CN206946313U - A kind of open automation navigation system based on robot - Google Patents
A kind of open automation navigation system based on robot Download PDFInfo
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- CN206946313U CN206946313U CN201720830744.5U CN201720830744U CN206946313U CN 206946313 U CN206946313 U CN 206946313U CN 201720830744 U CN201720830744 U CN 201720830744U CN 206946313 U CN206946313 U CN 206946313U
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Abstract
The utility model discloses a kind of open automation navigation system based on robot, including sensor, server and controller, wherein the scene partitioning of navigation is general navigation area, precision navigation area and main path area by server, in general navigation area, controller control machine people carries out automation navigation using navigation mode is automated；Line walking navigation is performed in precision navigation area；In main path area, passage path end points is navigated based on path network using Dijkstra's algorithm.Realize the human intervention to path planning so that navigation is accurate controllable, more efficient.Robot self-navigation and accurate line walking positioning combination are realized the transition of general navigation area or main path area to precision navigation area by the utility model using buffer strip.The width of buffer bar is gradually decrease to 0.5~1cm by 5~10cm, and the length of buffer bar effectively connects the positioning method of different accuracy between 20cm~100cm, realizes the applicability transition of positioning precision, realizes smoothly navigation effect.
Description
Technical field
The utility model is related to automation navigation system technical field, and in particular to it is a kind of based on robot it is open from
Dynamicization navigation system.
Background technology
At present, the navigation mode of conventional automated navigation system has：
1, use is infrared, and laser or CCD line walking modes realize navigation；
2, realized and navigated using location fit shortest path planning；Wherein, it is described be positioned as based on laser radar or CCD into
The SLAM positioning of picture, the architecture based on wireless base station are determined using gyroscope/accelerometer and code-disc based on mileage
Position.Navigation system using line walking mode is relatively simple, and mode of navigating is fixed route, therefore using the navigation mode of line walking
System can not realize autonomous path planning, have use limitation；
Using the navigation system of location fit shortest path planning, human intervention degree is too low during path planning,
Planning to path has uncertainty, and system is not particularly suited for the actual use scene such as hospital, logistics service.
Utility model content
In view of this, the utility model provides a kind of open automation navigation system based on robot, utilizes general
Navigational environment is divided into precision navigation area and normal navigation area, realizes the automation navigation work(in the case where user intervenes part path
Can, and it is different according to navigation area, realize different positioning precisions.
The utility model is achieved through the following technical solutions, and system includes server, sensor and controller；
Server is used to set general navigation area, precision navigation area, precision navigation area entrance, the outlet of precision navigation area, master
Datapath section and navigation terminal, and by the data transfer of setting to controller；Demarcation has two or more in wherein general navigation area
Path end points；Each path end points only have path between path end points adjacent thereto；Path between each path end points is formed
Path network；
Sensor is used to gather the real time data of robot and environment and real time data is sent into controller；
Controller includes being automatically positioned unit, is accurately positioned unit and virtual tracking unit；
The robot and the real time data of environment that the data and sensor that controller is provided based on server are sent, identification
Robot is in general navigation area, precision navigation area or main path area, is carried out not according to different recognition result control machine people
With the navigation of mode：
When robot is in general navigation area, unit unlatching is automatically positioned, unit is automatically positioned and is used for control machine people
Automation navigation is carried out using navigation mode is automated；
When robot is in precision navigation area, unit unlatching is accurately positioned, unit is accurately positioned and is used for control machine people
Navigated using line walking navigation mode；
When robot is in main path area, virtual tracking unit is opened, and virtual tracking unit is based on path network, is utilized
Dijkstra's algorithm, the path between main path area's entrance and the outlet of main path area is planned, obtains main path and control machine
People moves along main path.
Wherein, there are buffer bar and line walking bar in precision navigation area；Buffer bar connection precision navigation area's entrance and line walking
Bar starting point, line walking bar terminal export for precision navigation area；From precision navigation area entrance to line walking bar starting point, the width of buffer bar by
5~10cm is gradually decrease to 0.5~1cm, and the length of buffer bar is between 20cm~100cm.
It is preferred that system also includes processor of single chip computer, in precision navigation area, processor of single chip computer performs accurate line walking and appointed
Business, controller navigation feature temporary suspension or dormancy；In main path area and general navigation area, processor of single chip computer is to sensor
Data just handle and the data after processing are sent into controller.
