CN107687860A - The autonomous mobile apparatus and method of automatic amendment environmental information - Google Patents
The autonomous mobile apparatus and method of automatic amendment environmental information Download PDFInfo
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- CN107687860A CN107687860A CN201610631958.XA CN201610631958A CN107687860A CN 107687860 A CN107687860 A CN 107687860A CN 201610631958 A CN201610631958 A CN 201610631958A CN 107687860 A CN107687860 A CN 107687860A
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- Prior art keywords
- handmarking
- module
- mobile message
- map
- autonomous
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Abstract
Module, map and corresponding map for prestoring a desire moving area describe shelves, multiple handmarkings are set in the desire moving area；One IMAQ module, for shooting the image in front in autonomous mobile apparatus moving process；One handmarking identifies module, for identifying the handmarking in image, realizes positioning；One data logging module, record the change information and mobile message of road environment between the handmarking；One analysis module, the optimal mobile message that autonomous mobile apparatus moves between the handmarking is analyzed according to the mobile message；One data correcting module, map and map in data storage module described in the optimal mobile message amendment that road environment change information and analysis module analyze describe shelves.The invention further relates to a kind of method of automatic amendment environmental information.
Description
Technical field
The present invention relates to a kind of autonomous mobile apparatus and method of automatic amendment environmental information.
Background technology
At present, positioning and map structuring (SLAM) are that the autonomous mobile apparatus such as robot are the most frequently used in position fixing process immediately
A kind of technology, the SLAM technologies refer to position place of the robot from circumstances not known, pass through repetition in motion process
The map feature observed positions position and the posture of itself, further according to the structure map of itself increment type, so as to reach simultaneously
Positioning and the purpose of map structuring.The SLAM technologies be dependent on sensor mostly come extraneous information is provided with reach positioning, as GPS,
IMU, Odometry (wheel speed table), when be provided with universal wheel or omni-directional wheel autonomous mobile apparatus move when, due to wheel speed table without
Reference of the method as displacement, and indoor environment is also not suitable for using GPS.
At present, people realize positioning using handmarking's computer vision, can substantially be positioned without using IMU.So, when same
When one autonomous mobile apparatus is in different environmental aspects, the output of same motor does not reach identical displacement, although
Using a method for amendment autonomous mobile apparatus can be made to arrive at the destination, but autonomous mobile apparatus it is mobile can seem compare
It is clumsy.
The content of the invention
In view of this, it is necessory to provide a kind of autonomous mobile apparatus and method of automatic amendment environmental information, this is made certainly
Main mobile device can be moved swimmingly.
A kind of autonomous mobile apparatus of automatic amendment environmental information, it includes：One data storage module, for prestoring
The map and corresponding map of one desire moving area describe shelves, and multiple handmarkings are set in the desire moving area, autonomous to move
Dynamic equipment moves between the handmarking；One IMAQ module, for shooting front in autonomous mobile apparatus moving process
Image；One handmarking identifies module, for receiving the picture signal of described image collection module output, identifies in image
Handmarking, so as to realize the positioning of the autonomous mobile apparatus；One data logging module, records road between the handmarking
The mobile message that the change information and autonomous mobile apparatus in face ring border move between the handmarking；One analysis mould
Group, the mobile message recorded according to the data logging module analyze autonomous mobile apparatus and moved between the handmarking
Optimal mobile message；One data correcting module, for receiving the road environment change information of the data logging module record
And the signal of optimal mobile message that analysis module analyzes, so as to correct map and ground in the data storage module
Figure description shelves.
A kind of method of automatic amendment environmental information, comprises the following steps：The one automatic amendment environmental information is provided
Autonomous mobile apparatus, it includes a data storage module, for the map for prestoring a desire moving area and corresponding map
Shelves are described, multiple handmarkings are set in the desire moving area, autonomous mobile apparatus moves between the handmarking；One figure
As collection module, for shooting the image in front in autonomous mobile apparatus moving process；One handmarking identifies module, for connecing
The picture signal of described image collection module output is received, the handmarking in image is identified, so as to realize that the autonomous is set
Standby positioning；One data logging module, record the change information and autonomous mobile apparatus of road environment between the handmarking
The mobile message moved between the handmarking；One analysis module, the shifting recorded according to the data logging module
Dynamic information analysis goes out the optimal mobile message that autonomous mobile apparatus moves between the handmarking；One data correcting module,
The optimal movement analyzed for the road environment change information and analysis module that receive the data logging module record
The signal of information, shelves are described so as to correct map in the data storage module and map；Start the autonomous mobile apparatus
Moved between two handmarkings, described image collection module gathers the image in its movement front and sends the artificial knowledge to
Other module；The handmarking identifies the handmarking in module identification described image, and autonomous mobile apparatus judges itself phase
For the position of the handmarking；The data logging module record simultaneously between handmarking the change information of road environment and
The mobile message that autonomous mobile apparatus moves between the handmarking, the analysis module is according to the mobile letter of record
Breath judges the optimal mobile message moved between the handmarking；The data correcting module is according to the road environment
Map and map in data storage module described in change information and optimal mobile message amendment describe shelves.
