CN110426030A - Indoor navigation method and system - Google Patents
Indoor navigation method and system Download PDFInfo
- Publication number
- CN110426030A CN110426030A CN201910746362.8A CN201910746362A CN110426030A CN 110426030 A CN110426030 A CN 110426030A CN 201910746362 A CN201910746362 A CN 201910746362A CN 110426030 A CN110426030 A CN 110426030A
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- subsystem
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- indoor navigation
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000007726 management method Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000000926 separation method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000011022 operating instruction Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
An indoor navigation system and method, including the video navigation subsystem, carry out subsystem and administrative subsystem; the video navigation subsystem is used for calculating navigation information according to the video information and instructing the execution subsystem to act, the execution subsystem moves under the command of the video recognition subsystem, and the management subsystem is used for providing service requirements. The execution subsystem is greatly simplified, and the video subsystem is centralized in function and convenient to improve.
Description
Technical field
The invention belongs to navigator fix fields, and specially indoor navigation positions.
Background technique
Indoor navigation is different from outdoor navigation, can not especially utilize such as high-altitude GPS satellite-signal, and add interior often
Area is relatively small, sundries is more, also therefore needs the executing agency of indoor leading more accurate.Currently, indoor leading is often
Be install identification additional on executing mechanism, positioning function is realized.If any installation wireless signal receiving device, root above power buggy
The position that itself is calculated according to the indoor base station signal message received, if UWB is positioned, bluetooth positioning etc., is all to need basis
The signal condition received, such as signal strength, and then calculate self-position.Meanwhile need further exist for according to video, ultrasound,
The means such as infrared obtain the selection that the information of surrounding objects is advanced in next step with the object judgement to be reached.In this way, necessarily designing
Complexity, at high cost, error chance greatly increases.
In order to solve the disadvantages of current indoor navigation system is complicated, at high cost and error-prone, the present invention discloses one kind significantly
Simplified and efficient indoor navigation technical solution.
Summary of the invention
The invention mainly comprises three subsystems, as shown in Figure 2: executive subsystem, subsystem of video and management subsystem,
Executive subsystem has multiple.Executive subsystem is that practical business realizes part, mainly includes mobile mechanism and communication module;Video
Subsystem responsible under the control of management subsystem, by the object in identification visual range there are situations, and be supplied to and hold
Row subsystem goes to the move of destination;Management subsystem is responsible for managing executive subsystem, such as industry by subsystem of video
Business demand etc..
Wherein, executive subsystem can be wheeled or crawler-type mobile trolley travelling in floor, and can carry in need
The load article of transport.In system work, trolley is advanced according to the order of subsystem of video, is retreated, turned left or is turned right
Certain distance.In order to prevent between executive subsystem or executive subsystem and other objects collide, trolley can also be equipped with survey
Away from module and distance be less than certain value when automatic stopping to avoid collision.Certainly, trolley can be the appearance of the non-vehicle such as humanoid
Shape.
Wherein, subsystem of video can be one or more cameras, and camera is fixedly installed in indoor eminence to increase
The range for adding video to cover.Subsystem of video is captured by video and constantly object is deposited in acquisition video coverage in real time
In, layout state, including each executive subsystem there are situation, such as plan-position and/or contain the steric information of height.It obtains
In range object there are the spaces that subsystem movement available to execute is then further calculated out after information, and specifically execute son
System rushes for the route of destination, and then is converted to a series of movement instruction and specifically executes to executive subsystem.When necessary, depending on
Frequency subsystem can also disposably send multiple operating instruction composition instruction sequence groups, and then sequentially be criticized by executive subsystem
Reason.
Wherein, management subsystem is responsible for needing to issue according to business specific requirements to subsystem of video, further by video
Subsystem processes.The management subsystem can be by certain communication mode connect the PC software of subsystem of video, cloud service or
Cell phone application.
In system work process, subsystem of video constantly and can adjust in real time according to the business need of management subsystem
The moving line of each executive subsystem, until business objective is reached.It wherein, is serializing to the operating instruction of executive subsystem
The combination of several instructions.
The component part of subsystem of video, as that can have communication to coordinate execution subsystem on the whole between multiple cameras
System route planning.The functional unit for being wherein responsible for identification, calculating and Route Scheduling can be a camera wherein, or distribution
Formula is distributed in multiple cameras, or concentrate in a special processing unit.It, can for executive subsystem in preferred design
To increase anticollision module, in system operation, if collision Possible event has occurred in executive subsystem, it is stopped for
The next instruction of subsystem of video.
