CN203070098U - Indoor and outdoor autonomous navigation system for patrol robot - Google Patents
Indoor and outdoor autonomous navigation system for patrol robot Download PDFInfo
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- CN203070098U CN203070098U CN 201220675204 CN201220675204U CN203070098U CN 203070098 U CN203070098 U CN 203070098U CN 201220675204 CN201220675204 CN 201220675204 CN 201220675204 U CN201220675204 U CN 201220675204U CN 203070098 U CN203070098 U CN 203070098U
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Abstract
The utility model relates to an indoor and outdoor autonomous navigation system for a patrol robot, comprising a walking control unit, a walking determination unit and a function task unit. The walking control unit comprises a photoelectric coding disc used for calculating mileage, a DC brush motor for driving the patrol robot to travel and a DC motor driver. The walking determination unit comprises a position sensor used for sensing the surrounding environment, a GPS reception apparatus, a laser sensor and a radio frequency sensor, wherein all sensors and the GPS reception apparatus are connected with a industrial control computer for walking control which is connected with the motor driver through a serial port. The function task unit comprises a bar code reader, cameras and a man-machine interaction computer, wherein the man-machine interaction computer is connected with the industrial control computer for walking control by internet access mapping. According to the indoor and outdoor autonomous navigation system for the patrol robot, cost is low, realization is easy, maintenance is simple, and the environment adaptability is strong.
Description
Technical field
The utility model relates to a kind of crusing robot indoor and outdoor autonomous navigation system.
Background technology
Crusing robot is a kind of visual plant that is widely used in places such as Automatic Warehouse, harbour, logistics base.By dispose multiple sensors such as ccd video camera, bar code reader, laser sensor at removable car body, can when moving, car body carry out perception to surrounding environment, realize patrolling and examining of goods and equipment.At present, crusing robot becomes the important automation equipments of industry such as logistics, storage, electric power, the effect that play more and more is important gradually.
At present, typical crusing robot generally adopts the line walking mode to carry out the zone traversal, finishes patrol task.This mode needs to bury cable or drawn path in advance underground at mission area, and robot can advance along the path that sets in advance, and finishes given task.The weak point of this mode is, in case change has taken place in the environment that robot executes the task, just need rearrange the path, increase user's working strength greatly, cause shortcomings such as the robotization cruising inspection system is strong to environmental factor dependence, very flexible.
The utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, adapts to the reality needs, and a kind of crusing robot indoor and outdoor autonomous navigation system is provided.
In order to realize the purpose of this utility model, the technical solution adopted in the utility model is:
A kind of crusing robot indoor and outdoor autonomous navigation system, comprise the walking control module, walking decision package, functional task unit, described walking control module comprises for the photoelectric coded disk that calculates mileage and drives the brush direct current motor that crusing robot is advanced, also comprises DC motor driver; Described walking decision package comprises position transducer, GPS receiving trap, laser sensor, the radio frequency sensor for the perception surrounding environment, described each sensor all is connected with walking control industrial computer with the GPS receiving trap, and described walking control industrial computer is connected by serial ports with described motor driver; Described functional task unit comprises bar code reader and each camera, also comprise the man-machine interaction computing machine, described bar code reader all is connected with described man-machine interaction computing machine with each infrared camera, and described man-machine interaction computing machine is connected by the network interface mapping with the walking control industrial computer of walking decision package.
Described autonomous navigation system is with the carrier of lorry as each hardware.
The beneficial effects of the utility model are:
Cost is low, realizes easily, safeguards that simply environmental suitability is strong.
Description of drawings
Fig. 1 is structural principle block diagram of the present utility model.
Embodiment
Below in conjunction with drawings and Examples the utility model is further specified:
Embodiment: referring to Fig. 1.
A kind of crusing robot indoor and outdoor autonomous navigation system, comprise the walking control module, the walking decision package, the functional task unit, described walking control module comprises for the photoelectric coded disk 11 that calculates mileage and drives the brush direct current motor 12 that crusing robot is advanced, also comprises DC motor driver 1;
Described walking decision package comprises position transducer 21, GPS receiving trap 22, laser sensor 23, the radio frequency sensor 24 for the perception surrounding environment, described each sensor and GPS receiving trap all are connected with walking control industrial computer 2, and described walking is controlled industrial computer 2 and described motor driver 1 and is connected by serial ports;
Described functional task unit comprises bar code reader 31 and each camera, be mainly CCD camera 32 and infrared camera 33, also comprise man-machine interaction computing machine 3, described bar code reader 31, CCD camera 32 and infrared camera 33 all are connected with described man-machine interaction computing machine 3, and described man-machine interaction computing machine 3 is connected by the network interface mapping with the walking control industrial computer 2 of walking decision package.
DC motor driver 1 adopts if the bit DC motor driver can be returned photoelectric coded disk 11 reading collections, and sends to walking control industrial computer 2 by the RS232 serial ports.Adopt built-in industrial control machine to make walking control computing machine, and position navigation by the data acquisition ambient condition information of position transducer 21, GPS receiving trap 22, laser sensor 23, radio frequency sensor 24, walking control industrial computer 2 sends the walking instruction by serial ports to DC motor driver 1, in the process of walking, bar code reader 31, CCD camera 32, infrared camera 33 are patrolled and examined the collection of information at any time, and the information that collects is sent to the staff by network.
Indoor positioning: adopt passive type coordinate setting technology, position transducer 21 is selected the StarGazer position transducer for use, utilizes the infrared reflecting technology can realize indoor round-the-clock location.This technology has characteristics such as cost is low, and realization is easily safeguarded simply, and environmental suitability is strong.
Outdoor location: because outdoor environment belongs to the public place mostly, and more than the indoor environment complexity, so the indoor positioning algorithm can't be indiscriminately imitated outdoor environment.At the singularity of outdoor environment location, method in common is to adopt commercial GPS location, GPS receiving trap 22 can obtain position and the course angle information at self place in real time at present.Consider that may there be the swinging of signal stable condition in GPS receiving trap 22 owing to blocking of high building, in the time can't obtaining gps signal in the short time, adopt inertial navigation system to navigate, after receiving gps signal, system switches to GPS navigation by the inertial navigation navigation again.
Because the bearing accuracy of GPS is often not high, reaches the meter level error usually.In order to realize the complete self-navigation of robot from outdoor to indoor, also need the indoor and outdoor navigation procedure to carry out transition, also namely need the location between the indoor and outdoor to be connected.In conjunction with the thought of indoor code tag auxiliary positioning, adopt radio frequency sensor 24 auxiliary positioning can improve outdoor bearing accuracy, namely and realize that indoor and outdoor is connected.
The indoor and outdoor map structuring: crusing robot can make up map for teaching by simple people.At first, robot positions by SLAM method or absolute coordinates method, is under the teaching pattern the people then, the traversal perform region, utilize car body photoelectric coded disk reading and laser range finder feedback data, utilize map match and make up algorithm to make up navigation map.Barrier place pixel color can be made as black in making up the map process, other is made as white.Navigation map chi setting in proportion saves as the bmp picture format, loads automatically when starting in each robot.
For the ease of in navigation procedure, carrying out overall situation planning, can also add certain attribute to map, as increase the site attribute of different places and road attribute etc., thus reduce control system to the accuracy requirement of topworks, improve motion control and keep away the dirigibility of barrier processing.
Automatic obstacle-avoiding: owing to how much map structuring modes that adopted relative calibration, simplify the expression-form of map, reduced the intelligent requirement that the robot trajectory follows the tracks of, and the independent navigation demand is converted into how much calculating of relative space position and keeps away the barrier processing procedure.Aspect path planning, adopted the fuzzy controller that merges fuzzy logic and Artificial Potential Field function, solved the planning problem that has unknown dynamic disorder in the known environment well, improved the efficient of motion planning significantly, can so that path planning along with robot location's variation real-time update.
Described autonomous navigation system is formed in each hardware set on the lorry with the carrier of lorry as each hardware, and handled easily, lorry are not shown in the drawings.
What embodiment of the present utility model announced is preferred embodiment; but be not limited thereto; those of ordinary skill in the art; very easily according to above-described embodiment; understand spirit of the present utility model; and make different amplifications and variation, but only otherwise break away from spirit of the present utility model, all in protection domain of the present utility model.
Claims (2)
1. crusing robot indoor and outdoor autonomous navigation system, comprise the walking control module, the walking decision package, the functional task unit, it is characterized in that: described walking control module comprises for the photoelectric coded disk that calculates mileage and drives the brush direct current motor that crusing robot is advanced, also comprises DC motor driver; Described walking decision package comprises position transducer, GPS receiving trap, laser sensor, the radio frequency sensor for the perception surrounding environment, described each sensor all is connected with walking control industrial computer with the GPS receiving trap, and described walking control industrial computer is connected by serial ports with described motor driver; Described functional task unit comprises bar code reader and each camera, also comprise the man-machine interaction computing machine, described bar code reader all is connected with described man-machine interaction computing machine with each infrared camera, and described man-machine interaction computing machine is connected by the network interface mapping with the walking control industrial computer of walking decision package.
2. crusing robot indoor and outdoor autonomous navigation system according to claim 1, it is characterized in that: described autonomous navigation system is with the carrier of lorry as each hardware.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220675204 CN203070098U (en) | 2012-12-10 | 2012-12-10 | Indoor and outdoor autonomous navigation system for patrol robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220675204 CN203070098U (en) | 2012-12-10 | 2012-12-10 | Indoor and outdoor autonomous navigation system for patrol robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064416A (en) * | 2012-12-10 | 2013-04-24 | 江西洪都航空工业集团有限责任公司 | Indoor and outdoor autonomous navigation system for inspection robot |
| CN103777637A (en) * | 2014-02-13 | 2014-05-07 | 苏州工业园区艾吉威自动化设备有限公司 | Non-baffle-board laser AGV and navigation method thereof |
| CN104299284A (en) * | 2014-08-20 | 2015-01-21 | 深圳供电局有限公司 | Indoor transformer station track tour-inspection system capable of automatically positioning and grabbing equipment image, host and method |
| CN109368547A (en) * | 2018-11-30 | 2019-02-22 | 浙江千寻机器人有限公司 | A kind of fork truck AGV of omnidirectional moving and the application on container |
-
2012
- 2012-12-10 CN CN 201220675204 patent/CN203070098U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103064416A (en) * | 2012-12-10 | 2013-04-24 | 江西洪都航空工业集团有限责任公司 | Indoor and outdoor autonomous navigation system for inspection robot |
| CN103777637A (en) * | 2014-02-13 | 2014-05-07 | 苏州工业园区艾吉威自动化设备有限公司 | Non-baffle-board laser AGV and navigation method thereof |
| CN103777637B (en) * | 2014-02-13 | 2016-07-06 | 苏州工业园区艾吉威自动化设备有限公司 | Areflexia plate Laser Self navigation AGV dolly and air navigation aid thereof |
| CN106200643A (en) * | 2014-02-13 | 2016-12-07 | 苏州艾吉威机器人有限公司 | Areflexia plate Laser Self navigation AGV dolly |
| CN104299284A (en) * | 2014-08-20 | 2015-01-21 | 深圳供电局有限公司 | Indoor transformer station track tour-inspection system capable of automatically positioning and grabbing equipment image, host and method |
| CN109368547A (en) * | 2018-11-30 | 2019-02-22 | 浙江千寻机器人有限公司 | A kind of fork truck AGV of omnidirectional moving and the application on container |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Jiangxi Hongdu Aviation Industry Limited by Share Ltd Assignor: Hongdu Aviation Industry Group Co., td., Jiangxi Prov. Contract record no.: 2014360000110 Denomination of utility model: Indoor and outdoor autonomous navigation system for inspection robot Granted publication date: 20130717 License type: Exclusive License Record date: 20140609 |
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| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130717 Termination date: 20171210 |
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| CF01 | Termination of patent right due to non-payment of annual fee |