TWI676812B - Two-stage navigating system - Google Patents
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Abstract
一種二階段導航系統,係應用於一導航空間,包含複數個定位標籤與一移動平台。移動平台,包含一建立一對應於導航空間之全區地圖之地圖建立模組、一路徑規劃模組、一導引移動平台之導航模組、一標籤影像搜尋辨識模組與一座標處理模組。路徑規劃模組,係產生一目標標籤所在之一目標定位標籤區域,並規劃出一抵達目標定位標籤區域之第一階段導航路徑。標籤影像搜尋辨識模組,係用以搜尋辨識目標標籤。座標處理模組,係解析出目標標籤之一目標座標,路徑規劃模組係規劃出一抵達目標座標之第二階段導航路徑,移動平台係受操作地移動至目標座標。A two-stage navigation system is applied to a navigation space and includes a plurality of positioning tags and a mobile platform. Mobile platform, including a map creation module that creates a map of the entire area corresponding to the navigation space, a path planning module, a navigation module that guides the mobile platform, a tag image search identification module, and a tag processing module . The path planning module generates a target positioning label area where a target label is located, and plans a first stage navigation path to reach the target positioning label area. The tag image search identification module is used to search and identify target tags. The coordinate processing module is to resolve a target coordinate of one of the target labels, the path planning module is to plan a second stage navigation path to the target coordinate, and the mobile platform is operatively moved to the target coordinate.
Description
本發明係有關於一種導航系統,尤其是指一種二階段導航系統。The invention relates to a navigation system, in particular to a two-stage navigation system.
從2011年德國所發起的工業4.0浪潮迄今,已經過數個年頭,智慧製造與智慧工廠已逐漸應用於工業生產端與製造端。然而,全球少子化浪潮所導致的勞動力資源短缺與人力成本逐年提升,已成為現今企業營運所必需要面對的問題。Since the wave of Industry 4.0 launched by Germany in 2011, several years have passed, and smart manufacturing and smart factories have gradually been applied to industrial production and manufacturing. However, the shortage of labor resources and the increase in labor costs caused by the global wave of declining birthrate have become a problem that must be faced by today's business operations.
自動導引車(Automatic Guided Vehicle;AGV),或稱無人搬運車,係用以自動化搬運物品,藉以解決勞動力資源短缺的問題。Automatic Guided Vehicle (AGV), or unmanned transporter, is used to automatically move items to solve the problem of labor resource shortage.
先前技術中的自動導引車,在實際運作時,需在自動導引車的移動路徑上鋪設磁條,以磁感應的方式導引自動導引車移動運送物品。上述在移動路徑上鋪設磁條的方式,或是鋪設軌道的方式,泛稱有軌式(rail-guided)導引系統。有軌式導引系統可以確保自動導引車在磁條或軌道上移動,也可確保自動導引車不會出現迷航狀態。In the prior art automatic guided vehicle, in actual operation, a magnetic strip needs to be laid on the moving path of the automatic guided vehicle to guide the automatic guided vehicle to move and transport items in a magnetic induction manner. The above-mentioned way of laying a magnetic strip on a moving path or a track is generally referred to as a rail-guided guidance system. The track guidance system can ensure that the automatic guided vehicle moves on the magnetic stripe or the track, and it can also ensure that the automatic guided vehicle will not be in a trek state.
然而,有軌式(rail-guided)導引系統無法動態調整自動導引車的移動路徑,進而限制了自動導引車的移動運送區域。而自動導引車所要到達的目標位置,例如送餐桌、物品架等,若因為不可抗力的因素移動而與軌道或磁條不符時,自動導引車並無法精準的將物品運送至目標位置。此外,鋪設軌道或是磁條的成本高昂,是否能有效降低企業的支出成本也有待商榷。However, the rail-guided guidance system cannot dynamically adjust the moving path of the automatic guided vehicle, which further limits the mobile delivery area of the automatic guided vehicle. However, if the target position that the automatic guided vehicle wants to reach, such as a table or an item rack, moves due to force majeure and does not match the track or magnetic stripe, the automatic guided vehicle cannot accurately deliver the item to the target position. In addition, the cost of laying rails or magnetic strips is high, and whether it can effectively reduce the cost of business is still open to question.
有鑒於在先前技術中,有軌式導引系統無法動態調整移動路徑以及成本高昂等問題。本發明之一主要目的係提供一種二階段導航系統,用以解決上述問題。In view of the problems in the prior art, the rail-based guidance system cannot dynamically adjust the movement path and is expensive. One of the main objects of the present invention is to provide a two-stage navigation system to solve the above problems.
本發明為解決先前技術之問題,所採用之必要技術手段為提供一種二階段導航系統,係應用於一導航空間,導航空間內設置有複數個定位物,且二階段定位導航系統包含複數個定位標籤與一移動平台。In order to solve the problems of the prior art, the present invention adopts the necessary technical means to provide a two-stage navigation system, which is applied to a navigation space, where a plurality of positioning objects are set in the navigation space, and the two-phase positioning navigation system includes a plurality of positionings. Tag with a mobile platform.
每一定位標籤係分別設置於定位物之一者,並具有一對應之定位標籤區域,藉以使導航空間中具有複數個上述之定位標籤區域。Each positioning label is respectively disposed on one of the positioning objects and has a corresponding positioning label area, so that the navigation space has a plurality of the positioning label areas described above.
