CN106227218A - The navigation barrier-avoiding method of a kind of Intelligent mobile equipment and device - Google Patents
The navigation barrier-avoiding method of a kind of Intelligent mobile equipment and device Download PDFInfo
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- CN106227218A CN106227218A CN201610855263.XA CN201610855263A CN106227218A CN 106227218 A CN106227218 A CN 106227218A CN 201610855263 A CN201610855263 A CN 201610855263A CN 106227218 A CN106227218 A CN 106227218A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000004888 barrier function Effects 0.000 abstract description 27
- 230000007613 environmental effect Effects 0.000 description 12
- 238000005259 measurement Methods 0.000 description 8
- 208000027418 Wounds and injury Diseases 0.000 description 6
- 230000006378 damage Effects 0.000 description 6
- 208000014674 injury Diseases 0.000 description 6
- 238000007726 management method Methods 0.000 description 6
- 230000004927 fusion Effects 0.000 description 4
- 241000222065 Lycoperdon Species 0.000 description 2
- 241000768494 Polymorphum Species 0.000 description 2
- 244000309464 bull Species 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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Abstract
The invention discloses navigation barrier-avoiding method and the device of a kind of Intelligent mobile equipment, the method includes: utilizes two dimension distance measuring sensor that Intelligent mobile equipment local environment is carried out traverse scanning, obtains two-dimensional environment map；Obtain the three-dimensional environment data that three dimensional depth photographic head collects at the diverse location of Intelligent mobile equipment local environment, and three-dimensional environment data are merged with two-dimensional environment map, obtain integrated environment map；Receiving the target location instruction of external world's input, avoidance route cooked up by current location based on Intelligent mobile equipment and integrated environment map, and controls Intelligent mobile equipment and arrive according to avoidance route and instruct corresponding target location with target location.This technical scheme avoids and there is situation owing to two dimension distance measuring sensor is only able to detect the object of certain height plane present in the technical scheme that prior art provides, and then causes Intelligent mobile equipment can strike the situation of the barrier of other planes outside certain height plane that is positioned in moving process occurring.
Description
Technical field
The present invention relates to mobile robot technology field, more particularly, it relates to the navigation of a kind of Intelligent mobile equipment keeps away
Barrier method and device.
Background technology
Intelligent mobile equipment generally requires in the course of the work and moves in the environment, arrives and specifies destination, performs specific
Task；And in its moving process, most important seek to get around barrier (such as the furniture of family, people etc.), otherwise can cause
Property loss even personal injury.
In prior art mainly logical for realizing navigate in the moving process technological means of avoidance of Intelligent mobile equipment
Cross what two dimension distance measuring sensor realized.Specifically, obtain environmental map by two dimension distance measuring sensor, and then according to environment ground
Figure realizes navigation and barrier avoiding function, but, the environment letter being only able to detect in certain height plane due to two dimension distance measuring sensor
Breath, and in the plane outside this certain height plane, it is also possible to exist and can become Intelligent mobile equipment in moving process
The object of barrier, now, will can't detect this object because of two dimension distance measuring sensor and cause Intelligent mobile equipment to clash into barrier
The situation hindering thing occurs.
In sum, the technical scheme for Intelligent mobile equipment navigation avoidance provided in prior art, there is Intelligent sliding
Dynamic equipment may strike barrier in moving process, and this barrier is positioned at the plane that Intelligent mobile equipment cannot detect
Problem.
Summary of the invention
It is an object of the invention to provide navigation barrier-avoiding method and the device of a kind of Intelligent mobile equipment, to solve prior art
The Intelligent mobile equipment that the technical scheme for Intelligent mobile equipment navigation avoidance of middle offer exists may hit in moving process
Hit barrier, and the problem that this barrier is positioned at the plane that Intelligent mobile equipment cannot detect.
