TWM523862U - Indoor mobility positioning system - Google Patents
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Description
本新型是有關於一種室內移動定位系統，特別是指一種用於自主機器人的室內移動定位系統。The present invention relates to an indoor mobile positioning system, and more particularly to an indoor mobile positioning system for an autonomous robot.
自主機器人可不必仰賴人為操作地沿一巡檢路線自主移動，常用於自主巡檢各個查核點以達到保全之作用。而全局定位能力是自主機器人得以不依靠外在操作地自主移動的重要功能。一般常見的定位方法有：The autonomous robot can autonomously move along a patrol route without relying on human operation, and is often used for autonomous inspection of various checkpoints to achieve the preservation function. The global positioning capability is an important function for the autonomous robot to move autonomously without relying on external operations. Commonly used positioning methods are:
1.全球定位系統(GPS)，此定位方式廣泛的應用於室外，但於室內時容易受到建築物的干擾。1. Global Positioning System (GPS), which is widely used outdoors, but is susceptible to building interference when indoors.
2.里程計估算，可以估算出機器人的移動距離與方向，此種方法在短時間內的定位能力是可靠的，但每個時間區段所造成的微小偏差會逐漸累積，長期下來便會造成嚴重的誤差而導致定位系統崩潰。2. The odometer estimation can estimate the moving distance and direction of the robot. The positioning ability of this method in a short time is reliable, but the small deviation caused by each time zone will gradually accumulate, which will cause long-term A serious error caused the positioning system to crash.
3.環境特徵定位，常透過機器視覺取得環境影像特徵，或是透過雷射取得環境特徵資訊，但此方法容易因環境佈置的改變而造成定位失敗。3. Environmental feature localization, often obtains environmental image features through machine vision, or obtains environmental feature information through laser, but this method is easy to cause positioning failure due to changes in environmental layout.
4.無線射頻技術(RFID)，此方法是在空間中設置密集的無線射頻裝置，透過機器人身上的讀取器與無線射頻裝置間的訊號強弱來進行定位，但此種方式若要提高精準度則需在空間中設置大量且密集的無線射頻裝置，造成經濟效益及美觀問題。4. Radio Frequency Technology (RFID), which is to set up a dense radio frequency device in space, and locate the signal through the signal between the reader on the robot and the radio frequency device, but this method should improve the accuracy. It is necessary to set up a large number of dense radio frequency devices in the space, resulting in economic benefits and aesthetic problems.
此外，現有的自主機器人對於空間缺乏簡單的偵錯機制，因而難以得知當下定位系統是否失效。In addition, the existing autonomous robot lacks a simple debugging mechanism for the space, and thus it is difficult to know whether the current positioning system is invalid.
因此，本新型之目的，即在提供一種適合應用於室內，且能簡單偵測定位是否失效的室內移動定位系統。Therefore, the object of the present invention is to provide an indoor mobile positioning system that is suitable for indoor use and can easily detect whether the positioning is invalid.
於是，本新型室內移動定位系統，包含一沿一位於室內的巡檢路線移動的自主機器人、一遠端監控裝置，及複數無線辨識裝置。該巡檢路線是由多個相間隔設置的查核點所界定出，該自主機器人包括一用於移動的驅動模組、一用於規劃移動路徑且可控制該驅動模組的中央處理單元、一電連接該中央處理單元的無線辨識讀取模組、一用於儲存室內環境特徵並可將儲存資料傳送至該中央處理單元的地圖資料庫單元、一用於估算移動距離及方向並傳送至該中央處理單元的里程計單元、一用於取得環境特徵資訊並傳送至該中央處理單元的特徵擷取單元、一用於偵測障礙並向該中央處理單元傳送訊號以停止該驅動模組的障礙偵測單元，及一電連接該中央處理單元的無線通訊單元。Therefore, the novel indoor mobile positioning system comprises an autonomous robot moving along an indoor inspection route, a remote monitoring device, and a plurality of wireless identification devices. The inspection route is defined by a plurality of checkpoints arranged at intervals, the autonomous robot includes a drive module for moving, a central processing unit for planning a movement path and controlling the drive module, and a a wireless identification reading module electrically connected to the central processing unit, a map database unit for storing indoor environmental features and transmitting the stored data to the central processing unit, a method for estimating the moving distance and direction, and transmitting to the An odometer unit of the central processing unit, a feature capture unit for obtaining environmental feature information and transmitted to the central processing unit, and an obstacle for detecting an obstacle and transmitting a signal to the central processing unit to stop the drive module a detecting unit and a wireless communication unit electrically connected to the central processing unit.