The most important feature of the system is that it does not also include route planning that executive subsystem, which does not include Context awareness function,
Function, be one simplify very much, order step by step only according to subsystem of video forward, backward, turn left or move backward, this
It is included in the subsystem of video of eminence installation a bit.When necessary, trolley includes automatic collision module, such as passes through ultrasound
Ranging judges that direction of advance has barrier then to stop, and is further continued for after waiting Next Command.If business function is to carry class,
Trolley may further include loading and unloading function.It can also be by other mechanisms or its artificial loading and unloading.
During system is realized, the communication of subsystem of video and executive subsystem can be RF, such as 433MHz, 915MHz, or
2.4G waiting.The communication mode of management subsystem and subsystem of video can be WIFI, the communications such as bluetooth.Video subsystem
The object height information united in range of video in order to obtain, can be and calculate from planar video, be also possible to be taken the photograph using depth
As head to obtain more video informations, simplify the method for obtaining height.
It can be seen that central idea of the invention is to greatly simplify the functional requirement of business execution part, such as enforcement division
Divide and do not need object identification, do not need programme path, in this embodiment it is not even necessary to distance identification.And for the obstacle recognition of needs, road
Line gauge, which draws to wait, moves into video identification functional unit, these can greatly improve the stabilization of executing agency with the decoupling of execution part
Property, but also the function of subsystem of video is more absorbed and is advanced optimized offer convenience.
Detailed description of the invention:
Fig. 1 system composition schematic diagram;
Fig. 2 the system composition block diagram;
Embodiment:
In order to better describe implementation method of the invention, scheme of the invention implementation method is specifically introduced below with reference to diagram.
One of embodiment are as follows:
As shown in Figure 1, an electric four-wheeled trolley, has RF433 receiving module, there is control module, can be executed under RF order
Advance, retreat, turning left or right-hand rotation acts, it can be with bearing goods on trolley.Indoor roof is equipped with a camera, contains imaging
And computing unit, there are also bluetooth communications.Cell phone application can communicate with camera and assign service management instruction.
In system work, user requires several boxes being transported to another angle from indoor corner by APP.Roof camera shooting
Head through video identification finds 8 trolleies, and then is calculated for current vacant lot, and under send instructions allow trolley successively, a step
One moved further is at box stacking, after on artificial loading box to trolley, further one step one of order trolley of subsystem of video
Moved further is to destination is transported, then by manually unloading.
Another one embodiment are as follows:
One electric four-wheeled trolley, has RF433 receiving module, there is control module, can be executed under RF order advance, retrogressing,
Turn left or right-hand rotation acts, it can be with bearing goods on trolley.Indoor roof is equipped with a camera, containing imaging and calculates single
Member, there are also network communication modules.PC software can be communicated with camera by network and assign service management instruction.
In system work, several boxes are transported to another angle from indoor corner by user PC software requirement.Roof camera shooting
Head through video identification finds 8 trolleies, and then is calculated for current vacant lot, and under send instructions allow trolley successively, a step
One moved further is at box stacking, after on artificial loading box to trolley, further one step one of order trolley of subsystem of video
Moved further is to destination is transported, and then by manually unloading.
Still another embodiment are as follows:
One electric four-wheeled trolley, has RF433 receiving module, there is control module, can be executed under RF order advance, retrogressing,
Turn left or right-hand rotation acts, it can be with bearing goods on trolley.Indoor roof is equipped with a camera, containing imaging and calculates single
Member, there are also bluetooth communications.Cell phone application can communicate with camera and assign service management instruction.
In system work, user requires several boxes being transported to another angle from indoor corner by APP.Roof camera shooting
Head through video identification finds 8 trolleies, and then is calculated for current vacant lot, and under send instructions trolley allowed to move step by step
Move at box stacking, after on artificial loading box to trolley, subsystem of video further order trolley step by step toward mesh
Place it is mobile.On the way, it wherein a small vehicle speed is slightly fast, finds specifically closely to stop very much with another trolley by range finder module
Under.After front trolley is left, camera finds that the small front side can continue to move to, and continues to send next movement and refer to
It enables.Until to destination is transported.
Claims (9)
1. a kind of indoor navigation method, first by the fixing camera of indoor eminence installation be calculated in field article position and
Highly and the geological information of executive subsystem, the potential route of business starting point to the end is calculated;Secondly will likely route turn
Chemical conversion navigation sequence instruction is sent to executive subsystem successively;It is transported finally, executive subsystem is instructed according to navigation sequence toward terminal
It is dynamic.