Compared with the prior art, the autonomous mobile apparatus and method of automatic amendment environmental information provided by the invention, passes through
The map for being intended to moving area is prestored in autonomous mobile apparatus and corresponding map describes shelves, record autonomous mobile apparatus exists
The change information and mobile message of road environment, analyze to obtain autonomous according to the mobile message when being moved between handmarking
The optimal mobile message that equipment moves between the handmarking, autonomous mobile apparatus memory storage is constantly corrected on this basis
Map and map describe shelves, so that autonomous mobile apparatus is more smooth in the movement being intended in moving area.
Brief description of the drawings
Fig. 1 is the module map of the autonomous mobile apparatus of the automatic amendment environmental information of the present invention.
Fig. 2 is the flow chart of the method for the automatic amendment environmental information of the present invention.
Fig. 3 is the schematic diagram that robot provided in an embodiment of the present invention moves in a certain region of factory.
Embodiment
The autonomous of automatic amendment environmental information provided by the invention is set below in conjunction with the accompanying drawings and the specific embodiments
Standby and method is described in further detail.
Referring to Fig. 1, the present invention provides a kind of autonomous mobile apparatus of automatic amendment environmental information, it includes：One data
Module is stored, map and corresponding map for prestoring a desire moving area describe shelves, set in the desire moving area
Multiple handmarkings are put, autonomous mobile apparatus moves between the handmarking；One IMAQ module, for shooting autonomous shifting
The image in front in dynamic equipment moving process；One handmarking identifies module, for receiving described image collection module output
Picture signal, the handmarking in image is identified, so as to realize the positioning of the autonomous mobile apparatus；One data logging module,
The change information and mobile message of road environment when record autonomous mobile apparatus moves between the handmarking；One data point
Module is analysed, autonomous mobile apparatus is analyzed between the handmarking according to the mobile message that the data logging module records
Mobile optimal mobile message；One data correcting module, for receiving the road environment change of the data logging module record
The signal for the optimal mobile message that information and analysis module analyze, so as to correct the map in the data storage module
And map describes shelves.
The autonomous mobile apparatus can be that robot, automatic guided vehicle, unmanned machine etc. are capable of setting for autonomous
Standby, the move mode of the autonomous mobile apparatus can be sufficient formula, wheeled etc..
The moving area that is intended to can be more a certain fixed workplace, such as factory, dining room, station.The desire
Multiple handmarkings are provided with moving area, each described handmarking a corresponding ID, the ID can be numeral, word
Etc. information, the title of the handmarking, such as turning are represented.The handmarking can be Tag36h11 mark series,
It is any one or more in Tag36h10 marks series, Tag25h9 marks series or Tag16h5 mark series etc..
The data storage module is used for the map for prestoring the desire moving area and corresponding map describes shelves.
The map for being intended to moving area with designed markup language (XML) or other form archives storages, wherein, definition has artificial
Mark；The map describes shelves including the description to handmarking's near zone in the map and between two handmarkings
The mobile message of smooth movement, such as the place name of handmarking in map, autonomous mobile apparatus moves from a handmarking
To information such as the distance of next handmarking, direction and required motor outputs.The data storage module is directed to identical
Road environment can only store each revised mobile message, can also be stored again on the basis of original mobile message is retained
Revised mobile message, it is " from handmarking such as to be walked from handmarking A to handmarking B, stored mobile message
A directly walks forward 5 circles and retreats circle arrival handmarking B " again, finds " directly to walk 4 circles forward from handmarking A points when next time is mobile
Handmarking B " is reached, the mobile message that covering can be gone to have stored with the mobile message.
Described image collection module includes a camera, and the camera is arranged at the autonomous mobile apparatus and faces movement side
To one side, shoot the image for the regional extent that itself visual field can cover, so as to photograph the handmarking, the figure
Module is identified as being sent to the handmarking by a data wire.The camera is net of the in general based on CCD or CMOS
Network camera.