移動平台,包含一地圖建立模組、一路徑規劃模組、一導航模組、一標籤影像搜尋辨識模組與一座標處理模組。The mobile platform includes a map creation module, a path planning module, a navigation module, a tag image search identification module, and a tag processing module.
地圖建立模組,係用以建立一對應於導航空間之全區地圖,且全區地圖包含定位標籤、定位物與定位標籤區域。路徑規劃模組,係電性連接地圖建立模組,用以在定位標籤中產生一目標標籤,將目標標籤所對應之定位標籤區域定義為一目標定位標籤區域,據以規劃出一以目標定位標籤區域為一第一階段終點之第一階段導航路徑。The map creation module is used to create a map of the whole area corresponding to the navigation space, and the map of the whole area includes positioning labels, positioning objects and positioning label areas. The path planning module is an electrical connection map building module for generating a target label in the positioning label, defining the positioning label area corresponding to the target label as a target positioning label area, and planning a target positioning The label area is a first-stage navigation path at a first-stage end.
導航模組,係電性連接路徑規劃模組,用以導引移動平台沿第一階段導航路徑移動至目標定位標籤區域。標籤影像搜尋辨識模組,係電性連接地圖建立模組與導航模組,在移動平台沿第一階段導航路徑移動至目標定位標籤區域時,搜尋並辨識目標標籤。座標處理模組,係電性連接標籤影像搜尋辨識模組與路徑規劃模組,在標籤影像搜尋辨識模組辨識出目標標籤時,解析出目標標籤所對應之一目標座標,據以使路徑規劃模組規劃出一以目標座標為一第二階段終點之第二階段導航路徑,並使導航模組導引移動平台沿第二階段導航路徑移動至目標座標。The navigation module is an electrical connection path planning module for guiding the mobile platform to move to the target positioning label area along the first stage navigation path. The tag image search and identification module is electrically connected to the map creation module and the navigation module. When the mobile platform moves to the target positioning label area along the first-stage navigation path, it searches for and identifies the target label. The coordinate processing module is electrically connected to the label image search identification module and the path planning module. When the label image search identification module recognizes the target label, it resolves one target coordinate corresponding to the target label, so as to make the path planning. The module plans a second stage navigation path with the target coordinates as the end point of a second stage, and causes the navigation module to guide the mobile platform to move along the second stage navigation path to the target coordinates.
在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使二階段導航系統,更包含一里程計算模組,里程計算模組係電性連接路徑規劃模組與標籤影像搜尋辨識模組,用以計算第一階段導航路徑之路徑里程數,並在移動平台移動路徑里程數且未到達目標定位標籤區域時,產生一重新搜尋辨識信號,且利用標籤影像搜尋辨識模組重新搜尋辨識定位標籤。Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to make the two-stage navigation system further include a mileage calculation module. The mileage calculation module is an electrical connection path planning module and label image search identification. The module is used to calculate the route mileage of the first stage navigation path, and when the mobile platform moves the route mileage and does not reach the target positioning label area, a re-search identification signal is generated, and the label image search identification module is used to search again. Identify positioning labels.
在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使二階段導航系統中之導航模組,包含一定位單元,且定位單元係用以定位移動平台之一當前位置座標。Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is that a navigation module in a two-stage navigation system includes a positioning unit, and the positioning unit is used to locate a current position coordinate of a mobile platform.
在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使二階段導航系統中之移動平台,更包含一搜尋觸發模組,搜尋觸發模組係電性連接導航模組、路徑規劃模組與標籤影像搜尋辨識模組,用以在確認當前位置座標位於目標定位標籤區域時,產生一搜尋辨識信號,且利用標籤影像搜尋辨識模組搜尋並辨識目標標籤。Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to enable the mobile platform in the two-stage navigation system to further include a search trigger module. The search trigger module is electrically connected to the navigation module and the path. The planning module and the label image search identification module are used to generate a search identification signal when confirming that the current position coordinates are located in the target positioning label area, and use the label image search identification module to search for and identify the target label.
在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使二階段導航系統中之定位標籤,係一二維條碼標籤。Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to make the positioning label in the two-stage navigation system a two-dimensional bar code label.
在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使二階段導航系統中之標籤影像搜尋辨識模組,包含一二維條碼掃描儀。Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is a tag image search and identification module in a two-stage navigation system, which includes a two-dimensional barcode scanner.
在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使二階段導航系統中之標籤影像搜尋辨識模組,具有一影像搜尋光軸,並在移動平台旋轉一旋轉角度使影像搜尋光軸對準目標標籤時,使座標處理模組利用旋轉角度解析出目標座標。Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is a tag image search and identification module in a two-stage navigation system, which has an image search optical axis and rotates a rotation angle on the mobile platform to make the image When the search optical axis is aligned with the target label, the coordinate processing module is used to analyze the target coordinate by using the rotation angle.
在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使二階段導航系統中之標籤影像搜尋辨識模組,包含一影像比例辨識單元,且該影像比例辨識單元係用以在該移動平台移動至該目標定位標籤區域時,判斷該目標標籤之一影像比例,使座標處理模組藉以解析出該目標座標。Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is to enable the tag image search and identification module in the two-stage navigation system to include an image scale identification unit, and the image scale identification unit is used for When the mobile platform is moved to the target positioning label area, an image ratio of the target label is determined, so that the coordinate processing module can analyze the target coordinate.
