CN207623785U - A kind of independent navigation equipment - Google Patents
A kind of independent navigation equipment Download PDFInfo
- Publication number
- CN207623785U CN207623785U CN201721889099.0U CN201721889099U CN207623785U CN 207623785 U CN207623785 U CN 207623785U CN 201721889099 U CN201721889099 U CN 201721889099U CN 207623785 U CN207623785 U CN 207623785U
- Authority
- CN
- China
- Prior art keywords
- information
- input terminal
- output end
- information output
- equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a kind of independent navigation equipment, which includes：Equipment body and driving wheel body, driving wheel body are connected with equipment body by bearing mechanical；At least one position sensor is mounted on equipment body, for generating position sensing information；At least one environment detection sensor is mounted on equipment body surface, is used for build environment heat transfer agent；Relative angle deviation sensor is mounted on driving wheel body, the relative angle information for generating driving wheel body and equipment body；First processor is used to generate routing information according to position sensing information, environmentally sensitive information and relative angle information；Drive module realizes the maintenance cost for reducing independent navigation equipment, and improve the effect of flexibility, intelligence, accuracy and the practicability applied in the scene for making the motor of driving wheel body rotate.
Description
Technical field
The utility model embodiment is related to autonomous navigation technology field more particularly to a kind of independent navigation equipment.
Background technology
Independent navigation equipment does not depend on external information, can determine relative position and travel direction residing for itself, and edge
Set guide path freely to exercise.Since independent navigation equipment has automation and the high advantage of intelligence degree, in machine
The intelligent Services industry such as device people and automatic guided vehicle has obtained more and more concerns.
Currently, independent navigation equipment mostly uses electromagnetic navigation, tape navigation, vision guided navigation or reflecting plate laser navigation etc..
Although can realize independent navigation using these air navigation aids, need to be laid with guide wire, magnetic stripe or reflection in the scene
The auxiliary tools such as plate carry out auxiliary positioning.Therefore, in the prior art, not only need to tie up independent navigation equipment itself
Shield, it is also necessary to which maintenance cost is higher to be safeguarded to guide wire, magnetic stripe or the reflecting plate etc. in scene.In addition, in scene
Route diversion or workload that path is expanded it is larger, need to expend larger man power and material.
Utility model content
The utility model provides a kind of independent navigation equipment, to reduce the maintenance cost of independent navigation equipment, improves on the scene
Flexibility, intelligence, accuracy and the practicability applied in scape.
The utility model embodiment provides a kind of independent navigation equipment, including：
Equipment body；
Wheel body, the driving wheel body is driven to be connected by bearing mechanical with the equipment body；
At least one position sensor is mounted on the equipment body, including location information output end, for generating position
Set heat transfer agent；
At least one environment detection sensor is mounted on the equipment body surface, including environmental information output end, is used for
Build environment heat transfer agent；
Relative angle deviation sensor is mounted on the driving wheel body, including relative angle information output end, is used for
Generate the relative angle information of the driving wheel body and the equipment body；
First processor, including multiple position sensing information input terminals, multiple environmental information input terminals, relative angle information
Input terminal and routing information output end, the position sensing information input terminal is electrically connected with the location information output end, described
Environmental information input terminal is electrically connected with the environmental information output end, the relative angle information input terminal and the relative angle
Information output is electrically connected, for according to the position sensing information, the environmentally sensitive information and the relative angle information
Generate routing information；
Drive module, including routing information input terminal, the routing information input terminal and routing information output end electricity
Connection, the motor rotation for driving the driving wheel body.
The utility model includes equipment body and driving wheel body by the way that independent navigation equipment is arranged, and drives wheel body and sets
Standby main body is connected by bearing mechanical, and independent navigation equipment can be made using in operational process, turned more flexiblely
The curved and methods of operation such as turn around.At least one position sensor and at least one environment detection sensor are set, without in scene
The auxiliary tools such as middle laying guide wire, magnetic stripe or reflecting plate carry out auxiliary positioning so that the independent navigation equipment is more intelligent
Change, while eliminating the cost safeguarded to guide wire, magnetic stripe or reflecting plate etc..Furthermore it is possible to by will be to autonomous
Navigation equipment itself be configured in scene route diversion or path is expanded, solve and existing independent navigation set
Standby the problem of carrying out larger workload existing for route diversion, labor intensive and material resources.Relative angle deviation sensor is arranged can
To keep equipment body and drive the consistency of wheel body, environment and the position residing for independent navigation equipment are accurately calculated, with
And the routing information of the independent navigation equipment is accurately calculated, to avoid due to driving wheel body and equipment body are there are deviation
The problem of the operating path mistake of caused independent navigation equipment.To sum up, the technical solution of the present embodiment, reduces independent navigation
The maintenance cost of equipment improves the flexibility applied in the scene, intelligence, accuracy and practicability.
