技术领域technical field
本发明涉及一种自主移动设备及建立导航路径的方法。The invention relates to an autonomous mobile device and a method for establishing a navigation path.
背景技术Background technique
目前，即时定位及地图构建(SLAM)是机器人等自主移动设备在定位过程中最常用的一种技术，该SLAM技术是指机器人从未知环境的位置地点出发，在运动过程中通过重复观测到的地图特征定位自身的位置和姿态，再根据自身增量式的构建地图，从而达到同时定位和地图构建的目的。该SLAM技术多半仰赖传感器来提供额外信息以达成定位，如GPS、IMU、Odometry(轮速表)，当安装有万向轮或全向轮的自主移动设备移动时，由于轮速表无法作为移动距离的参考，而室内环境也不适合使用GPS。At present, real-time positioning and mapping (SLAM) is the most commonly used technology in the positioning process of autonomous mobile devices such as robots. The map feature locates its own position and posture, and then constructs the map incrementally according to itself, so as to achieve the purpose of simultaneous positioning and map construction. Most of the SLAM technology relies on sensors to provide additional information to achieve positioning, such as GPS, IMU, Odometry (wheel speedometer). The reference of the distance, and the indoor environment is not suitable for using GPS.
目前，人们运用人工标记为定位方法，但一般都是预先在预定地点设置人工标记，然后编写相应的程序控制自主移动设备在地图中行走。当用户将自主移动设备购买回去之后，一般需要技术人员上门服务，根据欲使用场所的地理环境设置人工标记和编写程序。一般在起点、目的地、拐角等处设置人工标记，并且根据各个人工标记之间的距离以及路面的状况来计算自主移动设备轮子旋转的方向和马达的输出等等，但是自主移动设备在实际移动过程中，会有滑轮，空转和一些误差等，所以不能够准确地到达目的地，总是有一些偏离。如此，需要来来回回调试和修改几次，才能越来越准确地到达目的地。需要技术人员上门服务这点比较麻烦，而且还需要调试和修改几次，所以费时又费力。At present, people use artificial marking as a positioning method, but generally set artificial markings at predetermined locations in advance, and then write corresponding programs to control autonomous mobile devices to walk on the map. After the user purchases the autonomous mobile device back, technical personnel are generally required to provide door-to-door service, set manual marking and write programs according to the geographical environment of the place to be used. Generally, artificial markers are set at the starting point, destination, corner, etc., and the direction of rotation of the wheels of the autonomous mobile device and the output of the motor are calculated according to the distance between each artificial marker and the condition of the road surface, but the autonomous mobile device is actually moving. In the process, there will be pulleys, idling and some errors, so it is impossible to reach the destination accurately, and there will always be some deviation. In this way, it needs to go back and forth to debug and modify several times in order to reach the destination more and more accurately. It is troublesome to require technical personnel to provide on-site service, and it needs to be debugged and modified several times, so it is time-consuming and laborious.
发明内容Contents of the invention
有鉴于此，确有必要提供一种自主移动设备及建立导航路径的方法，使自主移动设备能够自动建立一个导航路径，既省时省力，又能准确地移动到目的地。In view of this, it is indeed necessary to provide an autonomous mobile device and a method for establishing a navigation path, so that the autonomous mobile device can automatically establish a navigation path, which saves time and effort, and can move to the destination accurately.
