CN115014357A - Navigation robot system based on user-defined map area - Google Patents

Navigation robot system based on user-defined map area Download PDF

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Publication number
CN115014357A
CN115014357A CN202210755535.4A CN202210755535A CN115014357A CN 115014357 A CN115014357 A CN 115014357A CN 202210755535 A CN202210755535 A CN 202210755535A CN 115014357 A CN115014357 A CN 115014357A
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CN
China
Prior art keywords
unit
robot
control unit
robot body
navigation
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Pending
Application number
CN202210755535.4A
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Chinese (zh)
Inventor
李静
马辰
高明
王建华
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Shandong New Generation Information Industry Technology Research Institute Co Ltd
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Shandong New Generation Information Industry Technology Research Institute Co Ltd
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Priority to CN202210755535.4A priority Critical patent/CN115014357A/en
Publication of CN115014357A publication Critical patent/CN115014357A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Abstract

The invention particularly relates to a navigation robot system based on a user-defined map area. The navigation robot system based on the self-defined map area comprises a robot body and a remote control unit; the robot body includes: laser radar, degree of depth camera, ultrasonic unit, positioning unit, control unit, mechanical unit and interactive unit. The navigation robot system based on the user-defined map area is simple in structure and low in implementation cost, can finish map drawing and navigation of a specified unknown area, and can reduce further memory occupancy rate by using two-dimensional map modeling, so that the operation cost is saved, and the navigation efficiency is improved.