Description of the drawings
Fig. 1 is a kind of mechanical structure schematic diagram for independent navigation equipment that the utility model embodiment one provides；
Fig. 2 is a kind of structural schematic diagram for independent navigation equipment that the utility model embodiment one provides；
Fig. 3 is a kind of structural schematic diagram for independent navigation equipment that the utility model embodiment two provides；
Fig. 4 is a kind of structural schematic diagram for independent navigation equipment that the utility model embodiment three provides；
Fig. 5 is a kind of flow diagram of the control method for independent navigation equipment that the utility model embodiment four provides.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than the restriction to the utility model.It further needs exist for
It is bright, it illustrates only for ease of description, in attached drawing and the relevant part of the utility model rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of mechanical structure schematic diagram for independent navigation equipment that the utility model embodiment one provides, and Fig. 2 is this
A kind of structural schematic diagram for independent navigation equipment that utility model embodiment one provides.Referring to Fig. 1, the independent navigation equipment packet
It includes：Equipment body 10 and driving wheel body 20, driving wheel body 20 are connected with equipment body 10 by bearing mechanical.Driving wheel master
Body 20 drives its operation by motor, and then driving equipment main body 10 is run.
Referring to Fig. 1 and Fig. 2, which further includes：
At least one position sensor 110 is mounted on equipment body 10, including location information output end 111, for giving birth to
At position sensing information.
At least one environment detection sensor 120 is mounted on 10 surface of equipment body, including environmental information output end 121,
For build environment heat transfer agent.
Relative angle deviation sensor 210 is mounted on driving wheel body 20, including relative angle information output end 211,
Relative angle information for generating driving wheel body 20 and equipment body 10.
First processor 140, including multiple position sensing information input terminals 141, multiple environmental information input terminals 142, phase
To angle information input terminal 143 and routing information output end 144, position sensing information input terminal 141 and location information output end
111 electrical connections, environmental information input terminal 142 is electrically connected with environmental information output end 121, relative angle information input terminal 143 and
Relative angle information output end 211 is electrically connected, for being given birth to according to position sensing information, environmentally sensitive information and relative angle information
At routing information.
Drive module 150, including routing information input terminal 151, routing information input terminal 151 and routing information output end
144 electrical connections, for making the motor of driving wheel body 20 rotate.
Wherein, position sensor 110 refers to being converted to the move angle of object and mobile mileage can be used to communicate, transmit
With the sensor of the signal form of storage.Environment detection sensor 120 refers to detecting ring to emit laser beam or ultrasonic wave
The characteristic quantities such as position, the speed of border target, and by receiver again being restored from the reflected pulse signal of environmental goals
At the sensor of electric pulse.Relative angle deviation sensor 210 refers to working out angular displacement signal or data, being converted to
It can be used to communicate, the sensor of the signal form of transimission and storage.
The course of work of the independent navigation equipment, which is that the position sensor 110 on equipment body 10 can be experienced, to be set
The position of standby main body 10 is simultaneously converted into position sensing information, output to first processor 140.At the same time, it is mounted on equipment master
The environment detection sensor 120 on 10 surface of body can be around detecting devices main body 10 ambient conditions, and be converted into environmentally sensitive
Information, output to first processor 140.Relative angle deviation sensor 210 on driving wheel body 20 can detect
The relative angle deviation of wheel body 20 and equipment body 10 is driven, and is converted into relative angle information, output to first processor
140.First processor 140 is accurate to calculate according to the position sensing information, environmentally sensitive information and relative angle information received
Go out the location of the independent navigation equipment, and the direction that should be navigated by water, to generate routing information.Routing information refers to,
The information such as angle, distance or the speed that the independent navigation equipment should move ahead.Drive module 150 is according to the routing information, control
The motor rotation of system driving wheel body 20.Wheel body 20 is driven to drive equipment body 10 to be transported according to specified route by bearing
Row.