該遠端監控裝置可與該自主機器人之無線通訊單元交流訊息，以即時顯示該自主機器人的所在位置。該等無線辨識裝置是分別設置於該巡檢路線上之該等查核點上，並可供該自主機器人之無線辨識讀取模組取得位置資訊。該自主機器人之中央處理單元可統籌並比對該無線辨識讀取模組之位置資訊、該地圖資料庫單元之儲存資料、該里程計單元之估算結果，及該特徵擷取單元之環境特徵資訊後，經計算後規劃出移動路徑，並控制該驅動模組沿該移動路徑移動。The remote monitoring device can exchange information with the wireless communication unit of the autonomous robot to instantly display the location of the autonomous robot. The wireless identification devices are respectively disposed on the check points on the inspection route, and the wireless identification reading module of the autonomous robot can obtain the location information. The central processing unit of the autonomous robot can coordinate and compare the location information of the wireless identification reading module, the storage data of the map database unit, the estimation result of the odometer unit, and the environmental characteristic information of the feature extraction unit. After that, the movement path is planned after calculation, and the driving module is controlled to move along the movement path.
本新型之功效在於：該里程計單元可與該特徵擷取單元搭配，藉由該特徵擷取單元取得外界環境特徵可避免該里程計單元的誤差累積，也可縮小在該地圖資料庫內搜索的範圍，並能減少環境中所需建佈的無線辨識裝置之數量，藉由該無線辨識讀取模組、該地圖資料庫單元、該里程計單元、該特徵擷取單元，及該障礙偵測單元的整合，可以簡單地進行偵錯以避免定位失效。The utility model has the following advantages: the odometer unit can be matched with the feature extraction unit, and the feature extraction unit can obtain the external environment feature to avoid the error accumulation of the odometer unit, and can also reduce the search in the map database. And the number of wireless identification devices required to be built in the environment, by the wireless identification reading module, the map database unit, the odometer unit, the feature extraction unit, and the obstacle detection The integration of the measurement unit can be easily debugged to avoid positioning failure.
在本新型被詳細描述之前，應當注意在以下的說明內容中，類似的元件是以相同的編號來表示。Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals.
參閱圖1，本新型室內移動定位系統1之一第一實施例，包含一可沿一位於室內的巡檢路線移動的自主機器人2、一可與該自主機器人2交流訊息的遠端監控裝置3，及複數設置於該巡檢路線上的無線辨識裝置4。該巡檢路線是由多個相間隔設置的查核點所界定出，該等查核點可設置於重要巡查點(例如保險箱)，也可設置於環境中的轉角或岔路上。Referring to FIG. 1, a first embodiment of the present indoor mobile positioning system 1 includes an autonomous robot 2 that can move along a patrol route located indoors, and a remote monitoring device 3 that can communicate with the autonomous robot 2. And a plurality of wireless identification devices 4 disposed on the inspection route. The inspection route is defined by a plurality of checkpoints that are arranged at intervals, and the checkpoints may be set at an important inspection point (such as a safe) or at a corner or a road in the environment.
該自主機器人2包括一用於移動的驅動模組21、一用於規劃移動路徑且可控制該驅動模組21的中央處理單元22、一電連接該中央處理單元22且可讀取該等無線辨識裝置4的無線辨識讀取模組23、一用於儲存室內環境特徵並可將儲存資料傳送至該中央處理單元22的地圖資料庫單元24、一用於估算移動距離及方向並傳送至該中央處理單元22的里程計單元25、一用於取得環境特徵資訊並傳送至該中央處理單元22的特徵擷取單元26、一用於偵測障礙並向該中央處理單元22傳送訊號以停止該驅動模組21的障礙偵測單元27，及一電連接該中央處理單元22且可與該遠端監控裝置3交流訊息的無線通訊單元28。The autonomous robot 2 includes a driving module 21 for moving, a central processing unit 22 for planning a moving path and controlling the driving module 21, an electrical connection to the central processing unit 22, and reading the wireless a wireless identification reading module 23 of the identification device 4, a map database unit 24 for storing indoor environment features and transmitting the stored data to the central processing unit 22, a method for estimating the moving distance and direction, and transmitting to the The odometer unit 25 of the central processing unit 22, a feature extraction unit 26 for acquiring environmental feature information and transmitting to the central processing unit 22, a function for detecting an obstacle and transmitting a signal to the central processing unit 22 to stop the The obstacle detecting unit 27 of the driving module 21 and a wireless communication unit 28 electrically connected to the central processing unit 22 and capable of communicating with the remote monitoring device 3.
該驅動模組21是根據該中央處理單元22所規劃的移動路徑進行移動或停止移動。該無線辨識讀取模組23在該第一實施例中為無線射頻辨識(RFID)讀取器。該地圖資料庫單元24是用於儲存預先根據室內環境特徵所製作的地圖資料。該里程計單元25在該第一實施例中為軸編碼器及陀螺儀，可用以估算出移動的距離及方向。該特徵擷取單元26在該第一實施例中為光達裝置，其是透過光達掃描環境以取得距離等環境特徵資訊。該障礙偵測單元27在該第一實施例中為超音波感應器及紅外線感應器，當然也可視需求而僅包含其中之一。該無線通訊單元28在該第一實施例中為Wi-Fi或藍芽等無線通訊模組。The drive module 21 moves or stops moving according to the movement path planned by the central processing unit 22. The wireless identification reading module 23 is a radio frequency identification (RFID) reader in the first embodiment. The map database unit 24 is for storing map data created in advance based on indoor environment characteristics. The odometer unit 25, in this first embodiment, is a shaft encoder and gyroscope that can be used to estimate the distance and direction of movement. In the first embodiment, the feature capturing unit 26 is a light reaching device that transmits light to the scanning environment to obtain environmental feature information such as distance. In the first embodiment, the obstacle detecting unit 27 is an ultrasonic sensor and an infrared sensor. Of course, only one of them may be included as needed. In the first embodiment, the wireless communication unit 28 is a wireless communication module such as Wi-Fi or Bluetooth.
該等無線辨識裝置4是分別設置於該等查核點上，且在該第一實施例中為無線射頻辨識(RFID)標籤，該等無線辨識裝置4分別具有不同的標籤資訊，該等標籤資訊是代表不同的查核點並預先儲存於該地圖資料庫單元24內。該遠端監控裝置3是具有畫面以根據該無線通訊單元28之訊息，即時顯示出該自主機器人2的所在位置，而在該第一實施例中，該遠端監控裝置3可以是電腦或手持行動裝置。The wireless identification devices 4 are respectively disposed on the check points, and in the first embodiment are radio frequency identification (RFID) tags, the wireless identification devices 4 respectively have different tag information, and the tag information is respectively It represents different check points and is pre-stored in the map database unit 24. The remote monitoring device 3 has a screen to instantly display the location of the autonomous robot 2 according to the information of the wireless communication unit 28. In the first embodiment, the remote monitoring device 3 can be a computer or a handheld device. Mobile device.
該第一實施例的定位方式如下：先透過該里程計單元25得知與上一個出發點之間的距離與角度關係，再將此一資訊結合該特徵擷取單元26所取得的環境特徵資訊以縮小於該地圖資料庫單元24內的搜尋範圍，進而修正該自主機器人2的所在地，並將其顯示於該遠端監控裝置3上。另外若當該無線辨識讀取模組23靠近該查核點時，便可讀取到相對應無線辨識裝置4之標籤資訊，並透過比對該地圖資料庫單元24中的儲存資料來更新並定位該自主機器人2之所在地。The positioning manner of the first embodiment is as follows: firstly, the distance and angle relationship with the previous starting point are obtained through the odometer unit 25, and then the information is combined with the environmental characteristic information obtained by the feature capturing unit 26. The search range in the map database unit 24 is reduced, and the location of the autonomous robot 2 is corrected and displayed on the remote monitoring device 3. In addition, when the wireless identification reading module 23 is close to the check point, the label information of the corresponding wireless identification device 4 can be read and updated and positioned by comparing the stored data in the map database unit 24. The location of the autonomous robot 2.
上述該無線辨識讀取模組23之位置資訊、該地圖資料庫單元24之儲存資料、該里程計單元25之估算結果，及該特徵擷取單元26之環境特徵資訊皆是傳送至該中央處理單元22內統整及比對，並據此規劃出移動路徑及控制該驅動模組21沿該移動路徑移動或停止移動。在實際應用上，當該自主機器人2未於合理時間內到達下一個查核點時，該中央處理單元22會發出異常訊號，並透過該無線通訊單元28送至該遠端監控裝置3上。The location information of the wireless identification reading module 23, the stored data of the map database unit 24, the estimation result of the odometer unit 25, and the environmental characteristic information of the feature extraction unit 26 are all transmitted to the central processing. The unit 22 integrates and compares, and accordingly plans a movement path and controls the drive module 21 to move or stop moving along the movement path. In practical applications, when the autonomous robot 2 does not reach the next checkpoint within a reasonable time, the central processing unit 22 sends an abnormal signal and sends it to the remote monitoring device 3 through the wireless communication unit 28.
需要特別說明的是，該特徵擷取單元26所取得的環境特徵資訊需與該地圖資料庫單元24中的環境特徵資料相匹配，例如當該特徵擷取單元26為攝影機時，該地圖資料庫單元24中的環境特徵資料便為影像特徵。It should be noted that the environment feature information acquired by the feature extraction unit 26 needs to match the environment feature data in the map database unit 24, for example, when the feature extraction unit 26 is a camera, the map database. The environmental feature data in unit 24 is an image feature.
透過該里程計單元25的估算及該特徵擷取單元26的比對，可避免該里程計單元25的誤差持續累積，還可縮小在該地圖資料庫單元24內的搜尋範圍，並減少該等無線辨識裝置4的建佈數量。透過該中央處理單元22的比對及規劃，可使該驅動模組21沿規劃好的移動路徑移動，以由一個查核點移動至下一個查核點，而將所有查核點串聯起來即為完整的巡檢路徑。該障礙偵測單元27可偵測周遭環境並發出訊號，以使該中央處理單元22停止該驅動模組21，進而避免碰撞或墜落之情事，並在停止後重新規劃移動路徑。藉由上述設計可使該自主機器人2能以簡單的方式判斷定位是否失效，並能有效地應用於室內環境。Through the estimation of the odometer unit 25 and the comparison of the feature extraction unit 26, the error of the odometer unit 25 can be prevented from continuing to accumulate, the search range in the map database unit 24 can be reduced, and the reduction can be reduced. The number of built-in wireless identification devices 4. Through the comparison and planning of the central processing unit 22, the driving module 21 can be moved along the planned moving path to move from one check point to the next check point, and all the check points are connected in series to be complete. Inspection path. The obstacle detecting unit 27 can detect the surrounding environment and emit a signal to cause the central processing unit 22 to stop the driving module 21, thereby avoiding collision or falling, and re-planning the moving path after stopping. With the above design, the autonomous robot 2 can judge whether the positioning is invalid in a simple manner and can be effectively applied to the indoor environment.
參閱圖2，為本新型室內移動定位系統1之第二實施例，該第二實施例大致是與該第一實施例相同，不同之處在於：該自主機器人2還包括一可攝取影像並傳回該遠端監控裝置3的影像攝錄單元29。在該第二實施例中，該影像攝錄單元29為可攝錄前方影像的感光耦合元件（CCD）鏡頭。該影像攝錄單元29可將該自主機器人2前方的影像即時傳回該遠端監控裝置3上，達到遠端保全之功效。Referring to FIG. 2, a second embodiment of the indoor mobile positioning system 1 of the present invention is substantially the same as the first embodiment, except that the autonomous robot 2 further includes an ingestible image and transmits Return to the video recording unit 29 of the remote monitoring device 3. In the second embodiment, the image recording unit 29 is a photosensitive coupling element (CCD) lens that can record a front image. The image capturing unit 29 can instantly transmit the image in front of the autonomous robot 2 to the remote monitoring device 3 to achieve the remote preservation effect.
參閱圖3，為本新型室內移動定位系統1之第三實施例，該第三實施例大致是與該第一實施例相同，不同之處在於：該室內移動定位系統1還包含一設置於室內以偵測環境並可將環境異常之資訊傳送給該遠端監控裝置3的環境偵測裝置5。在該第三實施例中，該環境偵測裝置5為煙霧偵測器，但當然也可以是其他能測得環境發生危險狀況的裝置。該環境偵測裝置5可將有異常狀況之位置發送給該遠端監控裝置3，並透過該無線通訊單元28通知該中央處理單元22，該中央處理單元22便可據此重新規劃路徑，以前往發生異常狀況之位置巡檢。Referring to FIG. 3, a third embodiment of the indoor mobile positioning system 1 of the present invention is substantially the same as the first embodiment, except that the indoor mobile positioning system 1 further includes an indoor setting system. The environment detecting device 5 of the remote monitoring device 3 can be transmitted to detect the environment and transmit information of the environmental anomaly. In the third embodiment, the environment detecting device 5 is a smoke detector, but of course, it can be other devices that can detect a dangerous situation in the environment. The environment detecting device 5 can send the location of the abnormal condition to the remote monitoring device 3, and notify the central processing unit 22 through the wireless communication unit 28, and the central processing unit 22 can re-plan the path accordingly. Go to the location where the abnormal situation occurred.
綜上所述，透過該中央處理單元22統整並比對該無線辨識讀取模組23之位置資訊、該地圖資料庫單元24之儲存資料、該里程計單元25之估算結果，及該特徵擷取單元26之環境特徵資訊，可簡單地得知定位是否已經發生錯誤，並藉此達到室內保全巡檢之功效，故確實能達成本新型之目的。In summary, the central processing unit 22 integrates and compares the location information of the wireless identification reading module 23, the stored data of the map database unit 24, the estimation result of the odometer unit 25, and the feature. The environmental characteristic information of the capturing unit 26 can simply know whether the positioning has been mistaken, and thereby achieve the effect of the indoor security inspection, so the purpose of the novel can be achieved.
惟以上所述者，僅為本新型之實施例而已，當不能以此限定本新型實施之範圍，凡是依本新型申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本新型專利涵蓋之範圍內。However, the above is only the embodiment of the present invention, and when it is not possible to limit the scope of the present invention, all the simple equivalent changes and modifications according to the scope of the patent application and the contents of the patent specification are still This new patent covers the scope.
1‧‧‧室內移動定位裝置
2‧‧‧自主機器人
21‧‧‧驅動模組
22‧‧‧中央處理單元
23‧‧‧無線辨識讀取模組
24‧‧‧地圖資料庫單元
25‧‧‧里程計單元
26‧‧‧特徵擷取單元
27‧‧‧障礙偵測單元
28‧‧‧無線通訊單元
29‧‧‧影像攝錄單元
3‧‧‧遠端監控裝置
4‧‧‧無線辨識裝置
5‧‧‧環境偵測裝置1‧‧‧Indoor mobile positioning device
2‧‧‧Autonomous robot
21‧‧‧Drive Module
22‧‧‧Central Processing Unit
23‧‧‧Wireless identification reader module
24‧‧‧Map database unit
25‧‧‧ odometer unit
26‧‧‧Character extraction unit
27‧‧‧ obstacle detection unit
28‧‧‧Wireless communication unit
29‧‧‧Video Recording Unit
3‧‧‧ Remote monitoring device
4‧‧‧Wireless identification device
5‧‧‧Environmental detection device
本新型之其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中： 圖1是一方塊圖，說明本新型室內移動定位系統之一第一實施例； 圖2是一方塊圖，說明本新型室內移動定位系統之一第二實施例；及 圖3是一方塊圖，說明本新型室內移動定位系統之一第三實施例。Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: FIG. 1 is a block diagram illustrating a first embodiment of the present invention; FIG. The figure illustrates a second embodiment of the present indoor mobile positioning system; and FIG. 3 is a block diagram showing a third embodiment of the novel indoor mobile positioning system.
1‧‧‧室內移動定位裝置 1‧‧‧Indoor mobile positioning device
2‧‧‧自主機器人 2‧‧‧Autonomous robot
21‧‧‧驅動模組 21‧‧‧Drive Module
22‧‧‧中央處理單元 22‧‧‧Central Processing Unit
23‧‧‧無線辨識讀取模組 23‧‧‧Wireless identification reader module
24‧‧‧地圖資料庫單元 24‧‧‧Map database unit
25‧‧‧里程計單元 25‧‧‧ odometer unit
26‧‧‧特徵擷取單元 26‧‧‧Character extraction unit
27‧‧‧障礙偵測單元 27‧‧‧ obstacle detection unit
28‧‧‧無線通訊單元 28‧‧‧Wireless communication unit
3‧‧‧遠端監控裝置 3‧‧‧ Remote monitoring device
4‧‧‧無線辨識裝置 4‧‧‧Wireless identification device
Claims (11)
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| TW105204025U TWM523862U (en) | 2016-03-23 | 2016-03-23 | Indoor mobility positioning system |
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| Application Number | Priority Date | Filing Date | Title |
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| TW105204025U TWM523862U (en) | 2016-03-23 | 2016-03-23 | Indoor mobility positioning system |
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| TWM523862U true TWM523862U (en) | 2016-06-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI634343B (en) * | 2016-11-21 | 2018-09-01 | 宏達國際電子股份有限公司 | Positioning device and positioning method |
| TWI678682B (en) * | 2018-10-11 | 2019-12-01 | 宏碁股份有限公司 | Positioning method and positioning system |
| TWI759848B (en) * | 2019-09-05 | 2022-04-01 | 大陸商北京海益同展信息科技有限公司 | Inspection robot, inspection system and inspection method |
-
2016
- 2016-03-23 TW TW105204025U patent/TWM523862U/en not_active IP Right Cessation
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI634343B (en) * | 2016-11-21 | 2018-09-01 | 宏達國際電子股份有限公司 | Positioning device and positioning method |
| US10416305B2 (en) | 2016-11-21 | 2019-09-17 | Htc Corporation | Positioning device and positioning method |
| TWI678682B (en) * | 2018-10-11 | 2019-12-01 | 宏碁股份有限公司 | Positioning method and positioning system |
| US10977824B2 (en) | 2018-10-11 | 2021-04-13 | Acer Incorporated | Positioning method and positioning system |
| TWI759848B (en) * | 2019-09-05 | 2022-04-01 | 大陸商北京海益同展信息科技有限公司 | Inspection robot, inspection system and inspection method |
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