CN206696702U - Robot automated navigation system - Google Patents
Robot automated navigation system Download PDFInfo
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- CN206696702U CN206696702U CN201720211821.9U CN201720211821U CN206696702U CN 206696702 U CN206696702 U CN 206696702U CN 201720211821 U CN201720211821 U CN 201720211821U CN 206696702 U CN206696702 U CN 206696702U
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Abstract
The utility model provides a kind of robot automated navigation system, including the remote control table and independent navigation module being in communication with each other, independent navigation module are arranged in robot；Wherein independent navigation module includes：Map constructing unit, map constructing unit establish environmental map by obtaining the data of laser radar sensor and odometer；Make bit location by oneself, make bit location by oneself and matched using the heat transfer agent of the distance measuring sensors such as laser with environmental map, obtain the actual position information of robot in the environment；Path planning unit, path planning unit receives the observation data of the laser sensor after making bit location by oneself, and updates map, while the target location set according to the position of current robot and remote control table carries out path planning；Motion control unit, the path that motion control unit is planned according to path planning unit carry out path trace.The utility model has：Man-machine work, the hard work being more efficiently completed under complex environment can preferably be coordinated.
Description
Technical field
Remote operating and monitoring technology field are the utility model is related to, especially a kind of robot of mobile robot is led automatically
Boat system.
Background technology
With developing rapidly for mobile robot, seem outstanding for the independent navigation and remote control for realizing mobile robot
For necessity.For the hard work under complex environment, staff's manual manipulation mobile robot is relied solely on,
Obviously not only degree-of-difficulty factor is very big but also efficiency is low.If build the channel radio between remote control table and mobile robot
Communication network, it is possible in the working condition of the real-time supervisory-controlled robot of remote port, and telerobot.Moved if realized
The independent navigation of mobile robot, it is possible to liberate the manipulation of staff, it is only necessary to navigation target position is set in remote port, moved
Mobile robot can be with independent navigation to target point.Man-machine work can not only so be coordinated and complete complex task, and can letter
Change workflow and improve operating efficiency.
In open source literature, " Peng is surely, former stalwart, Zhou Qingrui, the research and realization of a kind of remote operating mobile robot, science skill
Describe a kind of teleoperation of mobile robot in art and engineering, in August, 2005 the 16th phase of volume 5 ", in remote port and
Wireless communication networks are established between mobile robot, remote port assigns control instruction remote operating mobile robot, while aobvious in real time
Show ambient conditions and robotary information.
Come with some shortcomings in the displosure document, the remote operating of mobile robot is to assign control instruction by staff
Realize, and mobile robot can not realize independent navigation.And in the utility model, mobile robot can establish environment
Map is simultaneously shown in remote control table, it is only necessary to initial position and target position are set on the environmental map of remote control table
Put, mobile robot can greatly improve operating efficiency with independent navigation to target point.The utility model is for movement simultaneously
The remote operating of robot and monitoring are that it is directly perceived convenient to compare by being changed on environmental map, setting and realize.
In a word, with the development of mobile robot, the function of independent navigation and remote control is completed for mobile robot
Complex work has great help.Currently without the explanation and report found with the utility model similar techniques, also not yet receive
Collect domestic and international similar data.
Utility model content
For in the prior art the defects of, the utility model purpose is that man-machine work can be coordinated by providing one kind, higher
Complete the robot automated navigation system of the hard work under complex environment in effect ground.
In order to solve the above technical problems, the utility model provides a kind of robot automated navigation system, including it is in communication with each other
Remote control table and independent navigation module, independent navigation module is arranged in robot；Wherein independent navigation module includes：
Map constructing unit, map constructing unit establish environmental map by obtaining the data of laser radar sensor and odometer；
Make bit location by oneself, make bit location by oneself and matched using the heat transfer agent of the distance measuring sensors such as laser with environmental map, obtain machine
The actual position information of device people in the environment；Path planning unit, path planning unit receive swashing after making bit location by oneself
Optical sensor observes data, and updates map, while the target set according to the position of current robot and remote control table
Position carries out path planning；Motion control unit, the path that motion control unit is planned according to path planning unit carry out path
Tracking.
Preferably, motion control unit includes controller, motor and encoder.
Preferably, remote control table includes：Monitoring unit and, monitoring unit show robot structure environmental map with
And the information of real-time display robot；Operating unit, remote operating unit set robot original position in the environment and navigation
Target location, environmental map is modified.