The technical solution of the present embodiment, by be arranged independent navigation equipment include equipment body 10 and driving wheel body 20,
Driving wheel body 20 is connected with equipment body 10 by bearing mechanical, and independent navigation equipment can be made in use and operational process
In, in the case of ensureing the load capacity that independent navigation equipment has bigger, the operations side such as turned and turned around more flexiblely
Formula.At least one position sensor 110 and at least one environment detection sensor 120 are set, without being laid with guiding in the scene
The auxiliary tools such as line, magnetic stripe or reflecting plate carry out auxiliary positioning so that the independent navigation equipment is more intelligent, saves simultaneously
Cost that guide wire, magnetic stripe or reflecting plate etc. are safeguarded.Furthermore it is possible to by will be to independent navigation equipment itself
Be configured in scene route diversion or path is expanded, solve to existing independent navigation equipment carry out path change
More existing workload is larger, labor intensive and the problem of material resources.Furthermore since environment detection sensor 120 is needed to autonomous
Emit the detection informations such as laser or ultrasonic wave in environment other than navigation equipment, at least one environment detection sensor 120 is set
Mounted on 10 surface of equipment body, facilitate the information collection of environment detection sensor 120, is conducive to accurate collecting device main body 10
Environmentally sensitive information.Since in the operational process of independent navigation equipment, equipment body 10 and driving wheel body 20 may
There are certain angular deviations, if not considering the influence of the deviation, the scene of independent navigation equipment, which builds figure and operating path, to be sent out
Raw deviation.This is because position sensing information and environmentally sensitive that position sensor 110 and environment detection sensor 120 generate
Information is generated for the position of equipment body 10, and the routing information that first processor 140 generates is also for equipment body
10 generations.However the driving of drive module 150 is the motor rotation for driving wheel body 20, control is driving wheel body 20
Traffic direction.Relative angle deviation sensor 210, which is arranged, can keep equipment body and drive the consistency of wheel body, accurately
The environment residing for independent navigation equipment and position are calculated, and accurately calculates the routing information of the independent navigation equipment, to
The operating path mistake of the independent navigation equipment caused by driving wheel body 20 and equipment body 10 are there are deviation is avoided to ask
Topic.To sum up, the technical solution of the present embodiment reduces the maintenance cost of independent navigation equipment, improves and applies in the scene
Flexibility, intelligence, accuracy, stability and practicability.
It should be noted that the independent navigation equipment of the present embodiment can be automatic guided vehicle, sweeper or intelligent machine
Device people, the utility model are not restricted this.
With continued reference to Fig. 1 and Fig. 2, environment detection sensor 120 can also include：Laser radar 160 and at least one super
Sonic sensor 170.
Laser radar 160 includes long distance environment information output 161, for generating long distance environment heat transfer agent.It is super
Sonic sensor 170 includes short distance environmental information output end 171, for generating short distance environmentally sensitive information.It is arranged in this way
The accuracy detected to ambient condition information can be increased.
Optionally, by limit relative angle information threshold value can further limit independent navigation equipment turning when
Angular speed improves the stability of operation independent navigation equipment.
With continued reference to Fig. 1, optionally, laser radar 160 is mounted on the top position of equipment body 10, is conducive to laser thunder
Up to the remote ambient conditions of 160 detection independent navigation equipment.Ultrasonic sensor 170 is mounted under laser radar 160
Side is conducive to the ambient conditions for detecting the short distance of independent navigation equipment.
Embodiment two
Fig. 3 is a kind of structural schematic diagram for independent navigation equipment that the utility model embodiment two provides.Referring to Fig. 3,
On the basis of above-described embodiment, position sensor 110 can also include：Heading sensor 180, odometer sensor 190 and
Two processors 240.
Heading sensor 180 includes course angle information output 181, and the course angle for generating equipment body 10 is believed
Breath.The heading sensor 180 can detect the course heading in independent navigation equipment running process.The heading sensor
180 for example can be gyroscope.The utility model does not limit heading sensor 180, can provide course angle information
Heading sensor both is within the protection scope of the present invention.