It is preferred that controller also includes security control unit, be responsible for obtaining the orientation of robot and nearest barrier with away from
From when robot is less than given threshold with obstacle distance, control machine people is slowed down or pause movement.
Further, controller also includes clock kernel unit, and clock kernel unit issue assigned frequency excites message,
Controller often receive once excite message after be waken up once, and perform a path planning.
It is preferred that pass through communication between processor of single chip computer and controller and between controller and server
Connection.
It is preferred that controller includes interface unit, interface unit includes input connectivity port and control connectivity port, defeated
Enter connectivity port connection controller and server, control connectivity port connection controller and processor of single chip computer.
It is preferred that system also includes robot peripheral hardware, sensor and processor of single chip computer are fixed on robot peripheral hardware.
Beneficial effect：
1. the open automation navigation system described in the utility model based on robot, the scene of navigation is defined as
General navigation area, precision navigation area and main path area, Dijkstra's algorithm is utilized in main path area based on path network, is obtained
The path end points nearest apart from robot current location and the path between the closest path end points of terminal end points；It is logical
Cross human intervention of the path end points realization to path planning so that navigation is accurate controllable, more efficient.
2. the open automation navigation system described in the utility model based on robot, by robot self-navigation and
Accurate line walking positioning combination, the transition of general navigation area or main path area to precision navigation area is realized using buffer strip.Buffer bar
Width 0.5~1cm is gradually decrease to by 5~10cm, the length of buffer bar is between 20cm~100cm, by different accuracy
Positioning method effectively connect, realize the applicability transition of positioning precision, realize smoothly navigation effect.
3. the open automation navigation system described in the utility model based on robot, by robot self-navigation and
Accurate line walking positioning combination, the positioning precision that 10cm~1mm is not waited is realized, suitable for different scene demands.
4. the open automation navigation system described in the utility model based on robot, in precision navigation area, by list
The accurate line walking task of piece machine computing device, controller navigation feature temporary suspension or dormancy, have saved system energy consumption, have reduced
The calculated load of controller；In main path area and general navigation area, processor of single chip computer to the data of sensor just handle,
Communicated using communication with controller, based on this, controller can be not interposing at robot interior, so as to reduce machine
Device people's weight, and extend the cruising time of robot.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of Tthe utility model system.
Fig. 2 is Tthe utility model system hardware logic structure schematic diagram, wherein：
2.1 be controller；
2.2 be processor of single chip computer；
2.3~2.N sensor devices；
Fig. 3 is controller schematic internal view, wherein：
3.1 be SLAM positioning nodes；
3.2 it is external interface node；
3.3 be the data fusion node of system；
3.4 be the PID control node of system；
3.5 be the navigation path planning node of system；
3.6 be the path planning node of system；
3.7 are accurately positioned node for the CCD of system；
3.0.1 uploaded for single-chip microcomputer, each hardware gathered data encoded with specified format；
3.0.2 it is the data flow and map datum needed for SLAM positioning；
3.0.3 the current location estimated data being calculated for positioning node；
3.0.4 the current location estimated data to be obtained after multi-data fusion；
3.0.5 the free routing data obtained for system using path planning algorithms such as A*；
3.0.6 the path locus data obtained for system using shortest route-planning algorithm between node；
3.0.7 the tire control data exported for system after PID arithmetic to external interface node；
3.0.8 the final coded command data exported for external interface node to single-chip microcomputer；
3.0.9 it is the system precise position data being calculated by CCD and fixed lines.
Fig. 4 is system overall navigation process schematic, wherein：
4.1 be navigation starting point；
4.2 be navigation terminal；
4.3 be virtual route starting point；
4.4 be virtual route terminal；
4.5 and 4.6 be the path of A* algorithmic rules；
4.7 be abandoned path and end points after shortest path first calculates；
4.8 be barrier.
Fig. 5 be system mechanical structure schematic diagram and each module position distribution, wherein：
5.1 be indicator lamp；
5.2 be laser radar used in SLAM or depth of field CCD；
5.3 be controller；
5.4 be processor of single chip computer；
5.5 be driving wheel；
5.6 be universal wheel；
5.7 be ultrasonic wave obstacle sensor；
5.8 be that linear CCD/laser is accurately positioned unit.