Description

Navigation robot system based on user-defined map area
Technical Field
The invention relates to the technical field of intelligent robot navigation, in particular to a navigation robot system based on a user-defined map area.
Background
At present, commodity circulation intelligence transfer robot, robot of sweeping floor etc. have in some cities and family practical application, and unmanned aerial vehicle, unmanned vehicle etc. also are promoting rapidly, and so these robots can get into the application stage fast, and are inseparable with the development of independently positioning navigation technique. Even so to say, the autonomous positioning navigation technology has become one of the core and focus of the robot product.
It should be noted that the autonomous navigation robot generally uses a three-dimensional map. The three-dimensional maps require a higher precision and therefore a higher precision for the sensors and the control unit, and the cost of implementation is also necessarily too high. Meanwhile, fusion drawing of high-precision map data also needs a processor with larger computing power, and the problem of low navigation efficiency caused by excessively high memory occupied by operation is inevitable.
Based on the problems, the invention provides a navigation robot system based on a user-defined map area.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides a simple and efficient navigation robot system based on a user-defined map area.
The invention is realized by the following technical scheme:
a navigation robot system based on a custom map area is characterized in that: comprises a robot body and a remote control unit;
wherein, the robot body includes: the system comprises a laser radar, a depth camera, an ultrasonic unit, a positioning unit, a control unit, a mechanical unit and an interaction unit;
the laser radar, the depth camera and the ultrasonic unit are used for acquiring barrier information and transmitting the acquired information to the control unit;
the mechanical unit comprises a robot driving module used for controlling the body of the robot to move;
the positioning unit is used for acquiring pose information of the robot body and transmitting the acquired information to the control unit;
the control unit is a core unit of the robot and is used for creating a two-dimensional map of the area according to the pose information of the robot body, the environmental information around the robot body and the obstacle information, planning an obstacle avoidance path according to the obstacle information and finally sending a specific navigation path to the mechanical unit;
the interaction unit realizes information interaction between the user and the robot.
The laser radar is used for acquiring the position of an obstacle and the size information of a laser radar height plane and transmitting the acquired information to the control unit;
the depth camera is used for acquiring environmental information around the robot body and transmitting the acquired information to the control unit.
The ultrasonic unit is used for acquiring barrier information which cannot be detected by a laser radar and a depth camera (such as glass, a mirror and the like), and transmitting the acquired information to the control unit.
The positioning unit comprises an inertial measurement unit and a wheel-type odometer.
The inertial measurement unit realizes the positioning of the robot by measuring the angular speed and the acceleration of the robot.
The wheel type odometer realizes the posture positioning of the robot by measuring the rotation radian of the robot body.
The invention relates to a navigation robot system based on a user-defined map area, wherein a navigation method comprises the following steps:
s1, the user sends out an operation instruction through a remote control unit (remote control device) to control the robot body to enter a user-defined map area;
s2, a user sends a map building instruction to the robot body, the control unit receives the robot body pose information transmitted by the positioning unit, the obstacle information transmitted by the laser radar and the ultrasonic unit and the environment information transmitted by the depth camera, fixed frequency sampling is carried out, a two-dimensional map of a designated area is built until the user controls the robot to walk through all self-defined map areas, a stored map is determined, and then the two-dimensional map building is completed;
s3, in the advancing process, the control unit restrains the movement track of the robot body according to the environmental information around the robot body fed back by the laser radar, the depth camera and the ultrasonic unit in real time, and sends the obstacle avoidance track to the mechanical unit again;
and S4, monitoring the navigation process of the robot body by the user through the interaction unit, and operating to pause or interrupt the task at any time.
In the step S3, the user adds a designated point location as a target point in the map management system of the robot body, issues the target point location to the control unit, calculates an optimal walking path through the control unit, and issues the optimal walking path to the mechanical unit to control the robot body to reach the designated point location;
the invention has the beneficial effects that: the navigation robot system based on the user-defined map area is simple in structure and low in implementation cost, can finish map drawing and navigation of a specified unknown area, and can reduce further memory occupancy rate by using two-dimensional map modeling, so that the operation cost is saved, and the navigation efficiency is improved.
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 schematic diagram of a robot body structure according to the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the embodiment of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the 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.
The navigation robot system based on the self-defined map area comprises a robot body and a remote control unit;
wherein, the robot body includes: the system comprises a laser radar, a depth camera, an ultrasonic unit, a positioning unit, a control unit, a mechanical unit and an interaction unit;
the laser radar, the depth camera and the ultrasonic unit are used for acquiring barrier information and transmitting the acquired information to the control unit;
the mechanical unit comprises a robot driving module used for controlling the body of the robot to move;
the positioning unit is used for acquiring pose information of the robot body and transmitting the acquired information to the control unit;
the control unit is a core unit of the robot and is used for creating a two-dimensional map of the area according to the pose information of the robot body, the environmental information around the robot body and the obstacle information, planning an obstacle avoidance path according to the obstacle information and finally sending a specific navigation path to the mechanical unit;
the interaction unit realizes information interaction between the user and the robot.
The laser radar is used for acquiring the position of an obstacle and the size information of a laser radar height plane and transmitting the acquired information to the control unit;
the laser radar belongs to an active sensor, the sensing data provided by the laser radar is much simpler and more direct than visual information, and the calculated amount is small during processing; but the disadvantages are high cost, poor concealment, environmental pollution, and insufficient information.
