CN110426030A

CN110426030A - Indoor navigation method and system

Info

Publication number: CN110426030A
Application number: CN201910746362.8A
Authority: CN
Inventors: 金同磊; 方美清
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-08-14
Filing date: 2019-08-14
Publication date: 2019-11-08

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

Indoor navigation method and system

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

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.