Fig. 6 is schematic diagram of the robot in SLAM navigation and the switching of precision navigation state, wherein：
6.1 be precision navigation area；
6.2 be the precise motion path of robot；
6.3 buffer strip between path planning and exact path；
6.4 be the path that robot is positioned based on SLAM；
6.5 robot to be moved under SLAM paths.
Fig. 7 is the controller schematic diagram of open automation navigation system of the utility model based on robot.
Embodiment
With reference to the accompanying drawings and examples, the utility model is described in detail.
The utility model provides a kind of open automation navigation system based on robot, and system is formed such as Fig. 1 institutes
Show, system includes robot peripheral hardware, sensor, processor of single chip computer, controller and server；System hardware logical construction is illustrated
Figure is as shown in Fig. 2 wherein, 2.1 be controller, and 2.2 be processor of single chip computer, and 2.3~2.N is sensor device.
The part that system must include is server, sensor and controller：
Server is used to set general navigation area, precision navigation area, precision navigation area entrance, the outlet of precision navigation area, master
Datapath section and navigation terminal, and by the data transfer of setting to controller；Demarcation has two or more in wherein general navigation area
Path end points；Each path end points only have path between path end points adjacent thereto；Path between each path end points is formed
Path network；
Buffer bar and line walking bar are provided with precision navigation area；Buffer bar connection precision navigation area's entrance rises with line walking bar
Point, line walking bar terminal export for precision navigation area；From precision navigation area entrance to line walking bar starting point, the width of buffer bar by 5~
10cm is gradually decrease to 0.5~1cm, and the length of buffer bar is between 20cm~100cm；
Sensor is used to gather the real time data of robot and environment and real time data is sent into controller；Wherein machine
The real time data of people and environment include robot self-position estimated data, robot speed's data and surrounding terrain data and
The range data of robot and barrier.
Controller includes being automatically positioned unit, is accurately positioned unit and virtual tracking unit；
The data and robot and the real time data of environment that controller is provided based on server, identification robot are in general
Navigation area, precision navigation area or main path area, the navigation of different modes is carried out according to different recognition result control machine people：
When robot is in general navigation area, unit unlatching is automatically positioned, unit is automatically positioned and is used for control machine people
Automation navigation is carried out using navigation mode is automated；
When robot is in precision navigation area, unit unlatching is accurately positioned, unit is accurately positioned and is used for control machine people
Navigated using line walking navigation mode；
When robot is in main path area, virtual tracking unit is opened, and virtual tracking unit is based on path network, is utilized
Dijkstra's algorithm, the path between main path area's entrance and the outlet of main path area is planned, obtains main path and control machine
People moves along main path.
Preferably, system also includes processor of single chip computer, and in main path area and general navigation area, the data of sensor are entered
Row is just handled, and is connected between processor of single chip computer and controller and by communication between controller and server.
Based on this, controller can be not interposing at robot interior, so as to reduce robot weight, and extend the cruising time of robot；
In precision navigation area, accurate line walking task, controller navigation feature temporary suspension or dormancy are performed by processor of single chip computer, saved
System energy consumption, reduce the calculated load of controller.
Controller schematic diagram as shown in fig. 7, controller also includes interface unit, interface unit include input connectivity port with
And control connectivity port, input connectivity port connection controller and server, control connectivity port connect controller and single-chip microcomputer
Processor；
It is preferred that controller also includes security control unit, be responsible for obtaining the orientation of robot and nearest barrier with away from
From when robot is less than given threshold with obstacle distance, control machine people is slowed down or pause movement；When controller also includes
Clock kernel unit, clock kernel unit issue assigned frequency excite message, and controller once excites quilt after message often receiving
Wake up once, and perform once-through operation, carry out path planning.The each unit of controller independent operating in a manner of program node.
Specific embodiment：
The implementation of navigation issues target point by server and association requests are excited.As shown in Figure 3 and Figure 4, server
Current map and fixed obstacle 4.8 and the data of all main paths 4.7 and 4.9 are issued to controller.Server connects via outside
Mouth node 3.2 sends the position data of target point 4.2 to controller.System is via SLAM positioning nodes 3.1 and multi-data fusion section
Point 3.3 calculates its own position data 3.0.4.It is determined that after aims of systems point and self-position data, software systems are opened
The calculating of path planning node 3.5 and the nearest end points of main path 4.7 and 4.9 in navigating robot position are opened, and using paths such as A*
Planning algorithm planning navigating robot moves to the route 4.5 of trunk roads end points.Simultaneously path planning node 3.6 is opened to select most
Excellent trunk path 4.9.