The depth camera is used for acquiring environmental information around the robot body and transmitting the acquired information to the control unit.
The ultrasonic unit is used for acquiring barrier information which cannot be detected by a laser radar and a depth camera (such as glass, a mirror and the like), and transmitting the acquired information to the control unit.
The positioning unit comprises an inertial measurement unit and a wheel-type odometer.
The inertial measurement unit realizes the positioning of the robot by measuring the angular velocity and the acceleration of the robot.
The wheel-type odometer realizes the posture positioning of the robot by measuring the rotation radian of the robot body.
The navigation robot system based on the user-defined map area comprises the following steps:
s1, the user sends out an operation instruction through a remote control unit (remote control device) to control the robot body to enter a user-defined map area;
s2, a user sends a map building instruction to the robot body, the control unit receives the robot body pose information transmitted by the positioning unit, the obstacle information transmitted by the laser radar and the ultrasonic unit and the environment information transmitted by the depth camera, fixed frequency sampling is carried out, a two-dimensional map of a designated area is built until the user controls the robot to walk through all self-defined map areas, a stored map is determined, and then the two-dimensional map building is completed;
s3, in the advancing process, the control unit restrains the movement track of the robot body according to the environmental information around the robot body fed back by the laser radar, the depth camera and the ultrasonic unit in real time, and sends the obstacle avoidance track to the mechanical unit again;
and S4, monitoring the navigation process of the robot body by the user through the interaction unit, and operating to pause or interrupt the task at any time.
In step S3, the user adds a designated point location as a target point in the map management system of the robot body, and sends the target point location to the control unit, calculates an optimal walking path through the control unit, and sends the optimal walking path to the mechanical unit, so as to control the robot body to reach the designated point location.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A navigation robot system based on a custom map area is characterized in that: comprises a robot body and a remote control unit;
wherein, the robot body includes: the system comprises a laser radar, a depth camera, an ultrasonic unit, a positioning unit, a control unit, a mechanical unit and an interaction unit;
the laser radar, the depth camera and the ultrasonic unit are used for acquiring barrier information and transmitting the acquired information to the control unit;
the mechanical unit comprises a robot driving module used for controlling the body of the robot to move;
the positioning unit is used for acquiring pose information of the robot body and transmitting the acquired information to the control unit;
the control unit is a core unit of the robot and is used for creating a two-dimensional map of the area according to the pose information of the robot body, the environmental information around the robot body and the obstacle information, planning an obstacle avoidance path according to the obstacle information and finally sending a specific navigation path to the mechanical unit;
the interaction unit realizes information interaction between the user and the robot.
2. The custom map area based navigation robotic system of claim 1, wherein: the laser radar is used for acquiring the position of an obstacle and the size information of a laser radar height plane and transmitting the acquired information to the control unit;
the depth camera is used for acquiring environmental information around the robot body and transmitting the acquired information to the control unit.
3. The custom map area based navigation robotic system of claim 2, wherein: the ultrasonic unit is used for acquiring barrier information which cannot be detected by the laser radar and the depth camera and transmitting the acquired information to the control unit.
4. The custom map area based navigation robotic system of claim 1, wherein: the positioning unit comprises an inertial measurement unit and a wheel-type odometer.
5. The custom map area based navigation robotic system of claim 4, wherein: the inertial measurement unit realizes the positioning of the robot by measuring the angular speed and the acceleration of the robot.
6. The custom map area based navigation robotic system of claim 4, wherein: the wheel type odometer realizes the posture positioning of the robot by measuring the rotation radian of the robot body.
7. The navigation robot system based on the customized map area as claimed in any one of claims 1 to 6, wherein: the navigation method comprises the following steps:
s1, the user sends an operation instruction through the remote control unit, and the robot body is controlled to enter a user-defined map area;
s2, a user sends a map building instruction to the robot body, the control unit receives the robot body pose information transmitted by the positioning unit, the obstacle information transmitted by the laser radar and the ultrasonic unit and the environment information transmitted by the depth camera, fixed frequency sampling is carried out, a two-dimensional map of a designated area is built until the user controls the robot to walk through all self-defined map areas, a stored map is determined, and then the two-dimensional map building is completed;
s3, in the advancing process, the control unit restrains the movement track of the robot body according to the environmental information around the robot body fed back by the laser radar, the depth camera and the ultrasonic unit in real time, and sends the obstacle avoidance track to the mechanical unit again;
and S4, monitoring the navigation process of the robot body by the user through the interaction unit, and operating to pause or interrupt the task at any time.
8. The custom map area based navigation robotic system of claim 7, wherein: in step S3, the user adds a designated point location as a target point in the map management system of the robot body, and sends the target point location to the control unit, calculates an optimal walking path through the control unit, and sends the optimal walking path to the mechanical unit, so as to control the robot body to reach the designated point location.
CN202210755535.4A 2022-06-30 2022-06-30 Navigation robot system based on user-defined map area Pending CN115014357A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210755535.4A CN115014357A (en) 2022-06-30 2022-06-30 Navigation robot system based on user-defined map area

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210755535.4A CN115014357A (en) 2022-06-30 2022-06-30 Navigation robot system based on user-defined map area

Publications (1)

Publication Number Publication Date
CN115014357A true CN115014357A (en) 2022-09-06

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ID=83078144

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210755535.4A Pending CN115014357A (en) 2022-06-30 2022-06-30 Navigation robot system based on user-defined map area

Country Status (1)

Country Link
CN (1) CN115014357A (en)

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