To achieve these goals, the present invention provides following technical scheme:
A kind of navigation barrier-avoiding method of Intelligent mobile equipment, including:
Utilize two dimension distance measuring sensor that Intelligent mobile equipment local environment is carried out traverse scanning, obtain two-dimensional environment ground
Figure；
Obtain the three-dimensional ring that three dimensional depth photographic head collects at the diverse location of described Intelligent mobile equipment local environment
Border data, and described three-dimensional environment data are merged with described two-dimensional environment map, obtain integrated environment map；
Receive the target location instruction of external world's input, current location based on described Intelligent mobile equipment and described comprehensive ring
Condition figure cooks up avoidance route, and controls described Intelligent mobile equipment according to the arrival of described avoidance route and described target location
The target location that instruction is corresponding.
By implementing this embodiment, it is possible to avoid present in the technical scheme that prior art provides owing to two dimension range finding passes
Sensor is only able to detect the object of certain height plane and there is situation, and then causes Intelligent mobile equipment permissible in moving process
Strike the situation of the barrier of other planes outside certain height plane that is positioned to occur, further avoid property loss even
Personal injury.
Preferably, described described three-dimensional environment data and described two-dimensional environment map are merged, obtain integrated environment map,
Including:
By described three-dimensional environment data projection to two dimensional surface, and this two dimensional surface is added on two-dimensional environment map,
Obtain described integrated environment map.
By implementing this embodiment, it is possible to the fusion making two-dimensional environment map and three-dimensional environment data is simple to operation,
Improve navigation barrier-avoiding method realizes efficiency.
Preferably, avoidance cooked up by described current location based on described Intelligent mobile equipment and described integrated environment map
Route, including:
Described two-dimensional environment Orientation on map is utilized to instruct corresponding target location to described target location, to combine described
Close in environmental map and determine described target location, and based on described target location and the present bit of described Intelligent mobile equipment
Put in described integrated environment map, cook up described avoidance route.
By this embodiment, it is possible to quickly realize the location of target location in integrated environment map, improve navigation and keep away
Barrier method realize efficiency.
Preferably, also include:
If described target location cannot be navigated in described two-dimensional environment map, then output location failure information.
By implementing this embodiment, it is possible to known the positioning scenarios of target location in time by management personnel, so realize right
The operation answered.
A kind of navigation fault avoidnig device of Intelligent mobile equipment, including:
Two-dimensional map acquisition module, is used for utilizing two dimension distance measuring sensor to travel through Intelligent mobile equipment local environment
Scanning, obtains two-dimensional environment map；
Aggregate map acquisition module, for obtaining three dimensional depth photographic head in described Intelligent mobile equipment local environment not
The three-dimensional environment data that co-located collects, and described three-dimensional environment data are merged with described two-dimensional environment map, combined
Close environmental map；
Navigation avoidance module, for receiving the target location instruction of extraneous input, based on described Intelligent mobile equipment works as
Avoidance route cooked up by front position and described integrated environment map, and controls described Intelligent mobile equipment according to described avoidance route
Arrive the target location corresponding with the instruction of described target location.
By implementing this embodiment, it is possible to avoid present in the technical scheme that prior art provides owing to two dimension range finding passes
Sensor is only able to detect the object of certain height plane and there is situation, and then causes Intelligent mobile equipment permissible in moving process
Strike the situation of the barrier of other planes outside certain height plane that is positioned to occur, further avoid property loss even
Personal injury.
Preferably, described aggregate map acquisition module includes:
Integrated unit, for by described three-dimensional environment data projection to two dimensional surface, and this two dimensional surface is added to two
On dimension environmental map, obtain described integrated environment map.
By implementing this embodiment, it is possible to the fusion making two-dimensional environment map and three-dimensional environment data is simple to operation,
Improve navigation barrier-avoiding method realizes efficiency.