Odometer sensor 190, including mileage information output end 191, the mileage information for generating equipment body 10.In this
Journey sensor 190 can detect the mobile mileage in independent navigation equipment running process, coordinate with heading sensor 180, energy
It is enough accurately to calculate independent navigation equipment location in the scene.The odometer sensor 190 for example can be odometer.This
Utility model does not limit odometer sensor 190, can provide the odometer sensor of mileage information in the utility model
Within protection domain.
Second processor 240 includes the first integrated input terminal 241, the second integrated input terminal 242 and integrated information output
243, the first integrated input terminal 241 is electrically connected with course angle information output 181, the second integrated input terminal 242 and mileage information
Output end 191 is electrically connected, for integrating course angle information and mileage information, generating and sending integrated pass to first processor 140
Feel information.
First processor 140 further includes：Integrated information input terminal 144.Integrated information input terminal 144 is exported with integrated information
243 electrical connection of end, for receiving integrated heat transfer agent；First processor 140 is additionally operable to according to integrated heat transfer agent, environmentally sensitive
Information and relative angle information structure scene map and generation routing information.
Technical solution provided in this embodiment, by the way that heading sensor 180 and odometer sensor 190, Ke Yizhun is arranged
Really calculate independent navigation equipment location in the scene.And technical solution provided in this embodiment, pass through setting
Second processor 240 integrates course angle information and mileage information, generates and sends integrated heat transfer agent to first processor 140,
Technical solution provided in this embodiment can carry out sub-module realization, be convenient for the debugging of each separate functional blocks, increase skill
The stability for the convenience and system operation that art scheme is implemented.
Optionally, second processor and driving processor can be integrated on a chip or circuit board, can also be divided
It erects and sets.
Embodiment three
Fig. 4 is a kind of structural schematic diagram for independent navigation equipment that the utility model embodiment three provides.Referring to Fig. 4,
On the basis of the various embodiments described above, first processor 140 further includes：Locating module 145 builds module 146, path learning module
147 and navigation module 148.
Locating module 145 includes location information input terminal 541 and location information output end 542, location information input terminal 541
It is electrically connected with location information output end 111, for generating location information according to position sensing information.
Build module 146, including it is multiple build figure environmental information input terminal 641, build figure relative angle information input terminal 642,
It builds figure positioning input terminal 644 and builds figure information output 643, build figure environmental information input terminal 641 and environmental information output end 121
Electrical connection, builds figure relative angle information input terminal 642 and is electrically connected with relative angle information output end 211, builds figure positioning input terminal
644 are electrically connected with location information output end 542, for building scene cartographic information.
Environmentally sensitive information of the module 146 using the output of environment detection sensor is built, is calculated in conjunction with locating module autonomous
The location information of navigation equipment operation utilizes instant positioning and map structuring algorithm (simultaneous localization
And mapping, slam) environment of independent navigation equipment work is scanned, scene increment is carried out in the process of running to be built
Figure.It locating module 145 and builds module 146 and can work at the same time, realize that scene increment builds figure in positioning.
Wherein, environmentally sensitive information can be the point cloud data of detection.Point cloud data refers to by scanning ambient enviroment letter
The parameter values such as specific angle, distance obtained from breath.
Path learning module 147, including scene map input terminal 741 and learning path output end 743, the input of scene map
End 741 is electrically connected with figure information output 643 is built, for generating planning path according to scene cartographic information and goal-selling place
Information.
It to be arrived according to the scene cartographic information for building the output of module 146, and according to the work requirements of independent navigation equipment
The path in the place and predetermined running that reach, the initial position in positioning planning path.It is path locus point 0 to preserve the initial position,
After so that independent navigation equipment is run certain distance on the path of predetermined running, it is path locus point 1 to preserve the position.It transports successively
Row multistage distance preserves tracing point 2,3 ... n respectively.The planning path of above-mentioned path locus point composition, that is, complete path learning rule
It draws.In practical applications, the quantity of path locus point can be rationally set according to scene cartographic information.If for example, predetermined running
Path in turning it is more, can suitably increase the quantity of path locus point.For another example, the distance in the path of predetermined running compared with
It is short, it can suitably reduce the quantity of path locus point.
Navigation module 148, including planning path input terminal 841, anchor point information input terminal 842, target point input terminal 844
With navigation information output end 843, planning path input terminal 841 is electrically connected with learning path output end 743, anchor point information input
End 842 is electrically connected with location information output end 542, and navigation information output end 843 is electrically connected with routing information input terminal 151, is used
In generation routing information.
