CN112578778A - Navigation control method and navigation system of function auxiliary device - Google Patents
Navigation control method and navigation system of function auxiliary device Download PDFInfo
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- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
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- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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Abstract
The invention provides a navigation control method and a navigation system of a function auxiliary device, wherein the method comprises the steps of constructing and storing a three-dimensional model diagram of an operation area; providing an interactive interface for a user to set a common place of the operating environment, and generating a corresponding number of one-key arrival buttons in the interactive interface; and receiving a one-key arrival button instruction selected by a user, automatically planning a path, and controlling the function auxiliary device to operate to a corresponding place according to the planned path. By the navigation control method and the navigation system of the function auxiliary device, the function auxiliary device can automatically complete the switching of indoor positions only by constructing the three-dimensional model map of the operation area and setting a common place when the function auxiliary device is used for the first time and clicking each key to reach the button in the subsequent use process. For the user, the use is more convenient and faster, the operation is simpler and more humanized, and the experience of the user is enhanced.
Description
Technical Field
The present invention relates to the field of function assistance technologies, and in particular, to a navigation control method and a navigation system for a function assistance device.
Background
The walking function is an important function of a human body, for a person losing the walking function, the movement and the displacement of the person need to be assisted by a wheelchair, the person still needs to be assisted by nursing staff to a great extent, and more manpower and material resources are consumed. The shifting operation of the current wheelchair is complex, the automatic shifting function cannot be completely realized, great inconvenience is brought, and the freedom degree and the autonomy of the disabled in life are greatly limited.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a functional auxiliary device to solve the problems that a wheelchair for assisting walking in the prior art is complex in operation and cannot automatically advance.
Therefore, the invention provides the following technical scheme:
a navigation control method of a function auxiliary device comprises the following steps:
constructing and storing a three-dimensional model diagram of the operation area;
providing an interactive interface for a user to set a common place of the operating environment, and generating a corresponding number of one-key arrival buttons in the interactive interface;
and receiving a one-key arrival button instruction selected by a user, automatically planning a path, and controlling the function auxiliary device to operate to a corresponding place according to the planned path.
Further, the step of constructing and storing a three-dimensional model map of the operating environment comprises:
starting the function auxiliary device to operate and scanning an operation area;
constructing a three-dimensional model diagram of the operation area according to the shape and the position of the scanned obstacle;
and when all positions of the operation area are scanned, stopping the operation of the function auxiliary device, and storing the constructed three-dimensional model diagram.
Further, the step of starting the function assisting device to operate and scanning the operation area specifically includes:
automatically advancing the start-up functionality assistance device within the operational zone;
the method comprises the steps of scanning obstacles in an operation area by using a laser scanning radar of a function assisting device, and additionally measuring the distance between the obstacles in a scanning blind area of the laser scanning radar and the function assisting device by using an ultrasonic ranging sensor and a laser ranging sensor.
Further, the step of activating the function assisting device further includes:
when the function aid encounters an obstacle during travel, the function aid travels avoiding the obstacle.
Further, the laser scanning radar can be scanned in 360-degree rotation.
Further, the step of constructing and storing a three-dimensional model map of the operating environment further includes:
and in each operation process of the function auxiliary device, scanning the operation area in real time and updating the three-dimensional model map stored in the last operation.
Further, when all positions of the operation area are scanned, the operation of the function assisting device is stopped, and the step of saving the constructed three-dimensional model map comprises the following steps:
and providing an interactive interface for a user to confirm the constructed three-dimensional model diagram, wherein the user can correct in the interactive interface when the constructed three-dimensional model diagram has errors.
Further, the step of additionally measuring a distance between an obstacle located in a scanning blind area of the laser scanning radar and the function assisting device using an ultrasonic ranging sensor includes:
the ultrasonic ranging sensor sends out an ultrasonic signal and receives an ultrasonic signal reflected by the measured obstacle;
and calculating the distance between the function auxiliary device and the measured obstacle by using a preset distance measurement formula according to the received ultrasonic signals.
Further, the step of calculating the distance between the function assisting device and the measured obstacle by using a preset distance measurement formula according to the received ultrasonic signal includes:
detecting the temperature of the operation area in real time, and adjusting a distance measurement formula in real time according to the detected temperature for calculation;
and calculating the distance between the function auxiliary device and the measured obstacle by using the adjusted distance measurement formula.
In addition, in order to achieve the above object, the present invention further provides a navigation system of a function assisting device, the navigation system including a memory, a processor, and a navigation control program stored in the memory and operable on the processor, wherein the processor implements the above navigation control method when executing the navigation control program.