The handmarking identifies that module receives the image that described image collection module photographs, and reads and identifies wherein
Handmarking, so as to judge relative position and angle of the autonomous mobile apparatus relative to the handmarking, realize positioning.
When the road environment between handmarking changes, autonomous mobile apparatus describes shelves from handmarking A according to the map stored
Be moved to handmarking B, when find positioned at handmarking B lower left, now the autonomous mobile apparatus can autonomous positioning give
Go out corresponding processing order, so as to reach handmarking B underface；When the road environment between handmarking does not change
When, autonomous mobile apparatus describes shelves according to the map stored and is moved to handmarking B from handmarking A, reaches exactly to artificial
The underface of mark, then without independently correcting.
The data logging module is used to record in moving process between handmarking the change information of road environment and right
The mobile message moved between handmarking answered.The change information of the road environment, which includes barrier, to be increased or disappears, road surface
Coefficient of friction changes, such as some barriers more are for example covered with carpet, sand suddenly on desk, chair, or ground in map
The objects such as soil, stone.When road environment changes, the mobile message specifically includes autonomous mobile apparatus between handmarking
Displacement correction number and corresponding displacement correction amount when mobile, during a such as more desk, the data logging module record
Barrier be present and the autonomous mobile apparatus gets around the displacement correction number of the new barrier and each corresponding displacement correction
Amount；When a more carpet, the data logging module records displacement correction of the autonomous mobile apparatus on the carpet
Number and every time corresponding displacement correction amount.
The analysis module is connected with the data logging module, to the mobile letter of data logging module record
Breath carries out two parts analysis：Part I is when new barrier be present, and the analysis module analyzes autonomous mobile apparatus
The mobile message of new barrier is got around, determines whether optimal mobile message, i.e., with minimum displacement correction number can
Get around new barrier；Part II is when surface friction coefficient changes, and the analysis module analyzes autonomous mobile apparatus
Mobile message on road surface, judges whether displacement correction number is more than a threshold value.So-called " threshold value " refers to artificially according to reality
The critical value that border situation is set.
The data correcting module connects the data storage module and the analysis module respectively, and the data is repaiied
Positive module is used for the map for correcting the data storage module memory storage and map describes shelves, when only existing new barrier,
The data correcting module amendment map and corresponding map describe shelves；When only surface friction coefficient changes, the data is repaiied
Positive module only needs amendment map to describe shelves.
Referring to Fig. 2, the present invention further provides a kind of method of automatic amendment environmental information, it comprises the following steps：
S1, there is provided the autonomous mobile apparatus of an automatic amendment environmental information；
S2, start the autonomous mobile apparatus and moved between two handmarkings, described image collection module gathers it
The image in mobile front simultaneously sends the manual identified module to；
S3, the handmarking identify the handmarking in module identification described image, and autonomous mobile apparatus judges to come from
Body relative to the handmarking position；
S4, the data logging module record the change information and autonomous mobile apparatus of road environment between handmarking simultaneously
The mobile message moved between the handmarking, the analysis module are judged in institute according to the mobile message of record
State the optimal mobile message moved between handmarking；
S5, data correcting module data according to the road environment change information and optimal mobile message amendment
Map and map in storage module describe shelves.
In S3 steps, described image collection module exports the image containing handmarking to artificial marker recognition mould
Group, the handmarking identifies that module identifies the ID of the handmarking, so as to judge the autonomous mobile apparatus relative to artificial
The distance and angle of mark, so that the autonomous mobile apparatus subsequently can independently correct its mobile message, as motor output, it is defeated
Go out time etc..
In S4 steps, the optimal mobile message be refer to relatively small number of displacement correction number reach it is next
Individual handmarking, the step of analysis module judges optimal mobile message according to the mobile message of record, are further
Including：
S41, when the road environment includes a new barrier, record the autonomous mobile apparatus and get around the new barrier
Displacement correction number, whether analysis module analyzes has relatively small number of displacement correction number to get around the new obstacle
Thing, if "Yes", mobile message is optimal mobile message corresponding to the relatively small number of displacement correction number, if "No", institute
It is optimal mobile message to state mobile message corresponding to the displacement correction number of record；
S42, when the road environment is that surface friction coefficient changes, the autonomous mobile apparatus is recorded on the road surface
Displacement correction number and displacement correction amount when mobile, analysis module analyze whether the displacement correction number is more than one
Threshold value, if "Yes", optimal mobile letter is calculated according to the displacement correction number and displacement correction amount in analysis module
Breath；If "No", mobile message corresponding to the displacement correction number of the record is optimal mobile message.
