CN204495357U - A kind of many Quito module net merges indoor occupant navigation positioning system - Google Patents
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Abstract
本实用新型公开了一种多基多模组网融合室内人员导航定位系统，所述导航定位系统包括导航定位服务器端、指挥监控端和多个终端设备；所述终端设备包括传感模块、信息处理模块、信息传输模块和本地显示模块；所述导航定位服务器端包括信息传输模块、高性能信息处理平台和室内地图数据库；所述指挥监控端为远程指挥监控端或现场指挥监控端。本实用新型通多个终端的多种传感器融合，能够在复杂未知室内环境中实时生成室内地图，并实现室内人员的高精度定位与导航。
The utility model discloses a multi-base multi-module network fusion indoor personnel navigation and positioning system. The navigation and positioning system includes a navigation and positioning server end, a command and monitoring end and a plurality of terminal equipment; the terminal equipment includes a sensing module, an information A processing module, an information transmission module and a local display module; the navigation and positioning server includes an information transmission module, a high-performance information processing platform and an indoor map database; the command and monitoring terminal is a remote command and monitoring terminal or an on-site command and monitoring terminal. The utility model can generate an indoor map in real time in a complicated and unknown indoor environment through the fusion of various sensors of multiple terminals, and realize high-precision positioning and navigation of indoor personnel.
Description
技术领域technical field
本实用新型主要涉及室内实时地图生成与导航定位领域，特别是涉及一种多基多模组网融合室内人员导航定位系统，主要适用于消防救援和应急抢险中人员定位与导航。The utility model mainly relates to the field of indoor real-time map generation and navigation and positioning, in particular to a multi-base multi-module network fusion indoor personnel navigation and positioning system, which is mainly suitable for personnel positioning and navigation in fire rescue and emergency rescue.
背景技术Background technique
目前室外导航定位由于有先验地图和卫星辅助信号，导航定位精度较高，且已有众多成熟产品，如谷歌地图、百度地图等借助GPS、北斗卫星定位信号的定位导航产品。然而由于卫星信号无法覆盖室内，且室内地图难以获得，因此室内导航成为目前导航定位领域的难点和热点。尽管目前包括谷歌和百度等大公司已经开始涉足室内导航领域，但现有室内导航定位系统精度较低，且需要一些先验信息如Wifi热点或无线射频标签位置等，这在消防和应急救援领域是难以接受的。At present, outdoor navigation and positioning have high accuracy due to prior maps and satellite auxiliary signals, and there are many mature products, such as Google Maps, Baidu Maps and other positioning and navigation products that rely on GPS and Beidou satellite positioning signals. However, because satellite signals cannot cover indoors, and indoor maps are difficult to obtain, indoor navigation has become a difficult and hot spot in the field of navigation and positioning. Although large companies including Google and Baidu have begun to set foot in the field of indoor navigation, the accuracy of existing indoor navigation and positioning systems is low, and some prior information is required, such as the location of Wifi hotspots or radio frequency tags. is unacceptable.
在消防救援和一些应急救灾领域，由于对事故现场缺乏事先了解，盲目进入现场后往往会对救援人员造成不必要的伤害，甚至危及生命。因此亟须一种有效的高精度室内导航定位系统，保证现场指挥和救援人员在救援过程中对现场环境、救援人员位置和状态的了解，引导救援人员沿安全路径作业，降低和消除救援人员的生命安全威胁。In the field of fire rescue and some emergency disaster relief, due to the lack of prior knowledge of the accident scene, blindly entering the scene will often cause unnecessary harm to rescuers, and even endanger their lives. Therefore, there is an urgent need for an effective high-precision indoor navigation and positioning system to ensure that the on-site command and rescue personnel understand the scene environment, the location and status of rescue personnel during the rescue process, guide rescue personnel to work along safe paths, and reduce and eliminate rescue personnel. Threat to life safety.
实用新型内容Utility model content
本实用新型解决的技术问题是，提供一种多基多模组网融合室内人员导航定位系统，以达到在复杂未知环境中实时地图生成以及人员导航定位的目的。The technical problem solved by the utility model is to provide a multi-base multi-module network fusion indoor personnel navigation and positioning system to achieve the purpose of real-time map generation and personnel navigation and positioning in complex and unknown environments.