Compared with the prior art, the navigation control method and the navigation system of the function auxiliary device at least have the following beneficial effects:
by the navigation control method and the navigation system of the function auxiliary device, the function auxiliary device can automatically complete the switching of indoor positions only by constructing the three-dimensional model map of the operation area and setting a common place when the function auxiliary device is used for the first time and clicking each key to reach the button in the subsequent use process. For the user, the use is more convenient and faster, the operation is simpler and more humanized, and the experience of the user is enhanced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flowchart illustrating an embodiment of a navigation control method for a function aid according to the present invention;
FIG. 2 shows a detailed flowchart of step S100 in FIG. 1;
fig. 3 shows a schematic flow chart of another embodiment of step S100;
FIG. 4 shows a schematic flow chart of a further embodiment of step S100;
fig. 5 shows a detailed flowchart of step S110;
FIG. 6 shows a schematic flow chart of another embodiment of step S110;
fig. 7 shows a detailed flowchart of step S112;
fig. 8 shows a specific flowchart of step S1122 in fig. 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Examples
As shown in fig. 1, the present invention provides a navigation control method of a functional assistance device, and referring to fig. 1, the navigation control method includes the following steps:
s100: constructing and storing a three-dimensional model diagram of the operation area;
s200: providing an interactive interface for a user to set a common place of the operating environment, and generating a corresponding number of one-key arrival buttons in the interactive interface;
s300: and receiving a one-key arrival button instruction selected by a user, automatically planning a path, and controlling the function auxiliary device to operate to a corresponding place according to the planned path.
In this embodiment, the function assisting device is generally applied to an indoor environment, and is used for assisting the old or the mobility-handicapped people to complete the actions of getting on or off the bed, standing, going to the toilet, bathing, going out, and the like. In the course of assisting the behavior of the elderly or the mobility-impaired, the function assisting device is frequently switched from one indoor location to another.
The position switching of the function assisting device is realized by the following modes: firstly, a three-dimensional model map of an operation area is constructed and stored in a memory of the energy auxiliary device, the three-dimensional model map can be displayed on a display screen of the energy auxiliary device, a user can set indoor common places on the three-dimensional model map displayed on the display screen, and the setting process can be realized by directly clicking specific model places on the three-dimensional model map; after the common places are set, the one-key arrival buttons corresponding to the common places are displayed on the display screen, and the user only needs to click the button corresponding to the place to be visited, so that the function auxiliary device can automatically plan the path to reach the clicked position.
Certainly, the function assisting device can automatically identify the obstacle in real time (automatically identify the obstacle with the unchanged long-term position as a fixed obstacle) and make avoidance in the process of position switching and advancing; in the dead angle and other positions, the automatic stop can be realized, and the condition that the machine is damaged or the user is injured due to collision is avoided. And a new path can be formed according to the real-time position optimization planning of the barrier, and the new path is stored, and can be directly called to navigate when the same place is selected next time.
In addition, the constructed three-dimensional model diagram can be directly displayed through an interactive interface, and a user can directly mark a place, key articles in an operation environment, relevant sizes and the like in the three-dimensional model diagram, so that the subsequent docking action between the function assisting device and the corresponding articles can be accurately completed.
By the navigation control method of the embodiment, the function auxiliary device can automatically complete the switching of indoor positions only by constructing the three-dimensional model map of the operation area and setting a common place when the function auxiliary device is used for the first time and only by clicking each key to reach the button in the subsequent use process. For the user, the use is more convenient and faster, the operation is simpler and more humanized, and the experience of the user is enhanced.
In this embodiment, referring to fig. 2, step S100 specifically includes the following steps:
step S110: starting the function auxiliary device to operate and scanning an operation area;
during the process of constructing the three-dimensional model map of the operation environment, the function auxiliary device automatically moves in a certain mode in the operation area, and during the moving process, the environment of the operation area is scanned by the laser scanning radar, and the shape and the position of an obstacle are generally scanned.
Then, the process proceeds to step S120: constructing a three-dimensional model diagram of the operation area according to the shape and the position of the scanned obstacle;
and reducing the shape and the position of the scanned obstacle according to a certain proportion, constructing a three-dimensional graph and storing the three-dimensional graph in a memory.
Step S130: and when all positions of the operation area are scanned, stopping the operation of the function auxiliary device, and storing the constructed three-dimensional model diagram.
In this embodiment, for the boundary definition of the operation area, user assistance is required to complete, and the user is required to manually operate the function assisting device to travel in the boundary area to complete the scanning of the whole operation area. And after the scanning is finished, saving the final complete three-dimensional model picture. Subsequently, the traveling of the function assisting device is planned according to the constructed three-dimensional model diagram.