After target point input terminal 844 is connected to operating mode order, according to planning path information, anchor point information and mesh
Pointing information, navigation module 148 carry out operating path planning according to planning path information.Then according to the operating path plan with
And environmentally sensitive information matches scene cartographic information, it carries out positioning and generating routing information in real time.
With continued reference to Fig. 4, first processor 140 can also include：Obstacle avoidance module 149, including avoidance range input terminal
943, obstacle information input terminal 941 and avoidance output end 942, obstacle information input terminal 941 and environmental information output end 121
Electrical connection, avoidance output end 942 are electrically connected with drive module, for being generated according to avoidance range preset value and environmentally sensitive information
Avoidance instructs.
Drive module 150 further includes：Avoidance information input terminal 152；Avoidance information input terminal 152 and avoidance output end 942
Electrical connection, for being slowed down according to avoidance order-driven independent navigation equipment or being stopped.Setting enables independent navigation equipment in this way
It enough avoids bumping against with barrier, improves the safety of independent navigation equipment.
Example IV
Fig. 5 is a kind of flow diagram of the control method for independent navigation equipment that the utility model embodiment four provides,
The main air navigation aid specifically comprises the following steps：
Step S1, position sensor obtains position sensing information according to equipment body shift position.
Step S2, environment detection sensor obtains environmentally sensitive information according to the ambient conditions in scene.
Step S3, relative angle deviation sensor is according to the angle for driving wheel body and equipment body in independent navigation equipment
Deviation obtains relative angle information.
Step S4, first processor builds scene map and generation according to environmentally sensitive information and relative angle information
Routing information.
Step S5, drive module makes the motor of driving wheel body rotate according to routing information.
Autonomous navigation method provided by the utility model obtains position by position sensor according to equipment body shift position
It sets heat transfer agent and environment detection sensor and environmentally sensitive information is obtained according to the ambient conditions in scene, without spreading in the scene
If the auxiliary tools such as guide wire, magnetic stripe or reflecting plate carry out auxiliary positioning so that the independent navigation equipment is more intelligent, together
When eliminate the cost safeguarded to guide wire, magnetic stripe or reflecting plate etc..Furthermore it is possible to by to be set to independent navigation
It is standby be configured in scene route diversion or path is expanded, solve and path carried out to existing independent navigation equipment
The problem of changing larger existing workload, labor intensive and material resources.Relative angle deviation sensor is according to independent navigation equipment
The angular deviation of middle driving wheel body and equipment body, obtains relative angle information, can keep equipment body and driving wheel master
The consistency of body accurately calculates environment and position residing for independent navigation equipment, and accurately calculates the independent navigation and set
Standby routing information, to avoid the operation of the independent navigation equipment caused by driving wheel body and equipment body are there are deviation
The problem of path error.To sum up, the technical solution of the present embodiment reduces the maintenance cost of independent navigation equipment, improves
Flexibility, intelligence, accuracy and the practicability applied in scene.
Based on the above technical solution, which can also include：
Heading sensor obtains course angle information according to the course angle of equipment body.
Odometer sensor obtains mileage information according to the mobile mileage of equipment body.
Second processor integrates course angle information and mileage information, generates and sends integrated sensing letter to first processor
Breath.
First processor is according to integrated heat transfer agent, position sensing information, environmentally sensitive information and relative angle information structure
It builds scene map and generates routing information.
On the basis of above-mentioned each technical solution, environment detection sensor can also include：
Laser radar obtains long distance environment heat transfer agent according to the long distance environment situation of equipment body.
Ultrasonic sensor obtains short distance environmentally sensitive information according to the short distance environmental aspect of equipment body.
On the basis of above-mentioned each technical solution, first processor further includes：
Locating module generates location information according to position sensing information.
Module is built according to position sensing information, environmentally sensitive information and relative angle information, builds scene cartographic information.
Path learning module obtains planning path information according to scene cartographic information and goal-selling place.
Navigation module is according to planning path information, anchor point information and target point information, acquisition approach information.
On the basis of above-mentioned each technical solution, which can also include：
Obstacle avoidance module obtains avoidance instruction according to avoidance range preset value and environmentally sensitive information；
Drive module is slowed down or is stopped according to avoidance order-driven independent navigation equipment.