Preferably, described navigation avoidance module includes:
Navigation avoidance unit, for utilizing described two-dimensional environment Orientation on map to the mesh corresponding with the instruction of described target location
Cursor position, to determine described target location, and based on described target location and described intelligence in described integrated environment map
The current location of energy mobile device cooks up described avoidance route in described integrated environment map.
By this embodiment, it is possible to quickly realize the location of target location in integrated environment map, improve navigation and keep away
Barrier method realize efficiency.
Preferably, described navigation avoidance module also includes:
Output unit, if for navigating to described target location in described two-dimensional environment map, then output is fixed
Position failure information.
By implementing this embodiment, it is possible to known the positioning scenarios of target location in time by management personnel, so realize right
The operation answered.
The navigation barrier-avoiding method of a kind of Intelligent mobile equipment that the present invention provides and device, wherein, the method includes: profit
With two dimension distance measuring sensor, Intelligent mobile equipment local environment is carried out traverse scanning, obtain two-dimensional environment map；Obtain three-dimensional
The three-dimensional environment data that depth camera collects at the diverse location of described Intelligent mobile equipment local environment, and by described three
Dimension environmental data merges with described two-dimensional environment map, obtains integrated environment map；Receive the target location instruction of external world's input,
Avoidance route cooked up by current location based on described Intelligent mobile equipment and described integrated environment map, and controls described intelligence
Mobile device arrives the target location corresponding with the instruction of described target location according to described avoidance route.Disclosed in the present application above-mentioned
In technical characteristic, first obtain two-dimensional environment map, and then the three-dimensional environment data obtained are merged with two-dimensional environment map,
To integrated environment map, thus, with two-dimensional environment during integrated environment map can not only obtain Intelligent mobile equipment local environment
There is situation in the object of map respective heights plane, it is also possible to gets the object of other elevation plane in this environment and there are feelings
Condition, and then cook up avoidance route accordingly, it is to avoid pass due to two dimension range finding present in the technical scheme that prior art provides
Sensor is only able to detect the object of certain height plane and there is situation, and then causes Intelligent mobile equipment permissible in moving process
Strike the situation of the barrier of other planes outside certain height plane that is positioned to occur, further avoid property loss even
Personal injury.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
The flow chart of the navigation barrier-avoiding method of a kind of Intelligent mobile equipment that Fig. 1 provides for the embodiment of the present invention；
The flow chart of the navigation barrier-avoiding method of the another kind of Intelligent mobile equipment that Fig. 2 provides for the embodiment of the present invention；
The flow chart of the navigation barrier-avoiding method of another Intelligent mobile equipment that Fig. 3 provides for the embodiment of the present invention；
The flow chart of the navigation barrier-avoiding method of another Intelligent mobile equipment that Fig. 4 provides for the embodiment of the present invention；
The structural representation of the navigation fault avoidnig device of a kind of Intelligent mobile equipment that Fig. 5 provides for the embodiment of the present invention；
The structural representation of the navigation fault avoidnig device of the another kind of Intelligent mobile equipment that Fig. 6 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Refer to Fig. 1, it illustrates the navigation barrier-avoiding method of a kind of Intelligent mobile equipment that the embodiment of the present invention provides
Flow chart, may comprise steps of:
S11: utilize two dimension distance measuring sensor that Intelligent mobile equipment local environment is carried out traverse scanning, obtain two-dimensional environment
Map.