在上述必要技術手段的基礎下,本發明所衍生之一附屬技術手段為使二階段導航系統中之標籤影像搜尋辨識模組,包含一影像傾斜辨識單元,且該影像傾斜辨識單元係用以在該移動平台移動至該目標定位標籤區域時,判斷該目標標籤之一影像傾斜角度,使座標處理模組藉以解析出該目標座標。Based on the above-mentioned necessary technical means, a subsidiary technical means derived from the present invention is to enable a tag image search and recognition module in a two-stage navigation system to include an image tilt recognition unit, and the image tilt recognition unit is used for When the mobile platform moves to the target positioning label area, an inclination angle of an image of the target label is determined, so that the coordinate processing module can analyze the target coordinate.
承上所述,本發明所提供之二階段導航系統,利用定位標籤、地圖建立模組、路徑規劃模組、導航模組、標籤影像搜尋辨識模組與座標處理模組,使移動平台沿第一階段導航路徑與第二階段導航路徑移動至目標標籤所對應的目標座標。As mentioned above, the two-stage navigation system provided by the present invention uses a positioning label, a map creation module, a path planning module, a navigation module, a tag image search and identification module, and a coordinate processing module to make the mobile platform The first-stage navigation path and the second-stage navigation path move to the target coordinates corresponding to the target label.
請參閱第一圖與第二圖,第一圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台之方塊圖;以及,第二圖係顯示本發明較佳實施例所提供之二階段導航系統之平面示意圖。如圖所示,一種二階段導航系統100,係應用於一導航空間SN,且導航空間SN內設置有複數個定位物POa、POb、POc、POd、POe、POf,且二階段導航系統100包含複數個定位標籤2a、2b、2c、2d、2e、2f與一移動平台1。Please refer to the first diagram and the second diagram. The first diagram is a block diagram showing a mobile platform of a two-stage navigation system provided by the preferred embodiment of the present invention; and the second diagram is provided by the preferred embodiment of the present invention. Schematic diagram of the second stage navigation system. As shown in the figure, a two-stage navigation system 100 is applied to a navigation space SN, and a plurality of positioning objects POa, POb, POc, POd, POe, POf are provided in the navigation space SN, and the two-stage navigation system 100 includes A plurality of positioning tags 2a, 2b, 2c, 2d, 2e, 2f and a mobile platform 1.
定位標籤2a、2b、2c、2d、2e、2f,係個別對應地設置於定位物POa、POb、POc、POd、POe、POf上,且個別具有一定位標籤區域Aa、Ab、Ac、Ad、Ae、Af。在本實施例中,定位標籤2a、2b、2c、2d、2e、2f係一二維條碼標籤,但不以此為限。在本發明其他實施例中,定位標籤可為其他具有定位功能之標籤。The positioning labels 2a, 2b, 2c, 2d, 2e, and 2f are respectively provided on the positioning objects POa, POb, POc, POd, POe, and POf, and each has a positioning label area Aa, Ab, Ac, Ad, Ae, Af. In this embodiment, the positioning labels 2a, 2b, 2c, 2d, 2e, and 2f are two-dimensional bar code labels, but not limited thereto. In other embodiments of the present invention, the positioning tag may be another tag having a positioning function.
移動平台1,包含一地圖建立模組11、一路徑規劃模組12、一導航模組13、一標籤影像搜尋辨識模組14與一座標處理模組15。The mobile platform 1 includes a map creation module 11, a path planning module 12, a navigation module 13, a tag image search and identification module 14, and a tag processing module 15.
地圖建立模組11,係用以建立一對應導航空間SN之全區地圖MG,且全區地圖MG包含上述定位標籤2a、2b、2c、2d、2e、2f、定位物POa、POb、POc、POd、POe、POf與定位標籤區域Aa、Ab、Ac、Ad、Ae、Af。地圖建立模組11可以利用雷射掃描單元、超音波掃描單元以確認與導航空間SN內周遭物品的距離、確認雷射光或超音波被周遭物品反射的強度值,經過訊號處理轉換成地圖資訊,以建立全區地圖MG。The map creation module 11 is used to establish a map MG of the whole area corresponding to the navigation space SN, and the map MG of the whole area includes the positioning tags 2a, 2b, 2c, 2d, 2e, and 2f, the positioning objects POa, POb, POc, POd, POe, POf and the positioning label regions Aa, Ab, Ac, Ad, Ae, Af. The map creation module 11 can use a laser scanning unit and an ultrasonic scanning unit to confirm the distance from the surrounding objects in the navigation space SN, confirm the intensity value of the laser light or ultrasonic waves reflected by the surrounding objects, and convert them into map information through signal processing. To build a map of the whole area MG.
需說明的是,導航空間SN係指實體空間,全區地圖MG係為對應導航空間SN的地圖,理應為不同圖式。但是有利於描述本發明的實施方式為採用導航空間SN的俯視圖,而導航空間SN的俯視圖又與全區地圖MG幾乎相同,故本發明並未將導航空間SN的俯視圖與全區地圖MG分開繪製,而是用同一張圖式示意並進行說明。It should be noted that the navigation space SN refers to the physical space, and the map MG of the whole area is a map corresponding to the navigation space SN, which should be different drawings. However, it is beneficial to describe the embodiment of the present invention in which the top view of the navigation space SN is used, and the top view of the navigation space SN is almost the same as the whole area map MG. Therefore, the present invention does not draw the top view of the navigation space SN separately from the whole area map MG , But use the same diagram to illustrate and explain.