Preferably, monitoring unit show robot structure environmental map and real-time display robot positional information,
Battery level information and translational speed information.
Preferably, the modification that operating unit is carried out to environmental map includes but is not limited to additions and deletions barrier.
Preferably, remote control table is in communication with each other by wireless network and independent navigation module.
Compared with prior art, the utility model has advantages below：Radio communication skill is utilized by remote control table
Art obtains the environmental map that mobile robot is established, and remote control table can be changed and set environmental map to be realized with this to moving
The remote operating of mobile robot, mobile robot have self-positioning and path planning function, can be with independent navigation to target location, together
When remote control table can also monitor the various status informations of mobile robot in real time monitoring to robot is realized with this, such as
This can preferably coordinate man-machine work, the hard work being more efficiently completed under complex environment.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, other spies of the present utility model
Sign objects and advantages will become more apparent upon.
Fig. 1 is the utility model robot automated navigation system logic function block diagram；
Fig. 2 is that the utility model robot automated navigation system remote control table and robot interact block diagram.
Embodiment
The utility model is described in detail with reference to specific embodiment.Following examples will be helpful to this area
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that to ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, some changes and improvements can also be made.
As shown in figure 1, the utility model robot automated navigation system is mainly by installed in independent navigation mobile robot
Independent navigation module 15, wireless network 20 and remote control table 30 in 10 form, wherein independent navigation module 15 mainly by
Map constructing unit 11, make bit location 12, path planning unit 13 and motion control unit 14 by oneself and form, be mainly used to receive
The order that remote control table 30 is sent indicates, completes independent navigation function and transmit the state information to remote control table
In 30.Wireless network 20 realizes the information transfer between independent navigation mobile robot 10 and remote control table 30.Remotely
Control platform 30 is mainly made up of monitoring unit 31 and remote operating unit 32, realizes the distant behaviour to independent navigation mobile robot 10
Make and monitor.
Map constructing unit 11 is independent navigation mobile robot 10 by obtaining laser radar sensor and odometer
Data establish environmental map, make bit location 12 by oneself and are carried out using heat transfer agent and the environmental map of the distance measuring sensors such as laser
Match somebody with somebody, obtain independent navigation 10 actual position information in the environment of mobile robot.Path planning unit 13 is received by making by oneself
Laser sensor observation data after bit location, and map is updated, while according to the current position of independent navigation mobile robot 10
And the target location that remote control table 30 is set carries out path planning.Motion control unit 14 includes controller, motor and volume
Code device, the path planned according to path planning unit 13 carry out path trace.
Wireless network 20 is by arranging hotspot, so as to cover wireless network.Make the He of independent navigation mobile robot 10
Enter row data communication between remote control table 30.
Monitoring unit 31 can show that the environmental map of the structure of independent navigation mobile robot 10 and real-time display are autonomous
The status informations such as positional information, battery electric quantity and the translational speed of navigator mobile robot 10.Remote operating unit 32 can be set
The original position in the environment of independent navigation mobile robot 10 and navigation target position are put, environmental map can also be repaiied
Change, additions and deletions barrier.
As shown in Fig. 2 in circumstances not known, independent navigation mobile robot 10 can be established construction unit 11 according to the map
Environmental map, the environmental map is sent to remote control table 30 by wireless network 20 and shown, for known environment,
Independent navigation mobile robot 10 is without map structuring, the environmental map preserved before the use of remote control table 30.
The modification of environmental map can be carried out in remote control table 30, such as increase and decrease barrier, when increasing a certain barrier in the environment
After hindering thing, mobile robot can not travel in the region, and now path planning unit 13 can re-start path planning, Zhi Daolu
Barrier region is not contained in footpath.After the barrier is deleted in the environment, mobile robot recovers the road before increase barrier
Footpath.Independent navigation 10 original position and navigation target in the environment of mobile robot is set in remote control table 30 afterwards
Position, such independent navigation mobile robot 10 can to make bit location 12 and path planning unit 13 by oneself according to itself,
An optimal path is planned between initial position and target location, according to the independent navigation of motion control unit 14 of itself to target
Position.Setting for speed can be carried out with remote operating in the motion process medium-long range control platform 30 of independent navigation mobile robot 10
It is fixed, it can also show that the states such as the current location information, battery electric quantity and translational speed of independent navigation mobile robot 10 are believed
Breath.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims,
This has no effect on substantive content of the present utility model.In the case where not conflicting, the spy in embodiments herein and embodiment
Sign can be arbitrarily mutually combined.