It should be noted that utilize two dimension distance measuring sensor Intelligent mobile equipment local environment is scanned, by time
Go through environment, two-dimensional environment map can be obtained.Wherein, the environment ground that two-dimensional environment map i.e. obtains in two dimensional height plane
Figure.It should be noted that whole two-dimensional environment map can be a map using gray scale to represent the probability that can pass through, at structure
Build before this two-dimensional environment map starts, the whole environment residing for intelligent mobile device is unknown, corresponding map a little
Gray scale is consistent；The figure process of building of above-mentioned two-dimensional environment map is described below as a example by the laser radar of output 360: building figure mistake
Cheng Zhong, utilizes two dimension distance measuring sensor can obtain the point that 360 measurements are arrived, corresponding Intelligent mobile equipment tour every time
Every obstacle distance once recorded；Then it is accurately positioned by location algorithm, obtains the position that Intelligent mobile equipment is current
Appearance, and this present bit appearance to each measurement to point between region be considered white space (clear), correspondence position
Gray scale (can pass through probability) increases, and the point measured belongs to barrier, and the gray scale of correspondence position reduces, and by that analogy, uses
Map is updated by each point, i.e. can get a gray scale map, i.e. two-dimensional environment map, and wherein white is can FOH
Territory, black is barrier, and Lycoperdon polymorphum Vitt is zone of ignorance (region that two dimension distance measuring sensor can not record).
S12: obtain the three-dimensional ring that three dimensional depth photographic head collects at the diverse location of Intelligent mobile equipment local environment
Border data, and three-dimensional environment data are merged with two-dimensional environment map, obtain integrated environment map.
Wherein, the degree of depth of correspondence can directly be exported after three dimensional depth photographic head scans Intelligent mobile equipment local environment
Image, i.e. three-dimensional environment data, these data can show the three-dimensional shape of object in Intelligent mobile equipment local environment.By three
Dimension environmental data carries out merging the integrated environment map obtained with two-dimensional environment map and includes Intelligent mobile equipment local environment
Middle object state under two-dimensional environment and the state under three-dimensional environment state.Illustrate, ring residing for Intelligent mobile equipment
Border exists a desk, and the elevation plane that two dimension distance measuring sensor is detected is the elevation plane corresponding with table midleg,
Corresponding, two-dimensional environment map is merely capable of be embodied in this elevation plane with the presence of table leg, and collects at diverse location
Three-dimensional environment data then can include the desktop of desk, and then merged by by these three-dimensional environment data and two-dimensional environment map
To integrated environment map in can know the maximum area (such as the profile of desktop) that desk projects at two dimensional surface, and then know
This part is barrier, to avoid striking any position of desk when planning avoidance route.
S13: receive the target location instruction of external world's input, current location based on Intelligent mobile equipment and integrated environment ground
Figure cooks up avoidance route, and controls Intelligent mobile equipment and arrive according to avoidance route and instruct corresponding target position with target location
Put.
Wherein, what avoidance route was i.e. cooked up on integrated environment map can avoid in Intelligent mobile equipment local environment
Other objects, i.e. barrier, thus arrive the route of target location with barrier in the case of avoiding colliding, and then control
Intelligent mobile equipment arrives target location according to this route.Illustrate as a example by still there is desk in environment, utilize comprehensive
Environmental map planning avoidance route, it is possible to also can avoid desktop while ensureing to avoid table leg, and then avoid Intelligent mobile equipment
Collision with desk.
In above-mentioned technical characteristic disclosed in the present application, first obtain two-dimensional environment map, and then the three-dimensional environment that will obtain
Data merge with two-dimensional environment map, obtain integrated environment map, and thus, integrated environment map can not only obtain intelligent mobile
In equipment local environment there is situation in the object with two-dimensional environment map respective heights plane, it is also possible to gets in this environment it
There is situation in the object of his elevation plane, and then cook up avoidance route accordingly, it is to avoid the technical scheme that prior art provides
Present in there is situation owing to two dimension distance measuring sensor is only able to detect the object of certain height plane, and then cause Intelligent sliding
Dynamic equipment can strike the situation of the barrier of other planes outside certain height plane that is positioned in moving process and occur, and enters
One step avoids property loss even personal injury.
Navigation avoidance side further referring to the another kind of Intelligent mobile equipment that Fig. 2, Fig. 2 provide for the embodiment of the present invention
The flow chart of method.Wherein, Fig. 2 is that refinement obtains further on the basis of Fig. 1.Concrete, by three-dimensional environment data and two dimension
Environmental map merges, and obtains integrated environment map, may include that
By three-dimensional environment data projection to two dimensional surface, and this two dimensional surface is added on two-dimensional environment map, obtains
Integrated environment map.