路徑規劃模組12,係電性連接地圖建立模組11,用以在定位標籤2a、2b、2c、2d、2e、2f中產生一目標標籤TT(標示於第三圖),將目標標籤TT所對應之定位標籤區域定義為一目標定位標籤區域AT(標示於第三圖),據以規劃出一以目標定位標籤區域AT為一第一階段終點之第一階段導航路徑P1(標示於第三圖)。The path planning module 12 is an electrically connected map creation module 11 for generating a target label TT (labeled in the third figure) in the positioning labels 2a, 2b, 2c, 2d, 2e, and 2f, and converting the target label TT The corresponding positioning label area is defined as a target positioning label area AT (labeled in the third figure), and a first-stage navigation path P1 (labeled on the first phase) with the target positioning label area AT as an end point of the first phase is planned. Three images).
一般來說,路徑規劃模組12會建立一個全區地圖MG的參考原點,在本實施例中,即為移動平台1所在導航空間SN位置對應到全區地圖MG的座標點。路徑規劃模組12會依照實際目標位於導航空間SN內的實際目標位置對應到全區地圖MG的座標點,並依照參考原點建立全區地圖MG的座標系,進行路徑規劃。通常會計算參考原點與實際目標的座標點的x距離、y距離與移動角度,並據以進行路徑規劃。Generally, the path planning module 12 establishes a reference origin of the map MG of the whole area. In this embodiment, the position of the navigation space SN where the mobile platform 1 is located corresponds to the coordinate point of the map MG of the whole area. The path planning module 12 corresponds to the coordinate points of the global map MG according to the actual target position of the actual target located in the navigation space SN, and establishes the coordinate system of the global map MG according to the reference origin for path planning. Usually, the x distance, y distance, and moving angle of the reference point and the coordinate point of the actual target are calculated, and the path planning is performed accordingly.
導航模組13,係電性連接該路徑規劃模組12,用以導引移動平台1沿第一階段導航路徑P1移動至目標定位標籤區域AT。The navigation module 13 is electrically connected to the path planning module 12 for guiding the mobile platform 1 to move to the target positioning label area AT along the first-stage navigation path P1.
標籤影像搜尋辨識模組14,係電性連接地圖建立模組11與導航模組13,在移動平台1沿第一階段導航路徑P1移動至目標定位標籤區域AT時,搜尋並辨識目標標籤TT。The tag image search and identification module 14 is electrically connected to the map creation module 11 and the navigation module 13. When the mobile platform 1 moves to the target positioning tag area AT along the first-stage navigation path P1, it searches for and identifies the target tag TT.
座標處理模組15,係電性連接標籤影像搜尋辨識模組14與路徑規劃模組12,在標籤影像搜尋辨識模組14辨識出目標標籤時,解析出目標標籤所對應之一目標座標,據以使路徑規劃模組12規劃出一以目標座標為一第二階段終點之第二階段導航路徑P2(標示於第八圖),並使導航模組13導引移動平台1沿第二階段導航路徑P2移動至目標座標。The coordinate processing module 15 is electrically connected to the label image search and identification module 14 and the path planning module 12, and when the label image search and identification module 14 recognizes the target label, it resolves one target coordinate corresponding to the target label. So that the path planning module 12 plans a second stage navigation path P2 (labeled in the eighth figure) with the target coordinates as the end point of a second stage, and the navigation module 13 guides the mobile platform 1 to navigate along the second stage The path P2 moves to the target coordinates.
在本實施例中,移動平台1,更包含一里程計算模組16與一搜尋觸發模組17。而導航模組13,包含一定位單元131。In this embodiment, the mobile platform 1 further includes a mileage calculation module 16 and a search trigger module 17. The navigation module 13 includes a positioning unit 131.
里程計算模組16,係電性連接路徑規劃模組12與標籤影像搜尋辨識模組14,用以計算第一階段導航路徑P1之一路徑里程數,並在移動平台1移動路徑里程數卻未到達目標定位標籤區域AT時,產生一重新搜尋辨識信號,且利用標籤影像搜尋辨識模組14重新搜尋辨識定位標籤2a、2b、2c、2d、2e、2f。The mileage calculation module 16 is electrically connected to the path planning module 12 and the tag image search and identification module 14 for calculating the mileage of one of the navigation paths P1 in the first stage, and the mileage of the moving route on the mobile platform 1 is not yet calculated. When the target positioning tag area AT is reached, a re-search identification signal is generated, and the tag image search identification module 14 is used to re-search and identify the positioning tags 2a, 2b, 2c, 2d, 2e, and 2f.
定位單元131,係用以定位移動平台1之一當前位置座標。搜尋觸發模組17,係電性連接導航模組13、路徑規劃模組12與標籤影像搜尋辨識模組14,用以在確認移動平台1之當前位置座標係位於目標定位標籤區域AT時,產生一搜尋辨識信號,且利用標籤影像搜尋辨識模組14搜尋並辨識目標標籤TT。The positioning unit 131 is used to locate a current position coordinate of one of the mobile platforms 1. The search trigger module 17 is electrically connected to the navigation module 13, the path planning module 12, and the tag image search and identification module 14, and is used to generate when confirming that the current position coordinate of the mobile platform 1 is located in the target positioning tag area AT. A search identification signal is used, and the tag image search identification module 14 is used to search for and identify the target tag TT.