Controller 2.1 is the mainboard based on high arithmetic speed processor, and it is in the nature industrial computer hardware.Controller uses base
In the ROS software kits of linux system, multiple nodes can be run, installation site is as shown in Fig. 5 5.3.
Processor of single chip computer 2.2 passes through I/O port or 2.3~2.N of sensor device specified protocols and each sensor device
Communicated between 2.3~2.N, installation site is as shown in Fig. 5 5.4.After 2.3~2.N of sensor device obtains data, use
Each item data that the internal processes of processor of single chip computer 2.2 upload to 2.3~2.N of sensor device just handle, after processing
Data be uploaded to controller 2.1.In precision navigation area, controller pause path planning function, robot is handled by single-chip microcomputer
Device coordinates the motion for being accurately positioned unit realization along high light reflectivity bar.
In main path area, mulitpath data 3.0.5 and 3.0.6 is sent by respective nodes 3.5 with 3.6 with multiple spot coordinate format
Enter PID control node 3.4；PID control node calls SLAM positioning 3.1 to calculate its own position with multi-data fusion node 3.3
Put data 3.0.4.Via its internal pid algorithm computing, can finally be moved to the output of outside interface node 3.2 along specified path
Optimal tire drive scheme data, the data are transfused to single-chip microcomputer, and single-chip microcomputer passes through formula (1)：
The speed is converted into the speed of revolver and right wheel, single-chip microcomputer deduces algorithm by flight path and calculates acquisition current machine
The position according to a preliminary estimate of people, the estimated location are uploaded to controller.
Data fusion node in controller obtains the estimated location, and Kalman filtering is done to the position, defeated after filtering
Go out to SLAM positioning nodes, SLAM positioning nodes are according to estimated position data, surrounding terrain data and surrounding terrain data institute
The part of corresponding Reference Map, is modified so that the corresponding Reference Map of surrounding terrain data to estimated position data
Part matches.
Virtual tracking unit in controller is based on path network, and using Dijkstra's algorithm, planning main path area enters
Path between mouth and the outlet of main path area, obtains main path and control machine people moves along main path.
Navigation system described in the utility model uses SLAM positioning methods as shown in figure 5, being automatically positioned unit, required
Sensor device includes ultrasonic avoidance sensor 5.1, laser radar/depth of field ccd sensor 5.2, tire code-disc and acceleration
Sensor.These sensor devices are connected by some cables with processor of single chip computer 2.2.Processor of single chip computer by USB,
Serial ports and network interface bus are connected with controller 2.1, and carry out the communication based on bus protocol.Using laser radar/CCD's
SLAM algorithms positioning precision is 5~10cm.
In actual scene, robot realizes in designated area specifies along certain that programme path is accurately run and error is in millimeter
Rank.As shown in Figure 6, it is necessary to which the region 6.1 accurately run is some pockets in global map.Robot is in the region
Outside positioned using SLAM modes, and using the foregoing description automation navigation mode realize overall path planning.Work as robot
Attempt to enter accurate operation area and realize along path planning navigate when, robot automates navigation close to buffer strip 6.3 first,
And open and be accurately positioned unit 5.8.Buffer strip and precise motion path 6.2 are the high light reflectivity bar for being affixed on designated area in advance.
Buffer area 6.3 between zone boundary to guidance path width be constantly decreased to 0.5~1cm band, bar by 5~10cm
Belt length is more than 20cm, less than 100cm.It is accurately positioned unit and identifies the band, while controller pause path planning function, machine
People is accurately positioned motion of the unit realization along high light reflectivity bar with processor of single chip computer.Because the width of buffer strip constantly subtracts
It is small, therefore the position deviation of Robot its path lateral also constantly reduces, and finally realizes the precision navigation along thin path 6.2.
When robot departs from precision navigation area, positioned again using SLAM, when robot is in general navigation area, from
Dynamic positioning unit is opened, and is automatically positioned unit and is carried out automation navigation using navigation mode is automated for control machine people；When
When robot is in main path area, virtual tracking unit is opened, and virtual tracking unit is based on path network, utilizes Di Jiesitela
Algorithm, the path between main path area's entrance and the outlet of main path area is planned, obtain main path and control machine people along main path
Motion.