As in figure 2 it is shown, to should technical scheme, step S12 becomes S121: obtain three dimensional depth photographic head at intelligent mobile
The three-dimensional environment data that the diverse location of equipment local environment collects, and by three-dimensional environment data projection to two dimensional surface, and
This two dimensional surface is added on two-dimensional environment map, obtains integrated environment map.
The detailed process that this step realizes can be to two dimensional surface by three-dimensional environment data projection, is then superimposed upon
On two-dimensional environment map so that also there is on two-dimensional environment map the information of spatial obstacle thing.With ring residing for Intelligent mobile equipment
Illustrate as a example by border exists a desk, can be by table by the three-dimensional environment data projection corresponding with desk to two dimensional surface
The largest contours (the usually edge contour of desktop) that attached bag contains projects to two dimensional surface, and then by the bull wheel of this two dimensional surface
Exterior feature is added on two-dimensional environment map so that comprise this largest contours at correspondence position on two-dimensional environment map, obtains comprehensive ring
Condition figure.Two-dimensional environment map and the fusion of three-dimensional environment data is realized by technique scheme, simple to operation, improve
The embodiment of the present invention provide navigation barrier-avoiding method realize efficiency.
Navigation avoidance side further referring to another Intelligent mobile equipment that Fig. 3, Fig. 3 provide for the embodiment of the present invention
The flow chart of method.Wherein, Fig. 3 is that refinement obtains further on the basis of Fig. 2.Concrete, based on Intelligent mobile equipment work as
Avoidance route cooked up by front position and integrated environment map, may include that
Two-dimensional environment Orientation on map is utilized to instruct corresponding target location to target location, with in integrated environment map
Determine target location, and current location based on target location and Intelligent mobile equipment is cooked up in integrated environment map
Avoidance route.
As it is shown on figure 3, to should technical scheme, step S13 becomes S131: receive the target location instruction of external world's input,
Two-dimensional environment Orientation on map is utilized to instruct corresponding target location to target location, to determine mesh in integrated environment map
Cursor position, and current location based on target location, Intelligent mobile equipment cooks up avoidance route in integrated environment map, and
Control Intelligent mobile equipment and arrive target location according to avoidance route.Corresponding flow chart is as shown in Figure 3.
Specifically, due to two-dimensional environment map, to comprise information few compared with integrated environment map, therefore, utilizes two-dimensional environment ground
It is faster, in hgher efficiency that figure navigates to speed for target location relatively utilizes integrated environment map to realize this location.And then can be true
Determine target location corresponding with the target location in two-dimensional environment map in integrated environment map, and then at Intelligent mobile equipment
One avoidance route that will not collide other objects on integrated environment map is set between current location and target location, tool
Body can take out one group of two dimension point distance measurement on integrated environment map, and this two dimension point distance measurement is contactless with other objects
Point, and then this group point is connected to become avoidance route, it is achieved the collisionless of Intelligent mobile equipment moves.
Navigation avoidance side further referring to another Intelligent mobile equipment that Fig. 4, Fig. 4 provide for the embodiment of the present invention
The flow chart of method.Wherein, Fig. 4 is to increase technical characteristic on the basis of Fig. 3 further to obtain.Concrete, the embodiment of the present invention
The navigation barrier-avoiding method of a kind of Intelligent mobile equipment provided, it is also possible to including:
S14: if target location cannot be navigated in two-dimensional environment map, then output location failure information.
Wherein, location failure information can send to designated terminal, it is also possible to is directly displayed on appointment screen, certainly also
Can be carried out other according to actual needs arrange, all within protection scope of the present invention.Wherein, above-mentioned specified device is the most permissible
For the device corresponding with management personnel, thereby, it is possible to known the positioning scenarios of target location in time by management personnel, and then realize
Corresponding operation.