接著,請一併參閱第一圖至第五圖;其中,第三圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台沿第一階段導航路徑移動之示意圖;第四圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台沿第一階段導航路徑移動之另一示意圖;以及,第五圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台移動至目標定位標籤區域之示意圖。如圖所示,路徑規劃模組12係將定位標籤2b定義為一目標標籤TT,因此,定位標籤2b所對應的定位標籤區域Ab係定義為一目標定位標籤區域AT。Next, please refer to the first diagram to the fifth diagram together; wherein, the third diagram is a schematic diagram showing the mobile platform of the two-stage navigation system moving along the first stage navigation path provided by the preferred embodiment of the present invention; the fourth diagram It is another schematic diagram showing the mobile platform of the two-stage navigation system provided by the preferred embodiment of the present invention moving along the first-stage navigation path; and the fifth diagram shows the two-stage navigation system provided by the preferred embodiment of the present invention Schematic diagram of the mobile platform moving to the target positioning label area. As shown in the figure, the path planning module 12 defines the positioning label 2b as a target label TT. Therefore, the positioning label area Ab corresponding to the positioning label 2b is defined as a target positioning label area AT.
路徑規劃模組12會以目標定位標籤區域AT為第一階段終點,規劃出第一階段導航路徑P1。第一階段導航路徑P1會包含目標定位標籤區域AT與沿途經過的定位標籤區域Aa、Ad。The path planning module 12 uses the target positioning label area AT as the end point of the first stage to plan the first stage navigation path P1. The first stage navigation path P1 will include the target positioning label area AT and the positioning label areas Aa and Ad passing along the route.
當移動平台1沿第一階段導航路徑P1移動時,定位單元131會時時刻刻定位移動平台1的當前位置座標,以確保移動平台1係沿第一階段導航路徑P1移動。舉例來說,定位單元131若判斷出當前位置座標位於定位標籤區域Aa、Ad時,表示移動平台1確實沿著第一階段導航路徑P1移動;反之,若定位單元131判斷出當前位置座標位於定位標籤區域Ac、Ae、Af中之一者,表示移動平台1已偏離第一階段導航路徑P1,便會利用導航模組13停止導引移動平台1,並利用標籤影像搜尋辨識模組14重新搜尋辨識定位標籤2a、2b、2c、2d、2e、2f,以重新定位移動平台1,最後再利用路徑規劃模組12重新規劃另一第一階段導航路徑。When the mobile platform 1 moves along the first-stage navigation path P1, the positioning unit 131 positions the current position coordinates of the mobile platform 1 at all times to ensure that the mobile platform 1 moves along the first-stage navigation path P1. For example, if the positioning unit 131 determines that the current position coordinates are located in the positioning label areas Aa and Ad, it means that the mobile platform 1 does move along the first stage navigation path P1; otherwise, if the positioning unit 131 determines that the current position coordinates are located in the positioning One of the label areas Ac, Ae, and Af indicates that the mobile platform 1 has deviated from the first-stage navigation path P1, and the navigation module 13 will be used to stop guiding the mobile platform 1 and use the label image search identification module 14 to search again The positioning tags 2a, 2b, 2c, 2d, 2e, and 2f are identified to reposition the mobile platform 1, and finally the path planning module 12 is used to replan another navigation path in the first stage.
在本實施例中,定位標籤2a、2b、2c、2d、2e、2f係二維條碼標籤,且標籤影像搜尋辨識模組14包含一二維條碼掃描儀。In this embodiment, the positioning labels 2a, 2b, 2c, 2d, 2e, and 2f are two-dimensional barcode labels, and the label image search and identification module 14 includes a two-dimensional barcode scanner.
在正常的情況下,移動平台1會沿著第一階段導航路徑P1,依序經過定位標籤區域Ad、Aa,並且抵達目標標籤TT所在的目標定位標籤區域AT。Under normal circumstances, the mobile platform 1 will follow the first stage navigation path P1, sequentially pass through the positioning label areas Ad, Aa, and reach the target positioning label area AT where the target label TT is located.
最後,請一併參閱第一圖至第八圖,其中,第六圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台移動至目標定位標籤區域之局部示意圖;第七圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台搜尋辨識目標標籤之示意圖;以及,第八圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台沿第二階段導航路徑移動至目標標籤之示意圖。如圖所示,移動平台1抵達目標標籤TT所在的目標定位標籤區域AT。Finally, please refer to the first to eighth drawings together, in which the sixth drawing is a partial schematic diagram showing that the mobile platform of the two-stage navigation system provided by the preferred embodiment of the present invention moves to the target positioning label area; the seventh drawing It is a schematic diagram showing the mobile platform searching and identifying target tags of the two-stage navigation system provided by the preferred embodiment of the present invention; and, the eighth diagram is showing the mobile platform along the first stage of the two-stage navigation system provided by the preferred embodiment of the present invention. Schematic diagram of the two-stage navigation path moving to the target label. As shown in the figure, the mobile platform 1 reaches the target positioning tag area AT where the target tag TT is located.