本实用新型的技术方案为：一种多基多模组网融合室内人员导航定位系统，包括导航定位服务器端、指挥监控端和多个终端设备；所述终端设备包括传感模块、信息处理模块、信息传输模块和本地显示模块，其中：所述传感模块包括IMU惯性测量单元、IR红外图像传感器、LA激光扫描测距仪和UWB超宽带雷达，所述IMU惯性测量单元用于获取人员运动时的角速度、加速度信息以及当地磁场信息，所述IR红外图像传感器用于获取室内红外图像信息，所述LA激光扫描测距仪用于获取二维平面距离信息，所述UWB超宽带雷达用于获取室内雷达成像信息；所述信息处理模块包括小型嵌入式处理终端，用于传感模块信息的预处理和人员航迹推算；所述导航定位服务器端包括信息传输模块、高性能信息处理平台和室内地图数据库，其中，所述信息传输模块用于保持与多个终端设备之间的通信；所述高性能信息处理平台是一台高性能计算机，用于根据终端设备信息实时创建地图，并为各终端设备提供导航服务，同时为指挥监控端提供访问接口；所述室内地图数据库用于实时保存和更新室内地图数据；所述指挥监控端为远程指挥监控端或现场指挥监控端，所述远程指挥监控端为通过Internet与导航定位服务器端相连的远程计算机，所述现场指挥监控端为通过无线局域网与导航定位服务器端相连的手持设备，如平板电脑，智能手机等智能终端设备，用于从导航定位服务器端获取室内环境状况和人员位置信息，为指挥管理决策提供必要信息。The technical solution of the utility model is: a multi-base multi-module network fusion indoor personnel navigation and positioning system, including a navigation and positioning server end, a command and monitoring end and a plurality of terminal devices; the terminal devices include a sensing module and an information processing module , an information transmission module and a local display module, wherein: the sensing module includes an IMU inertial measurement unit, an IR infrared image sensor, a LA laser scanning rangefinder and a UWB ultra-wideband radar, and the IMU inertial measurement unit is used to obtain personnel movement angular velocity, acceleration information, and local magnetic field information, the IR infrared image sensor is used to obtain indoor infrared image information, the LA laser scanning rangefinder is used to obtain two-dimensional plane distance information, and the UWB ultra-wideband radar is used to Obtain indoor radar imaging information; the information processing module includes a small embedded processing terminal for preprocessing of sensor module information and personnel dead reckoning; the navigation and positioning server includes an information transmission module, a high-performance information processing platform and An indoor map database, wherein the information transmission module is used to maintain communication with multiple terminal devices; the high-performance information processing platform is a high-performance computer, which is used to create maps in real time according to terminal device information, and provide Each terminal device provides navigation services and provides an access interface for the command and monitoring terminal; the indoor map database is used to save and update indoor map data in real time; the command and monitoring terminal is a remote command and monitoring terminal or an on-site command and monitoring terminal, and the remote The command and monitoring end is a remote computer connected to the navigation and positioning server end through the Internet, and the on-site command and monitoring end is a handheld device connected to the navigation and positioning server end through a wireless local area network, such as a tablet computer, a smart phone and other smart terminal devices, used for from The navigation and positioning server obtains the indoor environment status and personnel location information, and provides necessary information for command management decision-making.
进一步地，所述信息传输模块为长波通信，也可以是3G或4G移动网络，用于与导航定位服务器端的信息传输；Further, the information transmission module is long-wave communication, and can also be a 3G or 4G mobile network, which is used for information transmission with the navigation and positioning server;
进一步地，所述本地显示模块为一块小型LCD显示屏，用于指示环境地图和人员位置信息；Further, the local display module is a small LCD display screen, which is used to indicate the environmental map and personnel location information;
本实用新型的有益效果是：本实用新型通多个终端的多种传感器融合，能够在复杂未知室内环境中实时生成室内地图，并实现室内人员的高精度定位与导航。The beneficial effects of the utility model are: the utility model can generate indoor maps in real time in a complex and unknown indoor environment through the fusion of various sensors of multiple terminals, and realize high-precision positioning and navigation of indoor personnel.
附图说明Description of drawings
图1为本实用新型多基多模组网融合室内人员导航定位系统框图；Fig. 1 is a block diagram of the multi-base multi-module network fusion indoor personnel navigation and positioning system of the present invention;
其中，100-终端设备、110-传感模块、111-IMU惯性测量单元、112-IR红外图像传感器、113-LA激光扫描测距仪、114-UWB超宽带雷达、120-信息处理模块、130-信息传输模块、140-本地显示模块、200-导航定位服务器端、210-信息传输模块、220-高性能信息处理平台、230-室内地图数据库、300-指挥监控端、310-远程指挥监控端、320-现场指挥监控端。Among them, 100-terminal equipment, 110-sensing module, 111-IMU inertial measurement unit, 112-IR infrared image sensor, 113-LA laser scanning rangefinder, 114-UWB ultra-wideband radar, 120-information processing module, 130 -Information transmission module, 140-local display module, 200-navigation and positioning server, 210-information transmission module, 220-high-performance information processing platform, 230-indoor map database, 300-command and monitor terminal, 310-remote command and monitor terminal , 320-on-site command and monitoring terminal.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作详细说明：Below in conjunction with accompanying drawing and embodiment the present invention is described in detail:
实施例1：Example 1:
如图1所述，一种多基多模组网融合室内人员导航定位系统包括：导航定位服务器端200、指挥监控端300和多个终端设备100；As shown in FIG. 1 , a multi-base multi-module network fusion indoor personnel navigation and positioning system includes: a navigation and positioning server terminal 200, a command and monitoring terminal 300, and a plurality of terminal devices 100;
所述终端设备100主要用于人员运动状态检测和实时红外图像、UWB成像以及激光扫描二维图像的捕获和处理，以及通过信息处理模块具有的计算能力进行实时位置、姿态和方位的解算，并在本地显示模块上展示室内地图和航迹信息。终端设备100具体包括传感模块110、信息处理模块120、信息传输模块130和本地显示模块140，其中：所述传感模块110包括IMU惯性测量单元111、IR红外图像传感器112、LA激光扫描测距仪113和UWB超宽带雷达114，所述IMU惯性测量单元111用于获取人员运动时的角速度、加速度信息以及当地磁场信息，所述IR红外图像传感器112用于获取室内红外图像信息，所述LA激光扫描测距仪113用于获取二维平面距离信息，所述UWB超宽带雷达114用于获取室内雷达成像信息；所述信息处理模块120包括小型嵌入式处理终端，用于传感模块110信息的预处理和人员航迹推算；所述信息传输模块130为433MHz的长波通信，用于与导航定位服务器端200的信息传输；所述本地显示模块140为一块小型LCD显示屏，用于指示环境地图和人员位置信息；The terminal device 100 is mainly used for the detection of people's movement status and the capture and processing of real-time infrared images, UWB imaging, and laser scanning two-dimensional images, as well as the calculation of real-time position, attitude and orientation through the computing power of the information processing module. And display the indoor map and track information on the local display module. The terminal device 100 specifically includes a sensing module 110, an information processing module 120, an information transmission module 130, and a local display module 140, wherein: the sensing module 110 includes an IMU inertial measurement unit 111, an IR infrared image sensor 112, a LA laser scanning Distance meter 113 and UWB ultra-wideband radar 114, described IMU inertial measurement unit 111 is used for obtaining angular velocity, acceleration information and local magnetic field information when people move, and described IR infrared image sensor 112 is used for obtaining indoor infrared image information, described The LA laser scanning rangefinder 113 is used to obtain two-dimensional plane distance information, and the UWB ultra-wideband radar 114 is used to obtain indoor radar imaging information; the information processing module 120 includes a small embedded processing terminal for the sensing module 110 Information preprocessing and personnel dead reckoning; the information transmission module 130 is a 433MHz long-wave communication for information transmission with the navigation and positioning server end 200; the local display module 140 is a small LCD display screen for indicating Environmental maps and personnel location information;
所述导航定位服务器端200主要用于多基多模传感器信息的高层融合和实时地图生成，进一步的，提取人员位置和移动方向信息，并根据结构化建筑的几何特征，提取地标特征信息。所述导航定位服务器端与各终端设备进行信息交互，对各终端设备所生成的位置和航向信息进行监督校核，实现多基多模组网导航定位，提高室内人员导航定位精度。导航定位服务器端200具体包括信息传输模块210、高性能信息处理平台220和室内地图数据库230，其中，所述信息传输模块210用于保持与多个终端设备之间的通信；所述高性能信息处理平台220是一台高性能计算机，用于根据终端设备信息实时创建地图，并为各终端设备提供导航服务，同时为指挥监控端300提供访问接口；所述室内地图数据库230用于实时保存和更新室内地图数据；The navigation and positioning server 200 is mainly used for high-level fusion of multi-base and multi-mode sensor information and real-time map generation. Further, it extracts personnel location and moving direction information, and extracts landmark feature information according to geometric features of structured buildings. The navigation and positioning server performs information interaction with each terminal device, supervises and checks the position and heading information generated by each terminal device, realizes multi-base multi-module network navigation and positioning, and improves indoor personnel navigation and positioning accuracy. The navigation and positioning server 200 specifically includes an information transmission module 210, a high-performance information processing platform 220, and an indoor map database 230, wherein the information transmission module 210 is used to maintain communication with multiple terminal devices; the high-performance information The processing platform 220 is a high-performance computer, which is used to create a map in real time according to the information of the terminal equipment, and provides navigation services for each terminal equipment, and provides an access interface for the command and monitoring terminal 300; the indoor map database 230 is used for real-time storage and Update indoor map data;
所述指挥监控端300为通过Internet与导航定位服务器端相连的远程计算机，用于从导航定位服务器端获取室内环境状况和人员位置信息，为指挥管理决策提供必要信息，同时也可以根据实时状况下发指挥命令至各终端设备。The command and monitoring terminal 300 is a remote computer connected to the navigation and positioning server through the Internet, and is used to obtain indoor environmental conditions and personnel location information from the navigation and positioning server to provide necessary information for command and management decisions. Send commands to each terminal device.
实施例2：Example 2:
如图1所述，一种多基多模组网融合室内人员导航定位系统包括：导航定位服务器端200、指挥监控端300和多个终端设备100；As shown in FIG. 1 , a multi-base multi-module network fusion indoor personnel navigation and positioning system includes: a navigation and positioning server terminal 200, a command and monitoring terminal 300, and a plurality of terminal devices 100;
所述终端设备100主要用于人员运动状态检测和实时红外图像、UWB成像以及激光扫描二维图像的捕获和处理，以及通过信息处理模块具有的计算能力进行实时位置、姿态和方位的解算，并在本地显示模块上展示室内地图和航迹信息。终端设备100具体包括传感模块110、信息处理模块120、信息传输模块130和本地显示模块140，其中：所述传感模块110包括IMU惯性测量单元111、IR红外图像传感器112、LA激光扫描测距仪113和UWB超宽带雷达114，所述IMU惯性测量单元111用于获取人员运动时的角速度、加速度信息以及当地磁场信息，所述IR红外图像传感器112用于获取室内红外图像信息，所述LA激光扫描测距仪113用于获取二维平面距离信息，所述UWB超宽带雷达114用于获取室内雷达成像信息；所述信息处理模块120包括小型嵌入式处理终端，用于传感模块110信息的预处理和人员航迹推算；所述信息传输模块130为3G移动网络，用于与导航定位服务器端200的信息传输；所述本地显示模块140为一块小型LCD显示屏，用于指示环境地图和人员位置信息；The terminal device 100 is mainly used for the detection of people's movement status and the capture and processing of real-time infrared images, UWB imaging, and laser scanning two-dimensional images, as well as the calculation of real-time position, attitude and orientation through the computing power of the information processing module. And display the indoor map and track information on the local display module. The terminal device 100 specifically includes a sensing module 110, an information processing module 120, an information transmission module 130, and a local display module 140, wherein: the sensing module 110 includes an IMU inertial measurement unit 111, an IR infrared image sensor 112, a LA laser scanning Distance meter 113 and UWB ultra-wideband radar 114, described IMU inertial measurement unit 111 is used for obtaining angular velocity, acceleration information and local magnetic field information when people move, and described IR infrared image sensor 112 is used for obtaining indoor infrared image information, described The LA laser scanning rangefinder 113 is used to obtain two-dimensional plane distance information, and the UWB ultra-wideband radar 114 is used to obtain indoor radar imaging information; the information processing module 120 includes a small embedded processing terminal for the sensing module 110 Information preprocessing and personnel dead reckoning; the information transmission module 130 is a 3G mobile network for information transmission with the navigation and positioning server end 200; the local display module 140 is a small LCD display screen for indicating the environment map and personnel location information;
所述导航定位服务器端200主要用于多基多模传感器信息的高层融合和实时地图生成，进一步的，提取人员位置和移动方向信息，并根据结构化建筑的几何特征，提取地标特征信息。所述导航定位服务器端与各终端设备进行信息交互，对各终端设备所生成的位置和航向信息进行监督校核，实现多基多模组网导航定位，提高室内人员导航定位精度。导航定位服务器端200具体包括信息传输模块210、高性能信息处理平台220和室内地图数据库230，其中，所述信息传输模块210用于保持与多个终端设备之间的通信；所述高性能信息处理平台220是一台高性能计算机，用于根据终端设备信息实时创建地图，并为各终端设备提供导航服务，同时为指挥监控端300提供访问接口；所述室内地图数据库230用于实时保存和更新室内地图数据；The navigation and positioning server 200 is mainly used for high-level fusion of multi-base and multi-mode sensor information and real-time map generation. Further, it extracts personnel location and moving direction information, and extracts landmark feature information according to geometric features of structured buildings. The navigation and positioning server performs information interaction with each terminal device, supervises and checks the position and heading information generated by each terminal device, realizes multi-base multi-module network navigation and positioning, and improves indoor personnel navigation and positioning accuracy. The navigation and positioning server 200 specifically includes an information transmission module 210, a high-performance information processing platform 220, and an indoor map database 230, wherein the information transmission module 210 is used to maintain communication with multiple terminal devices; the high-performance information The processing platform 220 is a high-performance computer, which is used to create a map in real time according to the information of the terminal equipment, and provides navigation services for each terminal equipment, and provides an access interface for the command and monitoring terminal 300; the indoor map database 230 is used for real-time storage and Update indoor map data;
所述指挥监控端300为通过无线局域网与导航定位服务器端相连的平板电脑，用于从导航定位服务器端获取室内环境状况和人员位置信息，为指挥管理决策提供必要信息，同时也可以根据实时状况下发指挥命令至各终端设备。The command and monitoring terminal 300 is a tablet computer connected to the navigation and positioning server through a wireless local area network, and is used to obtain indoor environmental conditions and personnel location information from the navigation and positioning server, so as to provide necessary information for command and management decision-making. Issue command commands to each terminal device.
实施例3：Example 3:
如图1所述，一种多基多模组网融合室内人员导航定位系统包括：导航定位服务器端200、指挥监控端300和多个终端设备100；As shown in FIG. 1 , a multi-base multi-module network fusion indoor personnel navigation and positioning system includes: a navigation and positioning server terminal 200, a command and monitoring terminal 300, and a plurality of terminal devices 100;
所述终端设备100主要用于人员运动状态检测和实时红外图像、UWB成像以及激光扫描二维图像的捕获和处理，以及通过信息处理模块具有的计算能力进行实时位置、姿态和方位的解算，并在本地显示模块上展示室内地图和航迹信息。终端设备100具体包括传感模块110、信息处理模块120、信息传输模块130和本地显示模块140，其中：所述传感模块110包括IMU惯性测量单元111、IR红外图像传感器112、LA激光扫描测距仪113和UWB超宽带雷达114，所述IMU惯性测量单元111用于获取人员运动时的角速度、加速度信息以及当地磁场信息，所述IR红外图像传感器112用于获取室内红外图像信息，所述LA激光扫描测距仪113用于获取二维平面距离信息，所述UWB超宽带雷达114用于获取室内雷达成像信息；所述信息处理模块120包括小型嵌入式处理终端，用于传感模块110信息的预处理和人员航迹推算；所述信息传输模块130为4G移动网络，用于与导航定位服务器端200的信息传输；所述本地显示模块140为一块小型LCD显示屏，用于指示环境地图和人员位置信息；The terminal device 100 is mainly used for the detection of people's movement status and the capture and processing of real-time infrared images, UWB imaging, and laser scanning two-dimensional images, as well as the calculation of real-time position, attitude and orientation through the computing power of the information processing module. And display the indoor map and track information on the local display module. The terminal device 100 specifically includes a sensing module 110, an information processing module 120, an information transmission module 130, and a local display module 140, wherein: the sensing module 110 includes an IMU inertial measurement unit 111, an IR infrared image sensor 112, a LA laser scanning Distance meter 113 and UWB ultra-wideband radar 114, described IMU inertial measurement unit 111 is used for obtaining angular velocity, acceleration information and local magnetic field information when people move, and described IR infrared image sensor 112 is used for obtaining indoor infrared image information, described The LA laser scanning rangefinder 113 is used to obtain two-dimensional plane distance information, and the UWB ultra-wideband radar 114 is used to obtain indoor radar imaging information; the information processing module 120 includes a small embedded processing terminal for the sensing module 110 Information preprocessing and personnel dead reckoning; the information transmission module 130 is a 4G mobile network, used for information transmission with the navigation and positioning server end 200; the local display module 140 is a small LCD display screen, used to indicate the environment map and personnel location information;
所述导航定位服务器端200主要用于多基多模传感器信息的高层融合和实时地图生成，进一步的，提取人员位置和移动方向信息，并根据结构化建筑的几何特征，提取地标特征信息。所述导航定位服务器端与各终端设备进行信息交互，对各终端设备所生成的位置和航向信息进行监督校核，实现多基多模组网导航定位，提高室内人员导航定位精度。导航定位服务器端200具体包括信息传输模块210、高性能信息处理平台220和室内地图数据库230，其中，所述信息传输模块210用于保持与多个终端设备之间的通信；所述高性能信息处理平台220是一台高性能计算机，用于根据终端设备信息实时创建地图，并为各终端设备提供导航服务，同时为指挥监控端300提供访问接口；所述室内地图数据库230用于实时保存和更新室内地图数据；The navigation and positioning server 200 is mainly used for high-level fusion of multi-base and multi-mode sensor information and real-time map generation. Further, it extracts personnel location and moving direction information, and extracts landmark feature information according to geometric features of structured buildings. The navigation and positioning server performs information interaction with each terminal device, supervises and checks the position and heading information generated by each terminal device, realizes multi-base multi-module network navigation and positioning, and improves indoor personnel navigation and positioning accuracy. The navigation and positioning server 200 specifically includes an information transmission module 210, a high-performance information processing platform 220, and an indoor map database 230, wherein the information transmission module 210 is used to maintain communication with multiple terminal devices; the high-performance information The processing platform 220 is a high-performance computer, which is used to create a map in real time according to the information of the terminal equipment, and provides navigation services for each terminal equipment, and provides an access interface for the command and monitoring terminal 300; the indoor map database 230 is used for real-time storage and Update indoor map data;
所述指挥监控端300为通过无线局域网与导航定位服务器端相连的智能手机，用于从导航定位服务器端获取室内环境状况和人员位置信息，为指挥管理决策提供必要信息，同时也可以根据实时状况下发指挥命令至各终端设备。The command and monitoring terminal 300 is a smart phone connected to the navigation and positioning server through a wireless local area network, and is used to obtain indoor environmental conditions and personnel location information from the navigation and positioning server to provide necessary information for command and management decisions. Issue command commands to each terminal device.
最后应说明的是：以上实施例仅用以说明本实用新型的技术方案，而非对其限制；尽管参照前述实施例对本实用新型进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本实用新型实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present utility model, and are not intended to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention .
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104833354A (en) * | 2015-05-25 | 2015-08-12 | 梁步阁 | Multibasic multi-module network integration indoor personnel navigation positioning system and implementation method thereof |
| CN109186595A (en) * | 2018-10-10 | 2019-01-11 | 格物感知（深圳）科技有限公司 | A kind of indoor and outdoor combined navigation device based on STM32 |
| CN110166571A (en) * | 2018-06-08 | 2019-08-23 | 深圳勇艺达机器人有限公司 | A kind of automatic follower method and device based on mobile robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104833354A (en) * | 2015-05-25 | 2015-08-12 | 梁步阁 | Multibasic multi-module network integration indoor personnel navigation positioning system and implementation method thereof |
| CN110166571A (en) * | 2018-06-08 | 2019-08-23 | 深圳勇艺达机器人有限公司 | A kind of automatic follower method and device based on mobile robot |
| CN109186595A (en) * | 2018-10-10 | 2019-01-11 | 格物感知（深圳）科技有限公司 | A kind of indoor and outdoor combined navigation device based on STM32 |
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