2. indoor navigation method as described in claim 1, it is characterised in that executive subsystem detects stopping when may colliding
Current kinetic instruction is executed, until next instruction arrival that will not be collided just starts to continue to execute.
3. indoor navigation method as described in claim 1, it is characterised in that the recognizer and planning algorithm of subsystem of video
It can be updated with self study.
4. indoor navigation method as described in claim 1, it is characterised in that navigation sequence instruction is disposably to send multiple, fortune
Subsystem successively executes one by one.
5. the corresponding indoor navigation system of indoor navigation method as described in claim 1, including subsystem of video, executive subsystem
And management subsystem;Subsystem of video is used to calculate navigation information according to video information and commands executive subsystem action, executes
Subsystem moves under the commander of video identification subsystem, and management subsystem is for providing business need;It is characterized in that video
Subsystem and executive subsystem physical separation, executive subsystem only passively receive the commander of subsystem of video by wireless communication,
Management subsystem controls executive subsystem by subsystem of video and realizes service logic.
6. indoor navigation system as claimed in claim 5, it is characterised in that executive subsystem includes anticollision module.
7. indoor navigation system as claimed in claim 5, it is characterised in that executive subsystem includes errorlevel function.
8. indoor navigation system as claimed in claim 5, it is characterised in that executive subsystem includes automatic loading, unloading knot
Structure.
9. indoor navigation system as claimed in claim 5, it is characterised in that the camera that subsystem of video uses is that have depth
The depth camera of information.
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CN201910746362.8A CN110426030A (en) | 2019-08-14 | 2019-08-14 | Indoor navigation method and system |
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CN201910746362.8A CN110426030A (en) | 2019-08-14 | 2019-08-14 | Indoor navigation method and system |
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Citations (8)
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---|---|---|---|---|
CN102520723A (en) * | 2011-12-28 | 2012-06-27 | 天津理工大学 | Wheelchair indoor global video monitor navigation system based on suspended wireless transmission camera |
CN105352508A (en) * | 2015-10-22 | 2016-02-24 | 深圳创想未来机器人有限公司 | Method and device of robot positioning and navigation |
CN106371446A (en) * | 2016-12-03 | 2017-02-01 | 河池学院 | Navigation and positioning system of indoor robot |
CN106382930A (en) * | 2016-08-18 | 2017-02-08 | 广东工业大学 | An indoor AGV wireless navigation method and a device therefor |
CN106527426A (en) * | 2016-10-17 | 2017-03-22 | 江苏大学 | Indoor multi-target track planning system and method |
CN107490377A (en) * | 2017-07-17 | 2017-12-19 | 五邑大学 | Indoor map-free navigation system and navigation method |
CN108318050A (en) * | 2017-12-14 | 2018-07-24 | 富华科精密工业(深圳)有限公司 | Central controller and the system and method for utilizing the central controller mobile navigation |
CN109525856A (en) * | 2018-12-29 | 2019-03-26 | 广州汇宏科技有限公司 | A kind of be broadcast live is chosen and with goods system |
-
2019
- 2019-08-14 CN CN201910746362.8A patent/CN110426030A/en active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102520723A (en) * | 2011-12-28 | 2012-06-27 | 天津理工大学 | Wheelchair indoor global video monitor navigation system based on suspended wireless transmission camera |
CN105352508A (en) * | 2015-10-22 | 2016-02-24 | 深圳创想未来机器人有限公司 | Method and device of robot positioning and navigation |
CN106382930A (en) * | 2016-08-18 | 2017-02-08 | 广东工业大学 | An indoor AGV wireless navigation method and a device therefor |
CN106527426A (en) * | 2016-10-17 | 2017-03-22 | 江苏大学 | Indoor multi-target track planning system and method |
CN106371446A (en) * | 2016-12-03 | 2017-02-01 | 河池学院 | Navigation and positioning system of indoor robot |
CN107490377A (en) * | 2017-07-17 | 2017-12-19 | 五邑大学 | Indoor map-free navigation system and navigation method |
CN108318050A (en) * | 2017-12-14 | 2018-07-24 | 富华科精密工业(深圳)有限公司 | Central controller and the system and method for utilizing the central controller mobile navigation |
CN109525856A (en) * | 2018-12-29 | 2019-03-26 | 广州汇宏科技有限公司 | A kind of be broadcast live is chosen and with goods system |
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Application publication date: 20191108 |