搜尋觸發模組17,確認移動平台1的當前位置座標位於目標定位標籤區域AT內時,係產生一搜尋辨識信號。標籤影像搜尋辨識模組14,接收到搜尋辨識信號後,便搜尋辨識目標標籤TT,並進一步藉由座標處理模組15解析出目標標籤TT所對應之一目標座標。如第六圖所示,移動平台1的當前位置座標位於目標定位標籤區域AT,標籤影像搜尋辨識模組14之一影像搜尋光軸X並未搜尋到目標標籤TT。故在接收到搜尋辨識信號後,移動平台1係開始旋轉直到旋轉後的影像搜尋光軸X’搜尋到目標標籤TT。The search trigger module 17 generates a search identification signal when it is confirmed that the coordinates of the current position of the mobile platform 1 are within the target positioning label area AT. After receiving the search identification signal, the label image search identification module 14 searches for the identification target label TT, and further analyzes a target coordinate corresponding to the target label TT by the coordinate processing module 15. As shown in the sixth figure, the current position coordinate of the mobile platform 1 is located in the target positioning label area AT, and the image search optical axis X of one of the label image search recognition modules 14 does not find the target label TT. Therefore, after receiving the search identification signal, the mobile platform 1 starts to rotate until the rotated image search optical axis X 'finds the target tag TT.
座標處理模組15可以利用影像搜尋光軸X與影像搜尋光軸X’之間的旋轉角度a,判斷出目標標籤TT係位於移動平台1的哪個角度方位上以及目標標籤TT與移動平台1之間的距離,進一步推斷出目標標籤TT的目標座標。此外,標籤影像搜尋辨識模組14可包含一影像比例辨識單元,影像比例辨識單元係用以在移動平台1移動至目標定位標籤區域AT時,判斷目標標籤TT之一影像比例,進一步藉由座標處理模組15解析出目標標籤TT之目標座標。又,標籤影像搜尋辨識模組14可包含一影像傾斜辨識單元,且影像傾斜辨識單元係用以在移動平台1移動至目標定位標籤區域AT時,判斷目標標籤TT之一影像傾斜角度,進一步藉由座標處理模組15解析出目標標籤TT之目標座標。座標處理模組15也可利用梯形修正的方式,去分析目標標籤TT,藉以解析出目標座標。實務上來說,座標處理模組15通常會一併搭配標籤影像搜尋辨識模組14辨識到的目標標籤TT的影像與轉換矩陣進行運算,藉以解析出目標標籤TT之目標座標的方法。The coordinate processing module 15 can use the rotation angle a between the image search optical axis X and the image search optical axis X ′ to determine which angular position of the target tag TT is on the mobile platform 1 and between the target tag TT and the mobile platform 1 The distance between them, and further infer the target coordinates of the target label TT. In addition, the tag image search and recognition module 14 may include an image scale recognition unit, which is used to determine an image scale of the target tag TT when the mobile platform 1 moves to the target positioning tag area AT, and further uses coordinates The processing module 15 parses out the target coordinates of the target tag TT. In addition, the tag image search recognition module 14 may include an image tilt recognition unit, and the image tilt recognition unit is configured to determine an image tilt angle of one of the target tags TT when the mobile platform 1 moves to the target positioning tag area AT, and further borrow The coordinate processing module 15 analyzes the target coordinates of the target tag TT. The coordinate processing module 15 may also use the trapezoidal correction method to analyze the target label TT to parse out the target coordinates. Practically speaking, the coordinate processing module 15 usually works with the image of the target label TT identified by the label image search and identification module 14 and the transformation matrix to calculate the target coordinate method of the target label TT.
路徑規劃模組12,係以目標座標為一第二階段終點,並規劃出一移動至第二階段終點的第二階段導航路徑P2。導航模組13,係依照第二階段導航路徑P2導引移動平台1,使移動平台1沿第二階段導航路徑P2移動至目標標籤TT所在的目標座標。The path planning module 12 uses a target coordinate as an end point of the second stage, and plans a second stage navigation path P2 that moves to the end point of the second stage. The navigation module 13 guides the mobile platform 1 according to the second-stage navigation path P2, so that the mobile platform 1 moves along the second-stage navigation path P2 to the target coordinates where the target label TT is located.
移動平台1移動至目標定位標籤區域AT,標籤影像搜尋辨識模組14重新搜尋辨識目標標籤TT,以及,路徑規劃模組12規劃出第二階段導航路徑P2的用意在於,目標標籤TT所在的定位物POb可能會因為任何因素而有所移動,故標籤影像搜尋辨識模組14重新搜尋辨識目標標籤TT,可以確保移動平台1會移動至目標標籤TT所在的目標座標。The mobile platform 1 moves to the target positioning tag area AT, the tag image search recognition module 14 searches for and recognizes the target tag TT again, and the path planning module 12 plans the second-stage navigation path P2 for the purpose of positioning the target tag TT. The object POb may move due to any factor. Therefore, the tag image search recognition module 14 searches for the recognition target tag TT again, which can ensure that the mobile platform 1 will move to the target coordinate where the target tag TT is located.
在現今社會中,移動平台1主要是自動導引車或是機器人,主要功能為運送物品。以餐廳的送餐機器人為例,定位物POa、POb、POc、POd、POe、POf就是用餐區的桌椅。而餐廳的桌子可能會因為各種因素被迫移動,例如併桌、受到碰撞、座位空間太小等,甚至是餐廳人員於顧客用餐完畢後擦拭桌子都有可能造成桌子些微的移動,進而造成與地圖建立模組11所建立的全區地圖MG不符。In today's society, the mobile platform 1 is mainly an automatic guided vehicle or a robot, and its main function is to transport items. Taking the restaurant's food delivery robot as an example, the positioning objects POa, POb, POc, POd, POe, and POf are the tables and chairs of the dining area. The restaurant table may be forced to move due to various factors, such as side-by-side table, collision, too small seating space, etc. Even the restaurant staff may wipe the table after the customer finishes the meal, which may cause the table to move slightly, which may cause the map to move. The area map MG created by the establishment module 11 does not match.