The embodiment of the present invention additionally provides the navigation fault avoidnig device of a kind of Intelligent mobile equipment, and this device can be arranged on intelligence
In energy mobile device, as it is shown in figure 5, may include that
Two-dimensional map acquisition module 11, is used for utilizing two dimension distance measuring sensor to carry out Intelligent mobile equipment local environment time
Go through scanning, obtain two-dimensional environment map.
It should be noted that utilize two dimension distance measuring sensor Intelligent mobile equipment local environment is scanned, by time
Go through environment, two-dimensional environment map can be obtained.Wherein, the environment ground that two-dimensional environment map i.e. obtains in two dimensional height plane
Figure.It should be noted that whole two-dimensional environment map can be a map using gray scale to represent the probability that can pass through, at structure
Build before this two-dimensional environment map starts, the whole environment residing for intelligent mobile device is unknown, corresponding map a little
Gray scale is consistent；The figure process of building of above-mentioned two-dimensional environment map is described below as a example by the laser radar of output 360: building figure mistake
Cheng Zhong, utilizes two dimension distance measuring sensor can obtain the point that 360 measurements are arrived, corresponding Intelligent mobile equipment tour every time
Every obstacle distance once recorded；Then it is accurately positioned by location algorithm, obtains the position that Intelligent mobile equipment is current
Appearance, and this present bit appearance to each measurement to point between region be considered white space (clear), correspondence position
Gray scale (can pass through probability) increases, and the point measured belongs to barrier, and the gray scale of correspondence position reduces, and by that analogy, uses
Map is updated by each point, i.e. can get a gray scale map, i.e. two-dimensional environment map, and wherein white is can FOH
Territory, black is barrier, and Lycoperdon polymorphum Vitt is zone of ignorance (region that two dimension distance measuring sensor can not record).
Aggregate map acquisition module 12, for obtaining the three dimensional depth photographic head difference in Intelligent mobile equipment local environment
The three-dimensional environment data that station acquisition arrives, and three-dimensional environment data are merged with two-dimensional environment map, obtain integrated environment map.
Wherein, the degree of depth of correspondence can directly be exported after three dimensional depth photographic head scans Intelligent mobile equipment local environment
Image, i.e. three-dimensional environment data, these data can show the three-dimensional shape of object in Intelligent mobile equipment local environment.By three
Dimension environmental data carries out merging the integrated environment map obtained with two-dimensional environment map and includes Intelligent mobile equipment local environment
Middle object state under two-dimensional environment and the state under three-dimensional environment state.Illustrate, ring residing for Intelligent mobile equipment
Border exists a desk, and the elevation plane that two dimension distance measuring sensor is detected is the elevation plane corresponding with table midleg,
Corresponding, two-dimensional environment map is merely capable of be embodied in this elevation plane with the presence of table leg, and collects at diverse location
Three-dimensional environment data then can include the desktop of desk, and then merged by by these three-dimensional environment data and two-dimensional environment map
To integrated environment map in can know the maximum area (such as the profile of desktop) that desk projects at two dimensional surface, and then know
This part is barrier, to avoid striking any position of desk when planning avoidance route.
Navigation avoidance module 13, for receiving the target location instruction of extraneous input, based on Intelligent mobile equipment current
Avoidance route cooked up by position and integrated environment map, and controls Intelligent mobile equipment according to the arrival of avoidance route and target location
The target location that instruction is corresponding.
Wherein, what avoidance route was i.e. cooked up on integrated environment map can avoid in Intelligent mobile equipment local environment
Other objects, i.e. barrier, thus arrive the route of target location with barrier in the case of avoiding colliding, and then control
Intelligent mobile equipment arrives target location according to this route.Illustrate as a example by still there is desk in environment, utilize comprehensive
Environmental map planning avoidance route, it is possible to also can avoid desktop while ensureing to avoid table leg, and then avoid smart machine and table
The collision of son.
