CN111649748A - Indoor navigation method and system - Google Patents
Indoor navigation method and system Download PDFInfo
- Publication number
- CN111649748A CN111649748A CN202010545741.3A CN202010545741A CN111649748A CN 111649748 A CN111649748 A CN 111649748A CN 202010545741 A CN202010545741 A CN 202010545741A CN 111649748 A CN111649748 A CN 111649748A
- Authority
- CN
- China
- Prior art keywords
- movable target
- determining
- paths
- passable
- map
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The embodiment of the invention provides an indoor navigation method and system. The method comprises the following steps: determining the current position of a movable target based on an ultra-wideband positioning technology, constructing a corresponding map for an indoor space where the movable target is located, and establishing a corresponding rasterized coordinate system for the map; the map is divided into a plurality of grids by the grid coordinate system, each grid is provided with a corresponding traffic factor, and the traffic factor is used for indicating whether the corresponding grid can pass or not; determining a plurality of passable paths from the current position to the destination position in the map according to the current position and the destination position of the movable target; wherein the traversable path comprises a plurality of continuous grids from the current location to the destination location; a passing path as a movable target is determined among the plurality of passable paths. The method and the system provided by the embodiment of the invention carry out indoor navigation for the blind through the ultra-wideband positioning technology, and have the advantages of high positioning navigation obstacle avoidance precision, simple algorithm, low cost and the like.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to an indoor navigation method and an indoor navigation system.
Background
The indoor space has many obstacles, such as steps, elevators and the like, and the visually impaired people can easily encounter various obstacles when walking indoors, so that an effective navigation obstacle avoidance method is needed to assist the visually impaired people in walking indoors.
At present, the outdoor space navigation obstacle avoidance method is mature, but the indoor space navigation obstacle avoidance method is low in accuracy, so that the navigation obstacle avoidance method which is high in accuracy and suitable for the indoor space is urgently needed.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides an indoor navigation method and an indoor navigation system.
In a first aspect, an embodiment of the present invention provides an indoor navigation method, including:
determining the current position of a movable target based on an ultra-wideband positioning technology, constructing a corresponding map for an indoor space where the movable target is located, and establishing a corresponding rasterized coordinate system for the map; the rasterized coordinate system divides the map into a plurality of grids, each grid is provided with a corresponding traffic factor, and the traffic factor is used for indicating whether the corresponding grid can pass or not;
determining a plurality of traversable paths from the current position to the destination position in the map according to the current position and the destination position of the movable target; wherein the traversable path includes a plurality of consecutive grids between the current location and the destination location;
determining a passing path as the movable target in a plurality of passable paths.
Further, according to the current position and the destination position of the movable target, determining a plurality of traversable paths from the current position to the destination position in the map specifically includes:
determining all passable grids in the map according to the passing factor corresponding to each grid;
determining a plurality of traversable paths from the current location to the destination location in the grid of all traversable based on an octree search technique according to the current location and the destination location.
Further, determining a passing path as the movable target among the plurality of passable paths includes:
and in a plurality of passable paths, taking the passage path which is successfully passed last time as a passage path of the movable target.
Further, determining a passing path as the movable target among the plurality of passable paths includes:
taking the passing path which is successfully passed last time as a candidate passing path of the movable target in a plurality of passable paths;
calculating a plurality of passable paths between the current position of the moving target and the destination position in real time in the process that the moving target travels according to the candidate passage paths;
determining a passing path as the movable target in the plurality of passable paths each time the plurality of passable paths are calculated.
Further, the indoor navigation method further includes:
and after the movable target reaches the destination position, updating the credible weight values of all the grids in the passing path of the movable target.
In a second aspect, an embodiment of the present invention provides an indoor navigation system, including:
the positioning and grid dividing module is used for determining the current position of the movable target based on the ultra-wideband positioning technology, constructing a corresponding map for the indoor space where the movable target is located, and establishing a corresponding grid coordinate system for the map; the rasterized coordinate system divides the map into a plurality of grids, each grid is provided with a corresponding traffic factor, and the traffic factor is used for indicating whether the corresponding grid can pass or not;
a passable path determining module, configured to determine, according to the current location and a destination location of the movable target, a plurality of passable paths from the current location to the destination location in the map; wherein the traversable path includes a plurality of consecutive grids between the current location and the destination location;
a passing path determining module for determining a passing path as the movable target in a plurality of passable paths.
Further, the traffic path determination module includes:
a candidate passing path determination unit for taking the passing path which is successfully passed last time as a candidate passing path of the movable target in a plurality of the passable paths;
a passable path determining unit, configured to calculate, in real time, a plurality of passable paths between the current position of the moving target and the destination position in the process that the moving target travels along the candidate passable path;
a passing path determining unit configured to determine one passing path as the movable target among the plurality of passable paths every time the plurality of passable paths are calculated.
Further, the indoor navigation system further includes:
and the updating module is used for updating the credible weight values of all the grids in the passing path of the movable target after the movable target reaches the destination position.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method provided in the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the method as provided in the first aspect.
The indoor navigation method and the system provided by the embodiment of the invention perform indoor navigation for the blind through the ultra-wideband positioning technology, and compared with positioning technologies such as Bluetooth and RFID, the method has the advantages of high positioning precision, high navigation precision, high obstacle avoidance precision and the like. In addition, the ultra-wideband positioning technology has simple positioning algorithm and lower cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of an indoor navigation method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an indoor navigation system according to an embodiment of the present invention;
fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of an indoor navigation method according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
The rasterized coordinate system divides the map into a plurality of grids, each grid is provided with a corresponding traffic factor, and the traffic factor is used for indicating whether the corresponding grid can pass or not;
Wherein the traversable path includes a plurality of consecutive grids between the current location and the destination location;
Specifically, in the embodiment of the present invention, the movable object may be a tag carried by a visually impaired individual, for example, a mobile phone carried by a blind person. The current position of the mobile phone carried by the blind person, namely the current position of the blind person is determined through an ultra-wideband positioning technology.
Meanwhile, a corresponding map is constructed for the indoor space where the blind person is located through an ultra-wideband positioning technology. And then, establishing a corresponding grid coordinate system for the map according to the positioning precision of the ultra-wideband positioning technology. It should be noted that, the rasterized coordinate system is divided into a plurality of grids, and each grid has a corresponding pass factor, where the pass factor is used to indicate whether the corresponding grid is passable or not. For example, the traffic factor is 0 or 1, and if the traffic factor is 0, it indicates that the corresponding grid is not passable, that is, an obstacle exists, and if the traffic factor is 1, it indicates that the corresponding grid is passable.
Determining the target position of the blind person, and determining a plurality of passable paths from a map corresponding to the indoor space where the blind person is located according to the current position and the target position of the blind person. It should be noted that each passable path includes a plurality of continuous grids from the current position to the destination position, and the passing factor corresponding to each grid indicates that the grid is passable.
And determining one passing path as the blind person from the plurality of passable paths.
The method provided by the embodiment of the invention performs indoor navigation for the blind person through the ultra-wideband positioning technology, and compared with positioning technologies such as Bluetooth and RFID, the method has the advantages of high positioning precision, high navigation precision, high obstacle avoidance precision and the like. In addition, the ultra-wideband positioning technology has simple positioning algorithm and lower cost.
Further, according to the current position and the destination position of the movable target, determining a plurality of traversable paths from the current position to the destination position in the map specifically includes:
determining the grids which can be passed through in the map according to the passing factor corresponding to each grid.
Determining a plurality of traversable paths from the current location to the destination location in the grid of all traversable based on an octree search technique according to the current location and the destination location.
Further, determining a passing path as the movable target among the plurality of passable paths includes:
and in a plurality of passable paths, taking the passage path which is successfully passed last time as a passage path of the movable target.
Further, determining a passing path as the movable target among the plurality of passable paths includes:
in a plurality of the passable paths, the passing path which is successfully passed last time is taken as a candidate passing path of the movable target.
And calculating a plurality of passable paths between the current position of the moving target and the destination position in real time in the process that the moving target travels according to the candidate passage paths.
Determining a passing path as the movable target in the plurality of passable paths each time the plurality of passable paths are calculated.
Further, the method further comprises:
and after the movable target reaches the destination position, updating the credible weight values of all the grids in the passing path of the movable target.
Fig. 2 is a schematic structural diagram of an indoor navigation system according to an embodiment of the present invention, and as shown in fig. 2, the system includes:
the positioning and grid dividing module 201 is used for determining the current position of a movable target based on an ultra-wideband positioning technology, constructing a corresponding map for an indoor space where the movable target is located, and establishing a corresponding grid coordinate system for the map; the grid coordinate system divides the map into a plurality of grids, each grid is provided with a corresponding traffic factor, and the traffic factor is used for indicating whether the corresponding grid can be traveled or not. A passable path determining module 202, configured to determine, according to the current location and a destination location of the movable target, a plurality of passable paths from the current location to the destination location in the map; wherein the traversable path includes a plurality of consecutive grids between the current location to the destination location. A passing path determining module 203 for determining a passing path as the movable target in the plurality of passable paths.
Specifically, the system provided in the embodiment of the present invention is specifically configured to execute the above-mentioned embodiment of the indoor navigation method, and details thereof are not repeated in the embodiment of the present invention. The system provided by the embodiment of the invention performs indoor navigation for the blind person through the ultra-wideband positioning technology, and compared with positioning technologies such as Bluetooth and RFID, the method has the advantages of high positioning precision, high navigation precision, high obstacle avoidance precision and the like. In addition, the ultra-wideband positioning technology has simple positioning algorithm and lower cost.
Further, the traffic path determination module includes:
a candidate passing path determining unit, configured to take the passing path that was successfully passed last time as a candidate passing path of the movable target among the multiple passable paths. And the passable path determining unit is used for calculating a plurality of passable paths between the current position of the moving target and the destination position in real time in the process that the moving target travels according to the candidate passable paths. A passing path determining unit configured to determine one passing path as the movable target among the plurality of passable paths every time the plurality of passable paths are calculated.
Further, the system further comprises:
and the updating module is used for updating the credible weight values of all the grids in the passing path of the movable target after the movable target reaches the destination position.
As a preferred embodiment, the embodiment of the present invention describes the deployment of base stations in the ultra-wideband positioning technology. If the indoor space is a small room and only the movable target needs to be detected to exist, one base station or more base stations are deployed in the indoor space, at the moment, the positioning type is zero-dimensional positioning, and only the movable target is detected to exist. If the indoor space is a linear space such as a tunnel and a pipe gallery, two or more base stations can be deployed in the indoor space, at the moment, the positioning type is one-dimensional positioning, and only the x coordinate of the movable target is detected. If the indoor space is a planar space such as an exhibition hall, a factory building and the like, three base stations or more base stations can be deployed in the indoor space, at the moment, the positioning type is two-dimensional positioning, and x and y coordinates of the movable target are detected. If the indoor space is a large building space, four base stations or more base stations are deployed in the indoor space, and at the moment, the positioning type is three-dimensional positioning, and x, y and z coordinates of the movable target are detected. It should be noted that the tag shown in fig. 3 may be a terminal (mobile phone) carried by a movable object (blind person).
Fig. 3 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 3, the electronic device may include: a processor (processor)301, a communication Interface (communication Interface)302, a memory (memory)303 and a communication bus 304, wherein the processor 301, the communication Interface 302 and the memory 303 complete communication with each other through the communication bus 304. The processor 301 may invoke a computer program stored on the memory 303 and executable on the processor 301 to perform the methods provided by the various embodiments described above, including, for example: determining the current position of a movable target based on an ultra-wideband positioning technology, constructing a corresponding map for an indoor space where the movable target is located, and establishing a corresponding rasterized coordinate system for the map; the rasterized coordinate system divides the map into a plurality of grids, each grid is provided with a corresponding traffic factor, and the traffic factor is used for indicating whether the corresponding grid can pass or not; determining a plurality of traversable paths from the current position to the destination position in the map according to the current position and the destination position of the movable target; wherein the traversable path includes a plurality of consecutive grids between the current location and the destination location; determining a passing path as the movable target in a plurality of passable paths.
In addition, the logic instructions in the memory 303 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, and the method includes: determining the current position of a movable target based on an ultra-wideband positioning technology, constructing a corresponding map for an indoor space where the movable target is located, and establishing a corresponding rasterized coordinate system for the map; the rasterized coordinate system divides the map into a plurality of grids, each grid is provided with a corresponding traffic factor, and the traffic factor is used for indicating whether the corresponding grid can pass or not; determining a plurality of traversable paths from the current position to the destination position in the map according to the current position and the destination position of the movable target; wherein the traversable path includes a plurality of consecutive grids between the current location and the destination location; determining a passing path as the movable target in a plurality of passable paths.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An indoor navigation method, comprising:
determining the current position of a movable target based on an ultra-wideband positioning technology, constructing a corresponding map for an indoor space where the movable target is located, and establishing a corresponding rasterized coordinate system for the map; the rasterized coordinate system divides the map into a plurality of grids, each grid is provided with a corresponding traffic factor, and the traffic factor is used for indicating whether the corresponding grid can pass or not;
determining a plurality of traversable paths from the current position to the destination position in the map according to the current position and the destination position of the movable target; wherein the traversable path includes a plurality of consecutive grids between the current location and the destination location;
determining a passing path as the movable target in a plurality of passable paths.
2. The indoor navigation method of claim 1, wherein determining a plurality of traversable paths in the map from the current location to the destination location based on the current location and the destination location of the movable object comprises:
determining all passable grids in the map according to the passing factor corresponding to each grid;
determining a plurality of traversable paths from the current location to the destination location in the grid of all traversable based on an octree search technique according to the current location and the destination location.
3. The indoor navigation method of claim 1, wherein determining one of the traversable paths as the movable target comprises:
and in a plurality of passable paths, taking the passage path which is successfully passed last time as a passage path of the movable target.
4. The indoor navigation method of claim 1, wherein determining one of the traversable paths as the movable target comprises:
taking the passing path which is successfully passed last time as a candidate passing path of the movable target in a plurality of passable paths;
calculating a plurality of passable paths between the current position of the moving target and the destination position in real time in the process that the moving target travels according to the candidate passage paths;
determining a passing path as the movable target in the plurality of passable paths each time the plurality of passable paths are calculated.
5. The indoor navigation method of claim 1, further comprising:
and after the movable target reaches the destination position, updating the credible weight values of all the grids in the passing path of the movable target.
6. An indoor navigation system, comprising:
the positioning and grid dividing module is used for determining the current position of the movable target based on the ultra-wideband positioning technology, constructing a corresponding map for the indoor space where the movable target is located, and establishing a corresponding grid coordinate system for the map; the rasterized coordinate system divides the map into a plurality of grids, each grid is provided with a corresponding traffic factor, and the traffic factor is used for indicating whether the corresponding grid can pass or not;
a passable path determining module, configured to determine, according to the current location and a destination location of the movable target, a plurality of passable paths from the current location to the destination location in the map; wherein the traversable path includes a plurality of consecutive grids between the current location and the destination location;
a passing path determining module for determining a passing path as the movable target in a plurality of passable paths.
7. The indoor navigation system of claim 6, wherein the transit path determination module comprises:
a candidate passing path determination unit for taking the passing path which is successfully passed last time as a candidate passing path of the movable target in a plurality of the passable paths;
a passable path determining unit, configured to calculate, in real time, a plurality of passable paths between the current position of the moving target and the destination position in the process that the moving target travels along the candidate passable path;
a passing path determining unit configured to determine one passing path as the movable target among the plurality of passable paths every time the plurality of passable paths are calculated.
8. The indoor navigation system of claim 6, further comprising:
and the updating module is used for updating the credible weight values of all the grids in the passing path of the movable target after the movable target reaches the destination position.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 5 are implemented when the processor executes the program.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010545741.3A CN111649748A (en) | 2020-06-16 | 2020-06-16 | Indoor navigation method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010545741.3A CN111649748A (en) | 2020-06-16 | 2020-06-16 | Indoor navigation method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111649748A true CN111649748A (en) | 2020-09-11 |
Family
ID=72345463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010545741.3A Pending CN111649748A (en) | 2020-06-16 | 2020-06-16 | Indoor navigation method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111649748A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115509216A (en) * | 2021-06-21 | 2022-12-23 | 广州视源电子科技股份有限公司 | Path planning method and device, computer equipment and storage medium |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955280A (en) * | 2016-07-19 | 2016-09-21 | Tcl集团股份有限公司 | Mobile robot path planning and obstacle avoidance method and system |
| CN108088445A (en) * | 2016-11-22 | 2018-05-29 | 广州映博智能科技有限公司 | 3 d grid map path planning system and method based on octree representation |
| CN109059924A (en) * | 2018-07-25 | 2018-12-21 | 齐鲁工业大学 | Adjoint robot Incremental Route method and system for planning based on A* algorithm |
| CN109116858A (en) * | 2018-11-07 | 2019-01-01 | 上海木木聚枞机器人科技有限公司 | It is a kind of on specified path around barrier paths planning method and system |
| KR20190080782A (en) * | 2017-12-28 | 2019-07-08 | 유비테크 로보틱스 코프 | Method for planning robot motion path, device, recording medium and terminal device |
| CN110609557A (en) * | 2019-10-09 | 2019-12-24 | 中国人民解放军陆军装甲兵学院 | Unmanned vehicle mixed path planning algorithm |
| CN110823241A (en) * | 2019-11-19 | 2020-02-21 | 齐鲁工业大学 | Robot path planning method and system based on passable area skeleton extraction |
| CN110906935A (en) * | 2019-12-13 | 2020-03-24 | 河海大学常州校区 | Unmanned ship path planning method |
| CN110955262A (en) * | 2019-12-10 | 2020-04-03 | 河海大学常州校区 | Control method and system for path planning and tracking of photovoltaic module cleaning robot |
| CN111121754A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Mobile robot positioning navigation method and device, mobile robot and storage medium |
-
2020
- 2020-06-16 CN CN202010545741.3A patent/CN111649748A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955280A (en) * | 2016-07-19 | 2016-09-21 | Tcl集团股份有限公司 | Mobile robot path planning and obstacle avoidance method and system |
| CN108088445A (en) * | 2016-11-22 | 2018-05-29 | 广州映博智能科技有限公司 | 3 d grid map path planning system and method based on octree representation |
| KR20190080782A (en) * | 2017-12-28 | 2019-07-08 | 유비테크 로보틱스 코프 | Method for planning robot motion path, device, recording medium and terminal device |
| CN109059924A (en) * | 2018-07-25 | 2018-12-21 | 齐鲁工业大学 | Adjoint robot Incremental Route method and system for planning based on A* algorithm |
| CN109116858A (en) * | 2018-11-07 | 2019-01-01 | 上海木木聚枞机器人科技有限公司 | It is a kind of on specified path around barrier paths planning method and system |
| CN110609557A (en) * | 2019-10-09 | 2019-12-24 | 中国人民解放军陆军装甲兵学院 | Unmanned vehicle mixed path planning algorithm |
| CN110823241A (en) * | 2019-11-19 | 2020-02-21 | 齐鲁工业大学 | Robot path planning method and system based on passable area skeleton extraction |
| CN110955262A (en) * | 2019-12-10 | 2020-04-03 | 河海大学常州校区 | Control method and system for path planning and tracking of photovoltaic module cleaning robot |
| CN110906935A (en) * | 2019-12-13 | 2020-03-24 | 河海大学常州校区 | Unmanned ship path planning method |
| CN111121754A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Mobile robot positioning navigation method and device, mobile robot and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115509216A (en) * | 2021-06-21 | 2022-12-23 | 广州视源电子科技股份有限公司 | Path planning method and device, computer equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105702151B (en) | A kind of indoor map construction method and device | |
| US10260892B2 (en) | Data structure of environment map, environment map preparing system and method, and environment map updating system and method | |
| US10415978B2 (en) | Landmark location determination | |
| CN103576686B (en) | Automatic guide and obstacle avoidance method for robot | |
| CN106980633B (en) | Indoor map data generation method and device | |
| CN112859859A (en) | Dynamic grid map updating method based on three-dimensional obstacle object pixel object mapping | |
| US20180173239A1 (en) | Method and system for updating occupancy map based on super ray | |
| US20180220268A1 (en) | Systems and methods to track movement of a device in an indoor environment | |
| CN110933632B (en) | Terminal indoor positioning method and system | |
| CN107843252B (en) | Navigation path optimization method and device and electronic equipment | |
| US20160286351A1 (en) | Indoor navigation anomaly detection | |
| CN105203095A (en) | Indoor three-dimensional space real-time route navigation method and system | |
| CN110470308B (en) | Obstacle avoidance system and method | |
| Liu et al. | Indoor localization using smartphone inertial sensors | |
| CN109655786B (en) | Mobile ad hoc network cooperation relative positioning method and device | |
| CN104613961A (en) | Shopping mall store navigation method and shopping mall store navigation device | |
| Sharma et al. | Analysis of a novel beacon placement strategy 3D localization in indoor spaces | |
| EP3234505B1 (en) | Providing constraint to a position | |
| CN113378693A (en) | Target generation detection system and method and device for detecting target | |
| Sharma et al. | Geometrical optimization of a novel beacon placement strategy for 3D indoor localization | |
| US8886458B2 (en) | Neighborhood creating device, neighborhood creating method, and computer-readable recording medium storing program | |
| CN105898711A (en) | Geomagnetic-datum-line-based positioning method and apparatus | |
| CN111649748A (en) | Indoor navigation method and system | |
| CN114636422A (en) | Positioning and navigation method for information machine room scene | |
| CN107449426B (en) | Navigation logic method and indoor AR navigation system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200911 |
|
| RJ01 | Rejection of invention patent application after publication |