因此,移動平台1移動至目標定位標籤區域AT,會利用標籤影像搜尋辨識模組14再次搜尋辨識目標標籤TT,以確保可以移動至目標標籤TT當前的目標座標。即便定位物POb因為一些不可抗力的因素移動而與全區地圖MG不符時,移動平台1仍能順利移動至定位物POb上的目標標籤TT所在的目標座標。Therefore, when the mobile platform 1 moves to the target positioning tag area AT, it uses the tag image search recognition module 14 to search and recognize the target tag TT again to ensure that it can move to the current target coordinates of the target tag TT. Even if the position object POb is not in accordance with the map MG of the whole area due to some force majeure factors, the mobile platform 1 can still smoothly move to the target coordinates where the target label TT on the position object POb is located.
此外,里程計算模組16,會計算路徑里程數,假設為10公尺,當移動平台1移動10公尺後,里程計算模組16所接收到的當前位置座標並未落在目標定位標籤區域AT,表示移動平台1可能已經偏離第一階段導航路徑P1,處於一迷航狀態。里程計算模組16,便會產生一重新搜尋辨識信號,並利用標籤影像搜尋辨識模組14重新搜尋辨識定位標籤2a、2b、2c、2d、2e、2f,以重新判斷移動平台1的當前位置座標以及重新規劃另一第一階段導航路徑,使移動平台1能繼續往目標定位標籤區域AT移動。In addition, the mileage calculation module 16 calculates the mileage of the path, assuming that it is 10 meters. After the mobile platform 1 moves 10 meters, the current position coordinates received by the mileage calculation module 16 do not fall in the target positioning label area. AT indicates that the mobile platform 1 may have deviated from the first stage navigation path P1 and is in a trek state. The mileage calculation module 16 will generate a re-search identification signal, and use the tag image search identification module 14 to re-search and identify the positioning tags 2a, 2b, 2c, 2d, 2e, and 2f, so as to re-judge the current position of the mobile platform 1. Coordinates and re-planning another first stage navigation path, so that the mobile platform 1 can continue to move toward the target positioning label area AT.
綜上所述,本發明所提供之二階段導航系統,利用定位標籤與移動平台,使得移動平台可以藉由第一階段導航路徑移動至目標定位標籤區域以及藉由第二階段導航路徑移動至目標座標,相較於先前技術,需沿路徑設置磁條或軌道且不能動態調整路徑,本發明所提供之二階段導航系統,係利用現今社會即為普遍的定位標籤設置於定位物上,即可達到規劃第一階段導航路徑導引移動平台的功效。再者,利用分析定位物上的目標標籤的目標座標,進而達到規劃第二階段導航路徑導引移動平台的功效,且也可避免因為定位物移動而造成移動平台無法順利到達目標標籤的問題,達到動態調整路徑之功效。To sum up, the two-stage navigation system provided by the present invention uses positioning tags and a mobile platform, so that the mobile platform can move to the target positioning tag area through the first stage navigation path and move to the target through the second stage navigation path. Coordinates, compared with the prior art, need to set a magnetic stripe or track along the path and cannot dynamically adjust the path. The two-stage navigation system provided by the present invention can be set on a positioning object by using a positioning label that is common in today's society. To achieve the effect of planning the first stage of the navigation path to guide the mobile platform. Furthermore, by analyzing the target coordinates of the target label on the positioning object, the second stage of planning the navigation path to guide the mobile platform is achieved, and the problem that the mobile platform cannot reach the target label smoothly due to the movement of the positioning object can also be avoided. To achieve the effect of dynamically adjusting the path.
藉由以上較佳具體實施例之詳述,係希望能更加清楚描述本發明之特徵與精神,而並非以上述所揭露的較佳具體實施例來對本發明之範疇加以限制。相反地,其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。With the above detailed description of the preferred embodiments, it is hoped that the features and spirit of the present invention can be more clearly described, and the scope of the present invention is not limited by the preferred embodiments disclosed above. On the contrary, the intention is to cover various changes and equivalent arrangements within the scope of the patents to be applied for in the present invention.