In some embodiments, referring to fig. 3, step S100 further comprises:
step S140: and in each operation process of the function auxiliary device, scanning the operation area in real time and updating the three-dimensional model map stored in the last operation.
The operation environment does not change, so that the operation environment of the function auxiliary device may change in each operation process, such as the movement of a table and a chair. In order to plan the optimal path more quickly in the changed operation environment of the function auxiliary device, the function auxiliary device scans the traveling area in real time in each operation process, and updates the three-dimensional model map stored in the previous operation.
The function auxiliary device can also switch operation in different operation areas, and different three-dimensional model diagrams are constructed and stored in a memory aiming at different operation areas; in addition, the function support device can automatically recognize each operation region, and when the operation region is switched to the operation region that has been traveled once, the three-dimensional model map of the region can be directly called up for navigation.
In addition, in other embodiments, referring to fig. 4, after step S130, the method may further include:
step S150: and providing an interactive interface for a user to confirm the constructed three-dimensional model diagram, wherein the user can correct in the interactive interface when the constructed three-dimensional model diagram has errors.
After the three-dimensional model diagram is constructed, the function auxiliary device can pop up a confirmation interface, the confirmation interface can display the complete diagram of the three-dimensional model diagram, and if the constructed three-dimensional model diagram is correct, a user can directly click to confirm to store; if an error area exists in the constructed three-dimensional model diagram, a user can directly click and edit in the displayed three-dimensional model diagram for modification until no error is confirmed, and then click, confirm and store. Through the steps, the completeness of the constructed three-dimensional graph can be ensured, and the accuracy of subsequent path planning is effectively improved.
In this embodiment, referring to fig. 5, step S110 in the above embodiment specifically includes:
step S111: automatically advancing the start-up functionality assistance device within the operational zone;
step S112: the method comprises the steps of scanning obstacles in an operation area by using a laser scanning radar of a function assisting device, and additionally measuring the distance between the obstacles in a scanning blind area of the laser scanning radar and the function assisting device by using an ultrasonic ranging sensor and a laser ranging sensor.
In this embodiment, the laser scanning radar can scan in a 360-degree rotation manner, due to the structural factors of the device, the scanning of a part of the view angle is blocked, and the blocked part forms a scanning blind area of the laser scanning radar. The function auxiliary device is additionally provided with an ultrasonic ranging sensor and a laser ranging sensor on the basis of the laser scanning radar, the data detected by the two sensors and the data scanned by the laser scanning radar are supplemented to the data of the laser scanning radar, the three sensors are fused to form complete data, no dead angle is scanned, and therefore a complete 360-degree three-dimensional model diagram is constructed. Moreover, the laser can compensate the inaccurate measurement caused by the fact that the ultrasonic waves are easily interfered when encountering sound absorption objects, and the ultrasonic waves can compensate the inaccurate measurement result caused by the fact that the laser cannot detect transparent objects; through mutual compensation and correction of the laser and the ultrasonic, the accuracy of the constructed three-dimensional model map is greatly improved.
In some embodiments, referring to fig. 6, step S110 further comprises:
step S113: when the function aid encounters an obstacle during travel, the function aid travels avoiding the obstacle.
The function auxiliary device can position the position of the barrier through the ultrasonic ranging sensor and the laser ranging sensor in any advancing process, so that the function auxiliary device can be controlled to automatically avoid the barrier to advance.
In this embodiment, referring to fig. 7, in step S112, the step of measuring a distance between an obstacle located in a scanning blind area of the laser scanning radar and the function assisting device by using an ultrasonic ranging sensor includes:
step S1121: the ultrasonic ranging sensor sends out an ultrasonic signal and receives an ultrasonic signal reflected by the measured obstacle;
step S1122: and calculating the distance between the function auxiliary device and the measured obstacle by using a preset distance measurement formula according to the received ultrasonic signals.
The ultrasonic ranging sensor automatically calculates the real-time distance between the function assisting device and the scanned obstacle by using a preset ranging formula according to the difference (including but not limited to time difference, waveform difference and the like) between the sent ultrasonic signal and the received ultrasonic signal.
In this embodiment, referring to fig. 8, the step S1122 specifically includes:
step S1122 a: detecting the temperature of the operation area in real time, and adjusting a distance measurement formula in real time according to the detected temperature for calculation;
step S1122 b: and calculating the distance between the function auxiliary device and the measured obstacle by using the adjusted distance measurement formula.
Since the propagation speeds of sound at different ambient temperatures are different, the distance measurement of the ultrasonic sensor is easily affected by the ambient temperature. Can set up temperature sensor on the ability auxiliary device, through temperature sensor real-time supervision ambient temperature, adjust the range finding computational formula in real time according to the temperature height, can ensure that ultrasonic distance error control is within the millimeter rank, improved the precision of range finding greatly.