In S42 steps, in the present embodiment, analysis module enters according to the displacement correction number and displacement correction amount
The average value of row obtains optimal mobile message.
In S5 steps, when newly-increased or disappearance of the road environment for barrier, increase or delete in pre-stored map
Except the new barrier, and the mobile message that the map is described to be pre-stored in shelves is modified to optimal mobile message；When road surface ring
When border is the change of surface friction coefficient, the mobile message that the map describes to be pre-stored in shelves is modified to optimal mobile letter
Breath.
The map and corresponding map of the autonomous mobile apparatus memory storage describe shelves can be by continuously carrying out S4~S5
Step is constantly modified, and mobile smooth degree of the autonomous mobile apparatus in the moving area is gradually optimized.
The autonomous mobile apparatus and method of automatic amendment environmental information of the invention, by being intended in autonomous mobile apparatus memory storage
The map of moving area and corresponding map describe shelves, the road environment change that is recorded between handmarking in moving process and right
Optimal mobile message is judged in the mobile message answered, analysis, constantly repeats to correct in the autonomous mobile apparatus on this basis
The map and map of storage describe shelves, so that movement of the autonomous mobile apparatus in the desire moving area is more smooth.
Embodiment
Referring to Fig. 3, assuming that a robot moves in a certain region of factory, handmarking A is provided with the region
And B, robot is moved to B from handmarking A, new barrier F is provided with the region, when robot is according to the letter prestored
When breath is moved to c points, discovery can not continue to be moved along, and this is robot autonomous toward 1 circle arrival d points are moved left, and finds still not
It can be moved forwards by original route, autonomous toward 3 circles arrival e points are moved left in being to continue with, now finding can be by original route
Move forwards, the circle of autonomous 4 reaches g points, and now the circle of autonomous 4 reaches h points to the right, is moved forward to by original route
Up to handmarking B.In above process, displacement have modified 4 times altogether, and being found by analysis can only amendment 1 from c points to e points
Secondary displacement, displacement are corrected 3 times altogether, increase F barriers in situ figure on this basis and amendment original place figure is described in shelves
Mobile message, mobile of its next time is set to correct 3 displacements.Find there be the move mode less than 3 times by repeatedly moving,
It can constantly go to correct original map and describe shelves.
In addition, those skilled in the art can also do other changes in spirit of the invention, certainly, these are according to present invention essence
The change that god is done, it should all be included within scope of the present invention.
Claims (10)
1. a kind of autonomous mobile apparatus of automatic amendment environmental information, it includes：
One data storage module, map and corresponding map for prestoring a desire moving area describe shelves, described to be moved
Multiple handmarkings are set in dynamic region, autonomous mobile apparatus moves between the handmarking；
One IMAQ module, for shooting the image in front in autonomous mobile apparatus moving process；
One handmarking identifies module, for receiving the picture signal of described image collection module output, identification
Handmarking in image, so as to realize the positioning of the autonomous mobile apparatus；
One data logging module, record the change information and autonomous of road environment between the handmarking
The mobile message that equipment moves between the handmarking；
One analysis module, autonomous is analyzed according to the mobile message that the data logging module records
The optimal mobile message that equipment moves between the handmarking；
One data correcting module, for receiving the road environment change information and analysis mould of the data logging module record
The signal for the optimal mobile message that component separates out, shelves are described so as to correct map in the data storage module and map.
2. the autonomous mobile apparatus of automatic amendment environmental information as claimed in claim 1, it is characterised in that the handmarking
Marked for Tag36h11 marks series, Tag36h10 marks series, Tag25h9 any in series or Tag16h5 mark series
One.
3. the autonomous mobile apparatus of automatic amendment environmental information as claimed in claim 1, it is characterised in that the map description
Relative distance, direction and the output of required motor that shelves are used to store between any two handmarking.
4. the autonomous mobile apparatus of automatic amendment environmental information as claimed in claim 1, it is characterised in that the mobile message
It is included in displacement correction number and displacement correction amount when moving between described two handmarkings.
5. the autonomous mobile apparatus of automatic amendment environmental information as claimed in claim 1, it is characterised in that the road environment
The change of change information including barrier and the change of surface friction coefficient.
