formations.If complementary locating formations, auxiliary positioning knot only are set in the local of working environment
Structure is arranged on the higher region of positioning precision such as destination, corner etc., again can be again when leaving the auxiliary positioning region
The autonomous navigation mode or other navigation patterns for being switched to areflexia plate, can fully meet visitor by the navigation mode mutually assisted
The demand at family.
It is last it is to be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.
It will be understood by those within the art that：Technical scheme described in foregoing embodiments can be modified, or
Equivalent substitution is carried out to which part technical characteristic；These modifications are replaced, and do not make the essence disengaging of appropriate technical solution
The spirit and scope of various embodiments of the present invention technical scheme.
Claims (9)
1. a kind of complementary locating formations, the auxiliary positioning for mobile device of restraining oneself, it is characterised in that in self-discipline mobile device
Some groups of complementary locating formations are at least partially provided with working region, when the self-discipline mobile device reaches the auxiliary positioning
During member region, restrained oneself described in the environment sensing device senses the distance between mobile device and the complementary locating formations,
And the contour line of the complementary locating formations is determined, the environment sensing device further is according to the characteristic point on the contour line or some
The crosspoint of contour line joining or some contour line extension lines is carried out as the anchor point that described group of complementary locating formations are fixed
Positioning.
2. complementary locating formations according to claim 1, the auxiliary positioning for mobile device of restraining oneself, it is characterised in that
The complementary locating formations are a circular arc panel, and the anchor point is the arc-shaped profile that the environment sensing device further scans
The summit of line.
3. complementary locating formations according to claim 1, the auxiliary positioning for mobile device of restraining oneself, it is characterised in that
The complementary locating formations are two polygon panels, and the wherein a line of described two polygon panels connects to forming V ridges, institute
The summit for the V-arrangement contour line that anchor point scans for the environment sensing device further is stated, the V angles of the V ridges are more than 1.26-
178.74°。
4. complementary locating formations according to claim 3, the auxiliary positioning for mobile device of restraining oneself, it is characterised in that
The complementary locating formations are two rectangular panels, and described two rectangular panels are symmetrical arranged, and longer a line connects as V
Form V ridges.
5. complementary locating formations according to claim 4, the auxiliary positioning for mobile device of restraining oneself, it is characterised in that
Preferred 120-150 ° of the angle.
6. complementary locating formations according to claim 1, the auxiliary positioning for mobile device of restraining oneself, it is characterised in that
Spacing between the complementary locating formations is asymmetric arrangement at least above 500 millimeters, between the complementary locating formations.
7. one kind self-discipline mobile device, the self-discipline mobile device can perform in the working region that a work border is formed
Appointed task, the self-discipline mobile device include：Environment sensing device further, the environment sensing device further are moved to detect the self-discipline
Working environment information residing for dynamic device；Map building block, the map building block and the environment sensing device further are electrical
Connection, working environment information is perceived by multi collect environment sensing device further, to according to the working environment information construction two
Tie up environmental map；Setting module, the setting module is electrically connected with the map building block, in the environmental map
The upper setting work border；One path planning module, the path planning module are electrically connected with the setting module, to
Plan an operating path of the self-discipline mobile device in the working region that the work border is formed；The obstacle
Thing identification device be break the barriers sensor senses self-discipline mobile device running environment in barrier, and one driving mould
Block, the drive module, the path planning module and obstacle recognition system are electrically connected with, to drive the self-discipline movement
Device is mobile according to the operating path and avoids the barrier in running environment, if being at least partially provided with the working region
The dry complementary locating formations as described in claim 1-6 is any, when the self-discipline mobile device reaches the complementary locating formations area
During domain, complementary locating formations contour line described in the environment sensing device senses, the environment sensing device further is according to the profile
Characteristic point or the crosspoint of some contour line joinings or some contour line extension lines on line is as described group of auxiliary positioning structure
The anchor point that part is fixed is positioned, when the self-discipline mobile device reaches the complementary locating formations region, the environment
The complementary locating formations of sensing device senses more than at least three, pass through the anchor point and the distance of the self-discipline mobile device
And position of the complementary locating formations in environmental map carries out position and the appearance that Coordinate Conversion calculates the self-discipline mobile device
State.
8. according to claim 7 be used for mobile device of restraining oneself, it is characterised in that the environment sensing device further is swept for laser
Retouch instrument, sonar sensor or ultrasonic sensor.
9. the localization method of self-discipline mobile device as claimed in claim 9, it is characterised in that：Calculate the self-discipline mobile device
Position and posture method include：
Complementary locating formations are arranged in each position in a limited traffic zone；
The origin position for choosing a limited traffic zone preset coordinate system XOY is O, detects the self-discipline by environment sensing device further and moves
The working environment information of limited traffic zone residing for dynamic device, and two-dimensional environment map is established in preset coordinate system；
Environment sensing device further sends the beam of one search sector of covering from the self-discipline mobile device, fan-shaped in the search
The contour line of complementary locating formations is detected in the range of area, the anchor point of the fixation on contour line is determined, selects in the sector
Area's suitable distribution has an array that at least three anchor points are formed, and extracts these anchor points, is calculated certainly by solving
Position of the mobile device relative to the complementary locating formations is restrained, according to position of the complementary locating formations in two-dimensional environment map
Put, and be that can determine that current location and the posture of self-discipline mobile device by Coordinate Conversion principle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711134538.1A CN107678440A (en) | 2017-11-16 | 2017-11-16 | A kind of complementary locating formations, include its self-discipline mobile device and localization method |
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