Claims (6)
1. a kind of robot automated navigation system, it is characterised in that including the remote control table being in communication with each other and independent navigation
Module, independent navigation module are arranged in robot；Wherein
Independent navigation module includes：
Map constructing unit, map constructing unit is by obtaining the data of laser radar sensor and odometer with establishing environment
Figure；
Make bit location by oneself, make bit location by oneself and matched using the heat transfer agent of the distance measuring sensors such as laser with environmental map, obtained
Obtain the actual position information of robot in the environment；
Path planning unit, path planning unit receives the observation data of the laser sensor after making bit location by oneself, and updates
Map, while the target location set according to the position of current robot and remote control table carries out path planning；
Motion control unit, the path that motion control unit is planned according to path planning unit carry out path trace.
2. robot automated navigation system according to claim 1, it is characterised in that motion control unit includes control
Device, motor and encoder.
3. robot automated navigation system according to claim 1, it is characterised in that remote control table includes：
Monitoring unit, monitoring unit show the environmental map of robot structure and the information of real-time display robot；
Operating unit, remote operating unit sets robot original position in the environment and navigation target position, to environmental map
Modify.
4. robot automated navigation system according to claim 3, it is characterised in that monitoring unit shows robot structure
Environmental map and real-time display robot positional information, battery level information and translational speed information.
5. robot automated navigation system according to claim 3, it is characterised in that operating unit is carried out to environmental map
Modification include but is not limited to additions and deletions barrier.
6. robot automated navigation system according to claim 1, it is characterised in that remote control table passes through wireless network
Network is in communication with each other with independent navigation module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211821.9U CN206696702U (en) | 2017-03-06 | 2017-03-06 | Robot automated navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720211821.9U CN206696702U (en) | 2017-03-06 | 2017-03-06 | Robot automated navigation system |
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| CN206696702U true CN206696702U (en) | 2017-12-01 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106886219A (en) * | 2017-03-06 | 2017-06-23 | 上海悦合自动化技术有限公司 | Robot automated navigation system |
| CN108873909A (en) * | 2018-07-17 | 2018-11-23 | 苏州冠卓自动化科技有限公司 | Intelligent carriage control system and operation method |
| CN108961749A (en) * | 2018-07-12 | 2018-12-07 | 南方科技大学 | A kind of intelligent transportation system and intellectual traffic control method |
| CN109144056A (en) * | 2018-08-02 | 2019-01-04 | 上海思岚科技有限公司 | The global method for self-locating and equipment of mobile robot |
| CN111829520A (en) * | 2019-04-23 | 2020-10-27 | 东方新媒体有限公司 | Indoor positioning path drawing tool |
| US11487018B2 (en) * | 2018-05-10 | 2022-11-01 | Here Global B.V. | Algorithm and architecture for map-matching streaming probe data |
-
2017
- 2017-03-06 CN CN201720211821.9U patent/CN206696702U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106886219A (en) * | 2017-03-06 | 2017-06-23 | 上海悦合自动化技术有限公司 | Robot automated navigation system |
| US11487018B2 (en) * | 2018-05-10 | 2022-11-01 | Here Global B.V. | Algorithm and architecture for map-matching streaming probe data |
| CN108961749A (en) * | 2018-07-12 | 2018-12-07 | 南方科技大学 | A kind of intelligent transportation system and intellectual traffic control method |
| CN108873909A (en) * | 2018-07-17 | 2018-11-23 | 苏州冠卓自动化科技有限公司 | Intelligent carriage control system and operation method |
| CN108873909B (en) * | 2018-07-17 | 2021-10-26 | 苏州冠卓自动化科技有限公司 | Intelligent trolley control system and operation method |
| CN109144056A (en) * | 2018-08-02 | 2019-01-04 | 上海思岚科技有限公司 | The global method for self-locating and equipment of mobile robot |
| CN109144056B (en) * | 2018-08-02 | 2021-07-06 | 上海思岚科技有限公司 | Global self-positioning method and device for mobile robot |
| CN111829520A (en) * | 2019-04-23 | 2020-10-27 | 东方新媒体有限公司 | Indoor positioning path drawing tool |
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