6. a kind of method of automatic amendment environmental information, it comprises the following steps：
Autonomous mobile apparatus just like the automatic amendment environmental information described in Claims 1 to 5 is provided；
Start the autonomous mobile apparatus to move between two handmarkings, described image collection module gathers its movement front
Image and send the manual identified module to；
The handmarking identifies the handmarking in module identification described image, autonomous mobile apparatus judge itself relative to
The position of the handmarking；
The data logging module records the change information and autonomous of road environment between handmarking simultaneously
The mobile message that equipment moves between the handmarking, the analysis module are sentenced according to the mobile message of record
Break the optimal mobile message between the handmarking and moving；
Data correcting module data storage mould according to the road environment change information and optimal mobile message amendment
Map and map in group describe shelves.
7. the method for automatic amendment environmental information as claimed in claim 6, it is characterised in that the optimal mobile message refers to
Autonomous mobile apparatus is moved between two handmarkings with relatively small number of displacement correction number.
8. the method for amendment environmental information as claimed in claim 6 automatic, it is characterised in that the analysis module according to
The mobile message of record judges that optimal mobile message further comprises the steps：
When the road environment includes a new barrier, record the autonomous mobile apparatus and get around the displacement of the new barrier and repair
Positive number, whether analysis module analyzes has relatively small number of displacement correction number to get around the new barrier, if
"Yes", then mobile message is optimal mobile message corresponding to the relatively small number of displacement correction number, if "No", the record
Displacement correction number corresponding to mobile message be optimal mobile message；
When the road environment is that surface friction coefficient becomes big, the autonomous mobile apparatus is recorded when being moved on the road surface
Displacement correction number and displacement correction amount, analysis module analyze whether the displacement correction number is more than a threshold value, if
"Yes", then analysis module optimal mobile message is calculated according to the displacement correction number and displacement correction amount；If
"No", then mobile message corresponding to the displacement correction number of the record is optimal mobile message.
9. the method for automatic amendment environmental information as claimed in claim 8, it is characterised in that according to the threshold value is behaved
It is actually needed a critical value of setting.
10. the method for automatic amendment environmental information as claimed in claim 6, it is characterised in that data correcting module amendment institute
State the map in data storage module and map describes the detailed processes of shelves and is：When road environment for the newly-increased of barrier or disappears
When, increase in pre-stored map or delete the new barrier, and the mobile message that the map is described to be pre-stored in shelves
It is modified to optimal mobile message；When road environment is the change of surface friction coefficient, the map is described to be pre-stored in shelves
Mobile message be modified to optimal mobile message.
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| CN201610631958.XA CN107687860A (en) | 2016-08-04 | 2016-08-04 | The autonomous mobile apparatus and method of automatic amendment environmental information |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109074638A (en) * | 2018-07-23 | 2018-12-21 | 深圳前海达闼云端智能科技有限公司 | Fusion graph building method, related device and computer readable storage medium |
| CN109073387A (en) * | 2018-07-20 | 2018-12-21 | 深圳前海达闼云端智能科技有限公司 | Method, device, terminal and storage medium for aligning multiple maps |
| WO2020135593A1 (en) * | 2018-12-28 | 2020-07-02 | 深圳市愚公科技有限公司 | Calibration method for floor sweeping recording chart, floor sweeping robot and mobile terminal |
-
2016
- 2016-08-04 CN CN201610631958.XA patent/CN107687860A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109073387A (en) * | 2018-07-20 | 2018-12-21 | 深圳前海达闼云端智能科技有限公司 | Method, device, terminal and storage medium for aligning multiple maps |
| WO2020014990A1 (en) * | 2018-07-20 | 2020-01-23 | 深圳前海达闼云端智能科技有限公司 | Multi-map alignment method and device, terminal and storage medium |
| CN109074638A (en) * | 2018-07-23 | 2018-12-21 | 深圳前海达闼云端智能科技有限公司 | Fusion graph building method, related device and computer readable storage medium |
| WO2020019115A1 (en) * | 2018-07-23 | 2020-01-30 | 深圳前海达闼云端智能科技有限公司 | Fusion mapping method, related device and computer readable storage medium |
| CN109074638B (en) * | 2018-07-23 | 2020-04-24 | 深圳前海达闼云端智能科技有限公司 | Fusion graph building method, related device and computer readable storage medium |
| WO2020135593A1 (en) * | 2018-12-28 | 2020-07-02 | 深圳市愚公科技有限公司 | Calibration method for floor sweeping recording chart, floor sweeping robot and mobile terminal |
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Application publication date: 20180213 |