In addition, in the distance measurement process, when an opaque object which cannot be penetrated by ultrasonic waves and laser light is encountered, such as clothes, bed sheets and the like, the magnetic sensor can be used for supplementing the distance measurement. The magnetic sensor utilizes magnetic field signals, can easily detect signals through a light and thin object, and can measure even if a leaflet device and a measured object are not on a uniform plane.
In the distance measuring process, due to the fact that the function auxiliary device inclines or the environment has a slope, at the moment, errors can exist in the distance measured by the ultrasonic distance measuring sensor and the laser distance measuring sensor, the inclination angle can be measured through the gyroscope, and angle correction is provided for the distance calculated by the ultrasonic distance measuring sensor and the laser distance measuring sensor.
Based on the same inventive concept, the embodiment of the present invention further provides a navigation system corresponding to the method in the above embodiment, where the navigation system includes a memory, a processor, and a navigation control program stored in the memory and executable on the processor, and the processor implements the navigation control method when executing the navigation control program. The principle and the beneficial effects of the navigation system refer to the foregoing method embodiments, and are not repeated herein.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A navigation control method of a function assisting device is characterized by comprising the following steps:
constructing and storing a three-dimensional model diagram of the operation area;
providing an interactive interface for a user to set a common place of the operating environment, and generating a corresponding number of one-key arrival buttons in the interactive interface;
and receiving a one-key arrival button instruction selected by a user, automatically planning a path, and controlling the function auxiliary device to operate to a corresponding place according to the planned path.
2. The navigation control method of a function support apparatus according to claim 1, wherein the step of constructing and storing a three-dimensional model map of an operation environment includes:
starting the function auxiliary device to operate and scanning an operation area;
constructing a three-dimensional model diagram of the operation area according to the shape and the position of the scanned obstacle;
and when all positions of the operation area are scanned, stopping the operation of the function auxiliary device, and storing the constructed three-dimensional model diagram.
3. The navigation control method of a function assist device according to claim 2, wherein the step of starting the function assist device to operate and scanning the operation area comprises:
automatically advancing the start-up functionality assistance device within the operational zone;
the method comprises the steps of scanning obstacles in an operation area by using a laser scanning radar of a function assisting device, and additionally measuring the distance between the obstacles in a scanning blind area of the laser scanning radar and the function assisting device by using an ultrasonic ranging sensor and a laser ranging sensor.
4. The navigation control method of a function aid according to claim 3, wherein the step of starting the function aid to operate, and the step of scanning the operation area further comprises:
when the function aid encounters an obstacle during travel, the function aid travels avoiding the obstacle.
5. The navigation control method of a function assist device according to claim 3 or 4, wherein the laser scanning radar is capable of 360 degree rotational scanning.
6. The navigation control method of a function support apparatus according to claim 2, wherein the step of constructing and storing a three-dimensional model map of the operation environment further comprises:
and in each operation process of the function auxiliary device, scanning the operation area in real time and updating the three-dimensional model map stored in the last operation.
7. The navigation control method of a function assist device according to claim 2, wherein the function assist device stops operating when all positions of the operation area are scanned, and the step of saving the constructed three-dimensional model map includes, after:
and providing an interactive interface for a user to confirm the constructed three-dimensional model diagram, wherein the user can correct in the interactive interface when the constructed three-dimensional model diagram has errors.
8. The navigation control method of a function support device according to claim 3, wherein the step of additionally measuring a distance between an obstacle located in a scanning blind area of the laser scanning radar and the function support device using an ultrasonic ranging sensor includes:
the ultrasonic ranging sensor sends out an ultrasonic signal and receives an ultrasonic signal reflected by the measured obstacle;
and calculating the distance between the function auxiliary device and the measured obstacle by using a preset distance measurement formula according to the received ultrasonic signals.
9. The navigation control method of a function aid according to claim 8, wherein the step of calculating the distance between the function aid and the measured obstacle using a predetermined distance measurement formula based on the received ultrasonic signal comprises:
detecting the temperature of the operation area in real time, and adjusting a distance measurement formula in real time according to the detected temperature for calculation;
and calculating the distance between the function auxiliary device and the measured obstacle by using the adjusted distance measurement formula.
10. A navigation system of a machine-assisted device, the navigation system comprising a memory, a processor and a navigation control program stored on the memory and operable on the processor, the processor implementing the navigation control method of any one of claims 1 to 9 when executing the navigation control program.
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| CN108422419A (en) * | 2018-02-09 | 2018-08-21 | 上海芯智能科技有限公司 | A kind of intelligent robot and its control method and system |
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