It is obtained building module structure scene cartographic information, path learning module acquisition planning path information and navigation module
During taking routing information, environment detection sensor detects the barrier within the scope of avoidance in real time.It is when barrier and certainly leading
When the distance for equipment of navigating is less than avoidance range preset value, avoidance instruction is sent to drive module, drive module drives independent navigation
Equipment is slowed down or is stopped.
It is alternatively possible to which multiple avoidance range preset values are arranged, multistage avoidance protection is realized.For example, first can be arranged
Avoidance range preset value and the second avoidance range preset value, the first avoidance range preset value are less than the second avoidance range preset value.
When environment detection sensor detects that barrier is less than the first avoidance range preset value at a distance from independent navigation equipment, driving
Module drive independent navigation equipment stops, when environment detection sensor detects that barrier is more than at a distance from independent navigation equipment
When the first avoidance range preset value, drive module driving independent navigation equipment is resumed operation.When environment detection sensor detects
When barrier is less than the second avoidance range preset value at a distance from independent navigation equipment, drive module driving independent navigation equipment is stopped
Only, when environment detection sensor detects that barrier is more than the second avoidance range preset value at a distance from independent navigation equipment,
Drive module drives independent navigation equipment to restore the former speed of service.
Optionally, since ultrasonic sensor can only detect and generate short distance environmentally sensitive information, can be arranged super
When sonic sensor detects barrier, drive module drives independent navigation equipment to stop.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, can carry out for a person skilled in the art various bright
Aobvious variation is readjusted and is substituted without departing from the scope of protection of the utility model.Therefore, although passing through above example
The utility model is described in further detail, but the utility model is not limited only to above example, is not departing from
Can also include other more equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Right determine.
Claims (5)
1. a kind of independent navigation equipment, which is characterized in that including：
Equipment body；
Wheel body, the driving wheel body is driven to be connected by bearing mechanical with the equipment body；
At least one position sensor is mounted on the equipment body, including location information output end, is passed for generating position
Feel information；
At least one environment detection sensor is mounted on the equipment body surface, including environmental information output end, for generating
Environmentally sensitive information；
Relative angle deviation sensor is mounted on the driving wheel body, including relative angle information output end, for generating
The relative angle information of the driving wheel body and the equipment body；
First processor, including the input of multiple position sensing information input terminals, multiple environmental information input terminals, relative angle information
End and routing information output end, the position sensing information input terminal are electrically connected with the location information output end, the environment
Information input terminal is electrically connected with the environmental information output end, the relative angle information input terminal and the relative angle information
Output end is electrically connected, for being generated according to the position sensing information, the environmentally sensitive information and the relative angle information
Routing information；
Drive module, including routing information input terminal, the routing information input terminal are electrically connected with the routing information output end,
Motor rotation for driving the driving wheel body.
2. equipment according to claim 1, which is characterized in that the position sensor includes：
Heading sensor, including course angle information output, the course angle information for generating the equipment body；
Odometer sensor, including mileage information output end, the mileage information for generating the equipment body；
Second processor, including the first integrated input terminal, the second integrated input terminal and integrated information output, described first is integrated
Input terminal is electrically connected with the course angle information output, and the second integrated input terminal is electrically connected with the mileage information output end
It connects, for integrating the course angle information and the mileage information, generating and sending integrated sensing letter to the first processor
Breath；
The first processor further includes：
Integrated information input terminal is electrically connected with the integrated information output end, for receiving the integrated heat transfer agent；Described
One processor is additionally operable to build scene according to the integrated heat transfer agent, the environmentally sensitive information and the relative angle information
Map and generation routing information.
3. equipment according to claim 1, which is characterized in that the environment detection sensor includes：
Laser radar, including long distance environment information output, for generating long distance environment heat transfer agent；
At least one ultrasonic sensor, including short distance environmental information output end, for generating short distance environmentally sensitive information.