In summary, preferred embodiment of the present utility model is these are only, is not intended to limit of the present utility model
Protection domain.All any modification, equivalent substitution and improvements within the spirit and principles of the utility model, made etc., all should be wrapped
It is contained within the scope of protection of the utility model.
Claims (8)
- A kind of 1. open automation navigation system based on robot, it is characterised in that system include server, sensor and Controller；Server is used to set general navigation area, precision navigation area, precision navigation area entrance, the outlet of precision navigation area, main path Area and navigation terminal, and by the data transfer of setting to controller；Demarcation has two or more path in wherein general navigation area End points；Each path end points only have path between path end points adjacent thereto；Path between each path end points forms path Network；Sensor is used to gather the real time data of robot and environment and real time data is sent into controller；Controller includes being automatically positioned unit, is accurately positioned unit and virtual tracking unit；The robot and the real time data of environment that the data and sensor that controller is provided based on server are sent, identify machine People is in general navigation area, precision navigation area or main path area, and not Tongfang is carried out according to different recognition result control machine people The navigation of formula：When robot is in general navigation area, unit unlatching is automatically positioned, unit is automatically positioned and is utilized for control machine people Automation navigation mode carries out automation navigation；When robot is in precision navigation area, unit unlatching is accurately positioned, unit is accurately positioned and is utilized for control machine people Line walking navigation mode is navigated；When robot is in main path area, virtual tracking unit is opened, and virtual tracking unit is based on path network, outstanding using enlightening Si Tela algorithms, the path between main path area's entrance and the outlet of main path area is planned, obtains main path and control machine people edge Main path moves.
- 2. a kind of open automation navigation system based on robot as claimed in claim 1, it is characterised in that accurately lead There are buffer bar and line walking bar in navigating area；Buffer bar connection precision navigation area's entrance and line walking bar starting point, line walking bar terminal are Precision navigation area exports；It is gradually decrease to from precision navigation area entrance to line walking bar starting point, the width of buffer bar by 5~10cm 0.5~1cm, the length of buffer bar is between 20cm~100cm.
- 3. a kind of open automation navigation system based on robot as claimed in claim 1, it is characterised in that system is also Including processor of single chip computer, in precision navigation area, processor of single chip computer performs accurate line walking task, and controller navigation feature is temporary transient Hang-up or dormancy；In main path area and general navigation area, processor of single chip computer carries out just processing to the data of sensor and will place Data after reason are sent to controller.
- A kind of 4. open automation navigation system based on robot as claimed in claim 1 or 2, it is characterised in that institute Stating controller also includes security control unit, is responsible for obtaining the Azimuth ＆ Range of robot and nearest barrier, when robot with When obstacle distance is less than given threshold, control machine people is slowed down or pause movement.
- A kind of 5. open automation navigation system based on robot as claimed in claim 1 or 2, it is characterised in that institute Stating controller also includes clock kernel unit, and clock kernel unit issue assigned frequency excites message, and controller receives often It is waken up once after once exciting message, and performs a path planning.
- A kind of 6. open automation navigation system based on robot as claimed in claim 3, it is characterised in that the list Connected between piece machine processor and controller and between controller and server by communication.
- A kind of 7. open automation navigation system based on robot as claimed in claim 1, it is characterised in that the control Device processed includes interface unit, and interface unit includes input connectivity port and control connectivity port, the connection control of input connectivity port Device and server processed, control connectivity port connection controller and processor of single chip computer.
- 8. a kind of open automation navigation system based on robot as claimed in claim 3, it is characterised in that system is also Including robot peripheral hardware, sensor and processor of single chip computer are fixed on robot peripheral hardware.
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| CN201720830744.5U CN206946313U (en) | 2017-07-10 | 2017-07-10 | A kind of open automation navigation system based on robot |
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| CN201720830744.5U CN206946313U (en) | 2017-07-10 | 2017-07-10 | A kind of open automation navigation system based on robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107219853A (en) * | 2017-07-10 | 2017-09-29 | 张德雨 | A kind of open automation air navigation aid and system based on robot |
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2017
- 2017-07-10 CN CN201720830744.5U patent/CN206946313U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107219853A (en) * | 2017-07-10 | 2017-09-29 | 张德雨 | A kind of open automation air navigation aid and system based on robot |
| CN107219853B (en) * | 2017-07-10 | 2023-10-20 | 张德雨 | Open type automatic navigation method and system based on robot |
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