In above-mentioned technical characteristic disclosed in the present application, first obtain two-dimensional environment map, and then the three-dimensional environment that will obtain
Data merge with two-dimensional environment map, obtain integrated environment map, and thus, integrated environment map can not only obtain intelligent mobile
In equipment local environment there is situation in the object with two-dimensional environment map respective heights plane, it is also possible to gets in this environment it
There is situation in the object of his elevation plane, and then cook up avoidance route accordingly, it is to avoid the technical scheme that prior art provides
Present in there is situation owing to two dimension distance measuring sensor is only able to detect the object of certain height plane, and then cause Intelligent sliding
Dynamic equipment can strike the situation of the barrier of other planes outside certain height plane that is positioned in moving process and occur, and enters
One step avoids property loss even personal injury.
The navigation fault avoidnig device of a kind of Intelligent mobile equipment that the embodiment of the present invention provides, aggregate map acquisition module is permissible
Including:
Integrated unit, is used for three-dimensional environment data projection to two dimensional surface, and the two dimension ring that is added to by this two dimensional surface
On the figure of condition, obtain integrated environment map.
The detailed process that integrated unit realizes can be to two dimensional surface by three-dimensional environment data projection, then by its superposition
On two-dimensional environment map so that also there is on two-dimensional environment map the information of spatial obstacle thing.Residing for Intelligent mobile equipment
Illustrate as a example by environment exists a desk, by the three-dimensional environment data projection corresponding with desk to two dimensional surface can be by
The largest contours (the usually edge contour of desktop) that desk comprises projects to two dimensional surface, and then by the maximum of this two dimensional surface
Profile is added on two-dimensional environment map so that comprise this largest contours at correspondence position on two-dimensional environment map, obtains comprehensive
Environmental map.Two-dimensional environment map and the fusion of three-dimensional environment data is realized by technique scheme, simple to operation, improve
The navigation barrier-avoiding method that the embodiment of the present invention provides realize efficiency.
The navigation fault avoidnig device of a kind of Intelligent mobile equipment that the embodiment of the present invention provides, navigation avoidance module can be wrapped
Include:
Navigation avoidance unit, is used for utilizing two-dimensional environment Orientation on map to instruct corresponding target location to target location, with
In integrated environment map, determine target location, and current location based on target location and Intelligent mobile equipment is comprehensively
Environmental map is cooked up avoidance route.
Specifically, due to two-dimensional environment map, to comprise information few compared with integrated environment map, therefore, utilizes two-dimensional environment ground
It is faster, in hgher efficiency that figure navigates to speed for target location relatively utilizes integrated environment map to realize this location.And then can be true
Determine target location corresponding with the target location in two-dimensional environment map in integrated environment map, and then at Intelligent mobile equipment
One avoidance route that will not collide other objects on integrated environment map is set between current location and target location, tool
Body can take out one group of two dimension point distance measurement on integrated environment map, and this two dimension point distance measurement is contactless with other objects
Point, and then this group point is connected to become avoidance route, it is achieved the collisionless of Intelligent mobile equipment moves.
The navigation fault avoidnig device of a kind of Intelligent mobile equipment that the embodiment of the present invention provides, navigation avoidance module can also be wrapped
Include:
Output unit, if for navigating to target location in two-dimensional environment map, then output positions and unsuccessfully believes
Breath.
Wherein, location failure information can send to designated terminal, it is also possible to is directly displayed on appointment screen, certainly also
Can be carried out other according to actual needs arrange, all within protection scope of the present invention.Wherein, above-mentioned specified device is the most permissible
For the device corresponding with management personnel, thereby, it is possible to known the positioning scenarios of target location in time by management personnel, and then realize
Corresponding operation.