4. equipment according to claim 1, which is characterized in that the first processor further includes：
Locating module, including location information input terminal and location information output end, the location information input terminal and the position
Information output is electrically connected, for generating location information according to the position sensing information；
Build module, including it is multiple build figure environmental information input terminal, build figure relative angle information input terminal, build figure positioning input terminal
With build figure information output, the figure environmental information input terminal of building is electrically connected with the environmental information output end, described to build figure phase
Angle information input terminal is electrically connected with the relative angle information output end, the figure positioning input terminal of building is believed with the positioning
Output end electrical connection is ceased, for building scene cartographic information；
Path learning module, including scene map input terminal and learning path output end, the scene map input terminal with it is described
The electrical connection of figure information output is built, for generating planning path information according to the scene cartographic information and goal-selling place；
Navigation module, including planning path input terminal, anchor point information input terminal, target point input terminal and navigation information output
End, the planning path input terminal is electrically connected with the learning path output end, the anchor point information input terminal with it is described fixed
Position information output electrical connection, the navigation information output end is electrically connected with the routing information input terminal, described for generating
Routing information.
5. equipment according to claim 1, which is characterized in that the first processor further includes：
Obstacle avoidance module, including avoidance range input terminal, obstacle information input terminal and avoidance output end, the obstacle information are defeated
Enter end to be electrically connected with the environmental information output end, the avoidance output end is electrically connected with the drive module, is kept away for basis
Hinder range preset value and environmentally sensitive information generates avoidance instruction；
The drive module further includes：Avoidance information input terminal；
The avoidance information input terminal is electrically connected with the avoidance output end, for according to autonomous described in the avoidance order-driven
Navigation equipment is slowed down or is stopped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721889099.0U CN207623785U (en) | 2017-12-29 | 2017-12-29 | A kind of independent navigation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721889099.0U CN207623785U (en) | 2017-12-29 | 2017-12-29 | A kind of independent navigation equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207623785U true CN207623785U (en) | 2018-07-17 |
Family
ID=62830679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721889099.0U Active CN207623785U (en) | 2017-12-29 | 2017-12-29 | A kind of independent navigation equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207623785U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992055A (en) * | 2017-12-29 | 2018-05-04 | 深圳市镭神智能系统有限公司 | A kind of independent navigation equipment and autonomous navigation method |
-
2017
- 2017-12-29 CN CN201721889099.0U patent/CN207623785U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992055A (en) * | 2017-12-29 | 2018-05-04 | 深圳市镭神智能系统有限公司 | A kind of independent navigation equipment and autonomous navigation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106843223B (en) | Intelligent obstacle avoidance AGV trolley system and obstacle avoidance method | |
| CN106020208A (en) | Robot remote control method based on ROS operating system and remote control system thereof | |
| CN104914865A (en) | Transformer station inspection tour robot positioning navigation system and method | |
| CN113189977B (en) | Intelligent navigation path planning system and method for robot | |
| KR20180080498A (en) | Robot for airport and method thereof | |
| CN207037462U (en) | AGV dolly embedded control systems based on ROS | |
| CN108062111A (en) | A kind of multi-rotor unmanned aerial vehicle automatic obstacle avoiding device and barrier-avoiding method | |
| CN100402981C (en) | System for automatically leading vehicle wireless positioning, navigating and controlling | |
| CN205121338U (en) | AGV navigation based on image recognition and wireless network | |
| CN109917790A (en) | It is a kind of independently to guide vehicle and its travel control method and control device | |
| CN110750097A (en) | Indoor robot navigation system and map building, positioning and moving method | |
| CN112731922A (en) | Unmanned aerial vehicle auxiliary intelligent vehicle driving method and system based on indoor positioning | |
| CN104750115A (en) | Laser active type navigation system and method of mobile equipment | |
| CN101551250A (en) | Mobile robot landmark dynamic configuration method and device searching facing to unknown environments | |
| CN110502010A (en) | A kind of automatic navigation control method in the mobile robot room based on Bezier | |
| CN107607093A (en) | A kind of monitoring method and device of the lake dynamic storage capacity based on unmanned boat | |
| CN108458712A (en) | Unmanned trolley navigation system and air navigation aid, unmanned trolley | |
| CN103472434B (en) | Robot sound positioning method | |
| CN112362065B (en) | Obstacle detouring track planning method and device, storage medium, control unit and equipment | |
| CN207264195U (en) | Unmanned trolley navigation system and unmanned trolley | |
| CN207623785U (en) | A kind of independent navigation equipment | |
| CN108646759B (en) | Intelligent detachable mobile robot system based on stereoscopic vision and control method | |
| CN113848940A (en) | AGV autonomous navigation control method and system | |
| CN109960260A (en) | A kind of independently guiding vehicle and its air navigation aid and control device | |
| Pang et al. | A collision-free person-following approach based on path planning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |