CN111829518A - Navigation method and device based on high-precision indoor positioning technology - Google Patents
Navigation method and device based on high-precision indoor positioning technology Download PDFInfo
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- CN111829518A CN111829518A CN201910307746.XA CN201910307746A CN111829518A CN 111829518 A CN111829518 A CN 111829518A CN 201910307746 A CN201910307746 A CN 201910307746A CN 111829518 A CN111829518 A CN 111829518A
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- 238000005516 engineering process Methods 0.000 title claims abstract description 15
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- 238000010408 sweeping Methods 0.000 claims description 18
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a navigation method and a device based on a high-precision indoor positioning technology, which comprises a controller, a server and a terminal vehicle device, wherein the controller comprises a microprocessor, various sensors related to the microprocessor and a motor controller, and the server comprises a computer, a positioning base station, a navigation algorithm and indoor maps respectively related to the positioning base station and the navigation algorithm. The terminal vehicles include but are not limited to indoor autonomous navigation floor washing machines, indoor autonomous navigation forklifts, indoor autonomous navigation patrol cars, indoor autonomous navigation management trucks and other special terminal vehicles. The invention controls the operation of the navigation terminal, provides positioning coordinates by the indoor positioning base station and cooperates with the server-side navigation algorithm program planning advancing route, thereby realizing a novel solution for autonomous indoor navigation of a special vehicle. Compared with other indoor autonomous navigation technologies, the scheme has the advantages of simpler structure, low cost and easier realization, and reduces the difficulty of the existing indoor navigation technology.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to an indoor autonomous navigation method and device system.
Background
In recent years, with the rapid development of science and technology and the continuous improvement of living standard, robots are used as consultants in many public places, so that the labor cost is saved, the navigation efficiency is improved, the benefit of the public places is increased, and the image of the public places is improved. The prior robot path navigation mainly depends on magnetic stripe navigation, but a black magnetic stripe needs to be pasted on the ground in advance, and the robot path navigation is very unsightly. The current mainstream is laser navigation, wherein a robot is placed in a strange environment, the robot scans surrounding objects by using a laser radar while walking, a map of the current environment is drawn, and autonomous positioning and navigation of the robot are realized. However, the current laser navigation implementation technology has high difficulty, high requirements on the performance of used hardware products, high overall price and incapability of being put into use in large batch at low cost.
The indoor positioning navigation and device provided by the invention realize a set of brand-new indoor positioning navigation method and device through common indoor positioning technology. The positioning tag is carried by the terminal device, the position of the current device is displayed in real time, the positioning data is continuously reported to the server through the base station, the server utilizes the position of the current terminal device and an indoor electronic map which is led in advance, next action instructions are made for the terminal device by utilizing various algorithm mathematical models, a command is issued to a control module of the terminal device through a wireless communication transmission module (WiFi, 4G/5G, base station and the like), a steering engine and a traveling device are operated through the control module, and therefore various actions of the terminal device are controlled, and autonomous navigation and traveling are achieved.
The indoor navigation method provided by the invention has the advantages of simple structure, low requirement on hardware performance, easiness in realization, low cost, safety, reliability and wide application range. The indoor navigation system is suitable for indoor navigation in large public places such as airports, high-speed rail stations and exhibition halls and in large production and processing workshops. The navigation method can realize but not limited to indoor navigation solutions such as a floor washing machine, a forklift, a patrol car, a tally robot and the like.
Disclosure of Invention
The invention provides a novel indoor navigation method and a novel indoor navigation device, provides a navigation method and a navigation device based on a high-precision indoor positioning technology, and realizes a novel indoor navigation solution which is easier to realize. According to the indoor navigation method, the current position of the terminal device is reported to the server according to the positioning coordinates, and the server plans the traveling path of the terminal device and sends out the traveling instruction by utilizing the independently developed electronic map through various algorithms and mathematical models according to the coordinate position. The navigation device can be, but is not limited to, an indoor automatic floor cleaning machine, an indoor automatic forklift, an indoor automatic management truck and an indoor automatic patrol car.
In order to achieve the purpose, the invention adopts the technical scheme that:
(1) the microprocessor control chip judges whether a person approaches the terminal device through the infrared sensing device, and when the person approaches the terminal device, the operation can be immediately stopped, and the operation can be resumed after the person leaves.
(2) The microprocessor control chip judges the distance between the terminal device and the barrier through the ultrasonic ranging device, and stops moving when the distance is smaller than the minimum distance to wait for a next moving instruction of the server.
(3) The microprocessor control chip controls the terminal device to move backwards through the moving instruction received by the wireless communication transmission module (WiFi, 4G/5G, base station and the like).
(4) The microprocessor control chip receives a turning instruction through a wireless communication transmission module (WiFi, 4G/5G, a base station and the like) and controls the steering motor to turn.
(5) The microprocessor control chip judges whether the steering gear reaches the maximum steering angle through the mechanical limit switch, and if the steering gear reaches the maximum steering angle, the steering motor is triggered in the opposite direction to prevent gear beating.
(6) The microprocessor control chip controls the opening and closing of the relay switch through the server instruction, so that the operation of related components is controlled.
(7) The server receives terminal location information obtained by the router from the positioning base station.
(8) And the server constructs an electronic map inside the building through map import.
(9) The server plans a travel route of the terminal device on the electronic map by using the terminal position information through an algorithm program and a mathematical model.
(10) And the server plans an obstacle avoidance route and an obstacle detouring route for the terminal device by using a logic algorithm through the induction information transmitted by the terminal device.
(11) The server sends a control instruction to the microprocessor control module through the wireless communication transmission module (WiFi, 4G/5G, base station and the like).
The technical principle adopted by the invention is as follows: the core circuit of the system adopts a low-cost STM32 microprocessor control chip, and the control function of each peripheral module is set through a software program. The action instruction sent by the server is received through a wireless communication transmission module (WiFi, 4G/5G, a base station and the like), the position information is collected through a positioning label, and the position information is reported to the server through a positioning base station. A computer is used as a server, and an algorithm is used for planning a route through an imported electronic map, so that indoor navigation is realized.
The scheme is suitable for indoor positioning and navigation solutions in various scenes, the navigation method is combined with a washing/sweeping machine to achieve unmanned automatic sweeping and cleaning functions of large public places, and the navigation method is combined with a forklift to achieve unmanned goods transportation in factories. The navigation method is combined with the patrol car to realize automatic patrol alarm of the robot, and the navigation method is combined with the patrol car to realize unmanned tally in the supermarket. The technology related to the indoor unmanned environment can be realized through the idea provided by the invention.
The invention has the beneficial effects that: the navigation method flexibly utilizes the existing indoor positioning technology and combines simple hardware equipment to realize a set of brand-new indoor positioning navigation solution. Compared with the existing positioning navigation technology in the market at present, the method has the advantages of low hardware performance requirement, high cost performance, easiness in implementation, safety, reliability, strong practicability, manpower resource saving and the like.
Drawings
The invention is further described below with reference to the figures and examples.
Fig. 1 is a logical structure diagram of each module of the navigation method and the navigation device based on the high-precision indoor positioning technology.
In the figure, a microprocessor is powered by a vehicle battery of a terminal device and is responsible for processing the logic relation of each inductor, controlling the advancing and stopping of a traveling motor, controlling the steering of a steering motor, controlling various functions of each relay switch to turn on and off the terminal device and controlling wireless communication transmission modules (WiFi, 4G/5G, a base station and the like) to establish wireless network connection with a server to send data. The server is responsible for importing an indoor plane electronic map, planning a navigation route by utilizing an algorithm and a mathematical model, carrying out obstacle detouring and obstacle avoidance by utilizing a logic processing algorithm, and sending a traveling and turning instruction to the terminal device control module through the wireless communication transmission module (WiFi, 4G/5G, base station and the like).
Detailed Description
The navigation method and the floor washing machine device based on the high-precision indoor positioning technology are carried out according to the following steps.
(1) And calculating according to the indoor area, and arranging the positioning base stations at certain intervals.
(2) The plan structure diagram of the house is imported into the system to generate an indoor electronic map.
(3) After the washing/sweeping machine carrying the positioning tag is powered on, the control module is also powered on and started, and then the control module is connected with the server through a wireless communication transmission module (WiFi, 4G/5G, a base station and the like).
(4) And after the server is started, identifying the current position of the washing/sweeping machine according to the positioning label on the washing/sweeping machine.
(5) The server sends a traveling instruction to the washing/sweeping machine through the router to control the washing/sweeping machine to move.
(6) The washing/sweeping machine moves with the positioning tag, and the base station collects positioning data in real time and uploads the positioning data to the server.
(7) And the server sends a next traveling instruction to the washing/sweeping machine according to the current position of the washing/sweeping machine.
(8) When the washing/sweeping machine encounters an obstacle or a person, the washing/sweeping machine stops moving immediately, reports the movement to the server, and sends a traveling instruction to the trolley again after the person leaves or the obstacle moves away.
(9) The server plans a traveling route in advance according to the position of the washing/sweeping machine, so that the washing machine travels according to the traveling route, and issues a turning command to the washing machine in advance when the washing/sweeping machine reaches a wall body.
The navigation method obtains the current position of the device according to the indoor positioning data, and plans the next action for the device according to the current position of the device. The device control module converts the voltage of the battery of the sweeper into the input voltage suitable for the sensor and the input voltage of the microprocessor control chip through the voltage reduction module, the control module initializes each module and the serial port after being electrified, a connection command is sent to the server through a wireless communication transmission module (WiFi, 4G/5G, a base station and the like), the control module can continuously send the information of the current sensor to the server after being connected with the server, then waiting for the next step of the server, after the server sends the advancing instruction, sending the advancing instruction to a wireless receiving module of a control module by a wireless communication transmission module (WiFi, 4G/5G, base station and the like), judging by the control module after obtaining the instruction, making corresponding action, when the control module receives a turning instruction, the motor can be controlled by the motor controller to turn to drive the steering gear to control the sweeper to turn. When the control module receives commands of opening the floor brush, removing dust and the like, the relay switch is opened to close the corresponding switch for operation. The device does not need any human assistance during the working period of the washing/sweeping machine, stops in time to avoid obstacles when approaching the obstacles, moves around the obstacles when exceeding a certain time, stops when approaching the obstacle and plays an operation warning sound, and automatically continues to work after the person leaves the rear washing/sweeping machine for a certain distance.
Claims (10)
1. A navigation method and device based on high-precision indoor positioning technology comprises a controller, a server and a terminal vehicle device, and is characterized by also comprising
a. The controller comprises a microprocessor, and a distance measuring device, an infrared sensing device, an inertial navigation device, a traveling motor control device and a steering motor control device which are respectively connected with the microprocessor.
b. The server comprises a computer, a positioning base station, a navigation algorithm and indoor maps respectively related to the server; the positioning base station is connected with the server computer, and the navigation algorithm program is associated with the map coordinates.
c. The terminal vehicles include but are not limited to indoor autonomous navigation washing/sweeping machines, indoor autonomous navigation forklifts, indoor autonomous navigation patrol cars, indoor autonomous navigation management trucks and other special terminal vehicles.
2. The controller of claim 1, wherein the controller device is connected to the wireless transmission module, the steering device, and the sensor.
3. The wireless transmission module of claim 2, wherein the transmission module is externally connected to an antenna receiver, the antenna receiver being mounted above the housing. The steering device is characterized by comprising a stepping motor controller, a stepping motor and a steering gear. The sensor is characterized by comprising an ultrasonic sensor, an infrared sensor and a six/nine-axis attitude sensor.
4. The server of claim 1, wherein the server comprises a database, an electronic map, a navigation algorithm, a motion control processing algorithm, a transaction processing module, and a user interaction interface.
5. The electronic map of claim 4, wherein the electronic map is mainly used for indoor and outdoor positioning navigation, and the map files (DXF, DWG, EMF, EPS, AI, PDF, SVG and other formats) are converted into special indoor and outdoor map data by using a map conversion tool developed by oneself and stored in a database, and the stored map data is read to generate the electronic map when in use.
6. The navigation algorithm of claim 4, wherein the navigation algorithm comprises a path planning algorithm, an obstacle avoidance algorithm, and an obstacle avoidance algorithm. The motion control processing algorithm is characterized in that the motion control algorithm plans the next action indication of the terminal vehicle in real time according to the position information of the terminal vehicle and the sensor information transmitted by the microprocessor.
7. The end vehicle of claim 1, wherein the end vehicle comprises a locating tag, an operation warning light, an operation warning tone playing module, a microprocessor, and a vehicle device.
8. The location tag of claim 7, wherein the location tag is mounted above a housing of the terminal vehicle to provide real-time location data of the terminal vehicle to the server.
9. The task indicator of claim 7, wherein the indicator is an LED or LTD type warning light. The operation prompt tone playing module is characterized in that the operation prompt tone playing module automatically plays when the vehicle stops when meeting an obstacle (when the obstacle avoidance function is started) as claimed in claim 7, and stops when the obstacle avoidance function is finished.
10. The vehicle device according to claim 7, wherein the vehicle device is used indoors, and includes but is not limited to indoor automatic washing/sweeping machines, indoor automatic forklifts, indoor unmanned patrol cars, indoor automatic management trucks and other special terminal vehicles.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910307746.XA CN111829518A (en) | 2019-04-17 | 2019-04-17 | Navigation method and device based on high-precision indoor positioning technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910307746.XA CN111829518A (en) | 2019-04-17 | 2019-04-17 | Navigation method and device based on high-precision indoor positioning technology |
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Citations (5)
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| CN105676845A (en) * | 2016-01-19 | 2016-06-15 | 中国人民解放军国防科学技术大学 | Security service robot and intelligent obstacle avoidance method of robot in complex environment |
| CN206162200U (en) * | 2016-09-29 | 2017-05-10 | 自兴人工智能（深圳）有限公司 | Children electric car controller and this children electric car |
| CN109323696A (en) * | 2018-11-07 | 2019-02-12 | 航天信息股份有限公司 | A kind of unmanned fork lift indoor positioning navigation system and air navigation aid |
-
2019
- 2019-04-17 CN CN201910307746.XA patent/CN111829518A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101661098A (en) * | 2009-09-10 | 2010-03-03 | 上海交通大学 | Multi-robot automatic locating system for robot restaurant |
| CN104321709A (en) * | 2012-05-22 | 2015-01-28 | 夏普株式会社 | Robot device, terminal device, remote control system for robot device and program |
| CN105676845A (en) * | 2016-01-19 | 2016-06-15 | 中国人民解放军国防科学技术大学 | Security service robot and intelligent obstacle avoidance method of robot in complex environment |
| CN206162200U (en) * | 2016-09-29 | 2017-05-10 | 自兴人工智能（深圳）有限公司 | Children electric car controller and this children electric car |
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