Navigation avoidance dress further referring to the another kind of Intelligent mobile equipment that Fig. 6, Fig. 6 provide for the embodiment of the present invention
The structural representation put.Wherein, on the basis of Fig. 5, refinement and/or increase technical characteristic obtain Fig. 6 further.Specifically
, the navigation fault avoidnig device of the Intelligent mobile equipment shown in this figure includes whole modules and the list that above-described embodiment relates to
Unit.
Described above to the disclosed embodiments, makes those skilled in the art be capable of or uses the present invention.To this
The multiple amendment of a little embodiments will be apparent from for a person skilled in the art, and generic principles defined herein can
With without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will not be limited
It is formed on the embodiments shown herein, and is to fit to consistent with principles disclosed herein and features of novelty the widest
Scope.
Claims (8)
1. the navigation barrier-avoiding method of an Intelligent mobile equipment, it is characterised in that including:
Utilize two dimension distance measuring sensor that Intelligent mobile equipment local environment is carried out traverse scanning, obtain two-dimensional environment map；
Obtain the three-dimensional environment number that three dimensional depth photographic head collects at the diverse location of described Intelligent mobile equipment local environment
According to, and described three-dimensional environment data are merged with described two-dimensional environment map, obtain integrated environment map；
Receive the target location instruction of external world's input, current location based on described Intelligent mobile equipment and described integrated environment ground
Figure cooks up avoidance route, and controls described Intelligent mobile equipment according to the arrival of described avoidance route and the instruction of described target location
Corresponding target location.
Method the most according to claim 1, it is characterised in that described by described three-dimensional environment data and described two-dimensional environment
Map merges, and obtains integrated environment map, including:
By described three-dimensional environment data projection to two dimensional surface, and this two dimensional surface is added on two-dimensional environment map, obtains
Described integrated environment map.
Method the most according to claim 2, it is characterised in that described current location based on described Intelligent mobile equipment and
Avoidance route cooked up by described integrated environment map, including:
Described two-dimensional environment Orientation on map is utilized to instruct corresponding target location to described target location, with at described comprehensive ring
Condition figure is determined described target location, and current location based on described target location and described Intelligent mobile equipment exists
Described integrated environment map is cooked up described avoidance route.
Method the most according to claim 3, it is characterised in that also include:
If described target location cannot be navigated in described two-dimensional environment map, then output location failure information.
5. the navigation fault avoidnig device of an Intelligent mobile equipment, it is characterised in that including:
Two-dimensional map acquisition module, is used for utilizing two dimension distance measuring sensor that Intelligent mobile equipment local environment is carried out traversal and sweeps
Retouch, obtain two-dimensional environment map；
Aggregate map acquisition module, for obtaining the three dimensional depth photographic head not coordination in described Intelligent mobile equipment local environment
Put the three-dimensional environment data collected, and described three-dimensional environment data are merged with described two-dimensional environment map, obtain comprehensive ring
Condition figure；
Navigation avoidance module, for receiving the target location instruction of extraneous input, present bit based on described Intelligent mobile equipment
Put and avoidance route cooked up by described integrated environment map, and control described Intelligent mobile equipment and arrive according to described avoidance route
The target location corresponding with the instruction of described target location.
Device the most according to claim 5, it is characterised in that described aggregate map acquisition module includes:
Integrated unit, is used for described three-dimensional environment data projection to two dimensional surface, and the two dimension ring that is added to by this two dimensional surface
On the figure of condition, obtain described integrated environment map.
Device the most according to claim 6, it is characterised in that described navigation avoidance module includes:
Navigation avoidance unit, for utilizing described two-dimensional environment Orientation on map to the target position corresponding with the instruction of described target location
Put, to determine described target location in described integrated environment map, and based on described target location and described Intelligent sliding
The current location of dynamic equipment cooks up described avoidance route in described integrated environment map.
Device the most according to claim 7, it is characterised in that described navigation avoidance module also includes:
Output unit, if for navigating to described target location in described two-dimensional environment map, then output location is lost
Lose information.
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