100‧‧‧二階段導航系統100‧‧‧ two-stage navigation system
1‧‧‧移動平台 1‧‧‧mobile platform
11‧‧‧地圖建立模組 11‧‧‧Map Creation Module
12‧‧‧路徑規劃模組 12‧‧‧ Path Planning Module
13‧‧‧導航模組 13‧‧‧Navigation Module
131‧‧‧定位單元 131‧‧‧ positioning unit
14‧‧‧標籤影像搜尋辨識模組 14‧‧‧Tag Image Search Identification Module
15‧‧‧座標處理模組 15‧‧‧ Coordinate processing module
16‧‧‧里程計算模組 16‧‧‧mileage calculation module
17‧‧‧搜尋觸發模組 17‧‧‧Search trigger module
2a、2b、2c、2d、2e、2f‧‧‧定位標籤 2a, 2b, 2c, 2d, 2e, 2f‧‧‧ Positioning tags
Aa、Ab、Ac、Ad、Ae、Af‧‧‧定位標籤區域 Aa, Ab, Ac, Ad, Ae, Af‧‧‧ Position the label area
AT‧‧‧目標定位標籤區域 AT‧‧‧Targeting label area
a‧‧‧旋轉角度 a‧‧‧rotation angle
MG‧‧‧全區地圖 MG‧‧‧All district map
P1‧‧‧第一階段導航路徑 P1‧‧‧First Stage Navigation Path
P2‧‧‧第二階段導航路徑 P2‧‧‧ second stage navigation path
POa、POb、POc、POd、POe、POf‧‧‧定位物 POa, POb, POc, POd, POe, POf‧‧‧
SN‧‧‧導航空間 SN‧‧‧Navigation space
TT‧‧‧目標標籤 TT‧‧‧Target label
X、X’‧‧‧影像搜尋光軸 X, X’‧‧‧ image search optical axis
第一圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台之方塊圖;
第二圖係顯示本發明較佳實施例所提供之二階段導航系統之平面示意圖;
第三圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台沿第一階段導航路徑移動之示意圖;
第四圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台沿第一階段導航路徑移動之另一示意圖;
第五圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台移動至目標定位標籤區域之示意圖;
第六圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台移動至目標定位標籤區域之局部示意圖;
第七圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台搜尋辨識目標標籤之示意圖;以及
第八圖係顯示本發明較佳實施例所提供之二階段導航系統之移動平台沿第二階段導航路徑移動至目標標籤之示意圖。
The first diagram is a block diagram showing a mobile platform of a two-stage navigation system provided by a preferred embodiment of the present invention;
The second figure is a schematic plan view showing a two-stage navigation system provided by a preferred embodiment of the present invention;
The third diagram is a schematic diagram showing a two-stage navigation system mobile platform moving along a first stage navigation path provided by a preferred embodiment of the present invention;
The fourth diagram is another schematic diagram showing that the mobile platform of the two-stage navigation system according to the preferred embodiment of the present invention moves along the first-stage navigation path;
The fifth diagram is a schematic diagram showing that the mobile platform of the two-stage navigation system provided by the preferred embodiment of the present invention moves to the target positioning label area;
The sixth diagram is a partial schematic diagram showing that the mobile platform of the two-stage navigation system provided by the preferred embodiment of the present invention moves to the target positioning label area;
The seventh diagram is a schematic diagram showing a mobile platform of a two-stage navigation system provided by the preferred embodiment of the present invention for searching and identifying target tags; and the eighth diagram is a mobile platform of the two-stage navigation system provided by the preferred embodiment of the present invention Schematic diagram of moving to the target label along the second stage navigation path.
Claims (9)
複數個定位標籤,每一該些定位標籤係分別設置於該些定位物之一者,並具有一對應之定位標籤區域,藉以使該導航空間中具有複數個上述之定位標籤區域;以及
一移動平台,包含:
一地圖建立模組,係用以建立一對應於該導航空間之全區地圖,且該全區地圖包含該些定位標籤、該些定位物與該些定位標籤區域;
一路徑規劃模組,係電性連接該地圖建立模組,用以在該些定位標籤中產生一目標標籤,將該目標標籤所對應之該定位標籤區域定義為一目標定位標籤區域,據以規劃出一以該目標定位標籤區域為一第一階段終點之第一階段導航路徑;
一導航模組,係電性連接該路徑規劃模組,用以導引該移動平台沿該第一階段導航路徑移動至該目標定位標籤區域;
一標籤影像搜尋辨識模組,係電性連接該地圖建立模組與該導航模組,在該移動平台沿該第一階段導航路徑移動至該目標定位標籤區域時,搜尋並辨識該目標標籤;
一座標處理模組,係電性連接該標籤影像搜尋辨識模組與該路徑規劃模組,在該標籤影像搜尋辨識模組辨識出該目標標籤時,解析出該目標標籤所對應之一目標座標,據以使該路徑規劃模組規劃出一以該目標座標為一第二階段終點之第二階段導航路徑,並使該導航模組導引該移動平台沿該第二階段導航路徑移動至該目標座標。 A two-stage navigation system is applied to a navigation space. The navigation space is provided with a plurality of positioning objects. The two-stage navigation system includes:
A plurality of positioning labels, each of which is respectively disposed on one of the positioning objects, and has a corresponding positioning label area, so that the navigation space has a plurality of the positioning label areas; and a movement Platform, including:
A map creation module is used to create a map of the whole area corresponding to the navigation space, and the map of the whole area includes the positioning tags, the positioning objects, and the positioning tag areas;
A path planning module is electrically connected to the map creation module for generating a target label among the positioning labels, and defining the positioning label area corresponding to the target label as a target positioning label area. Planning a first-stage navigation path using the target positioning label area as a first-stage end point;
A navigation module electrically connected to the path planning module for guiding the mobile platform to move along the first stage navigation path to the target positioning label area;
A tag image search and identification module is electrically connected to the map building module and the navigation module, and searches and recognizes the target tag when the mobile platform moves to the target positioning tag area along the first stage navigation path;
A tag processing module is electrically connected to the tag image search identification module and the path planning module. When the tag image search identification module recognizes the target tag, it resolves a target coordinate corresponding to the target tag. , So that the path planning module plans a second stage navigation path with the target coordinate as the end point of a second stage, and causes the navigation module to guide the mobile platform to move along the second stage navigation path to the Target coordinates.
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