一种自主移动设备，其包括：一地图注释解译模组，该地图注释解译模组存储有欲移动区域的地图及对应的地图描述档，还存储有人工标记ID所对应的位置资讯，所述欲移动区域内设置多个人工标记，自主移动设备可以在该人工标记之间移动；一图像采集模组，该图像采集模组用于拍摄自主移动设备在欲移动区域移动过程中前方的图像形成图像信号；一人工标记识别模组，该人工标记识别模组用于接收所述图像采集模组输出的图像信号，识别图像中的人工标记，从而实现所述自主移动设备的定位；一人员跟随模组，该人员跟随模组可以使自主移动设备进入人员引导模式，持续把一些特定点作为导航点，并将该些导航点相对所述人工标记的位置以及所述自主移动设备实际移动信息存储到所述地图注释解译模组，形成导航路径；一语音输入模组，该语音输入模组用于输入导航路径的名称，自主移动设备会自动增加一条导航路径，一控制模组，该控制模组可以根据所述地图注释解译模组存储的导航路径控制自主移动设备移动。An autonomous mobile device, which includes: a map annotation interpretation module, the map annotation interpretation module stores the map of the area to be moved and the corresponding map description file, and also stores the location information corresponding to the artificial marker ID, A plurality of artificial markers are set in the area to be moved, and the autonomous mobile device can move between the artificial markers; an image acquisition module, which is used to photograph the front of the autonomous mobile device during the movement of the area to be moved The image forms an image signal; an artificial mark recognition module, which is used to receive the image signal output by the image acquisition module, and identify the artificial mark in the image, thereby realizing the positioning of the autonomous mobile device; People following module, the people following module can make the autonomous mobile device enter the personnel guidance mode, continue to use some specific points as navigation points, and make these navigation points relative to the position of the artificial mark and the actual movement of the autonomous mobile device Information is stored in the map annotation interpretation module to form a navigation path; a voice input module, which is used to input the name of the navigation path, and the autonomous mobile device will automatically add a navigation path; a control module, The control module can control the movement of the autonomous mobile device according to the navigation path stored by the map annotation interpretation module.
一种建立导航路径的方法，其包括以下步骤：S1，提供一种自主移动设备；S2，在必要位置设置人工标记，并将该人工标记ID所对应的位置资讯存储至所述地图注释解译模组；S3，启动所述自主移动设备的人员引导模式，该自主移动设备跟随引导人员从起点向目的地前进，在前进过程中，持续把一些特定点作为导航点，并将该些导航点相对所述人工标记的位置以及所述自主移动设备实际移动信息存储到所述地图注释解译模组，形成导航路径；S4，给所述导航路径命名，所述语音输入模组语音输入导航路径的名称，自主移动设备自动增加一条导航路径。A method for establishing a navigation path, which includes the following steps: S1, providing an autonomous mobile device; S2, setting a manual marker at a necessary position, and storing the position information corresponding to the manual marker ID in the map annotation interpretation Module; S3, start the personnel guidance mode of the autonomous mobile device, the autonomous mobile device follows the guide personnel from the starting point to the destination, and in the process of advancing, continues to use some specific points as navigation points, and uses these navigation points The position relative to the artificial mark and the actual movement information of the autonomous mobile device are stored in the map annotation interpretation module to form a navigation path; S4, name the navigation path, and the voice input module voice inputs the navigation path name, autonomous mobile devices automatically add a navigation path.
与现有技术比较，本发明提供的自主移动设备及建立导航路径的方法，启动所述自主移动设备的人员引导模式，在前进过程中，持续把一些特定点作为导航点，并将该些导航点相对所述人工标记的位置以及所述自主移动设备实际移动信息存储到所述地图注释解译模组，形成导航路径，之后，自主移动设备会按照该导航路径移动。所以，可以省去技术人员上门服务和人工作业的麻烦，既省时又省力，而且所述自主移动设备还能顺利、准确地到达目的地。Compared with the prior art, the autonomous mobile device and the method for establishing a navigation path provided by the present invention start the personnel guidance mode of the autonomous mobile device, and continue to use some specific points as navigation points during the forward process, and use these navigation paths The position of the point relative to the artificial mark and the actual movement information of the autonomous mobile device are stored in the map annotation interpretation module to form a navigation path, and then the autonomous mobile device will move according to the navigation path. Therefore, the trouble of on-site service by technicians and manual work can be saved, which saves time and effort, and the autonomous mobile device can reach the destination smoothly and accurately.
附图说明Description of drawings
图1为本发明自主移动设备的模块图。Figure 1 is a block diagram of the autonomous mobile device of the present invention.
图2为本发明建立导航路径的方法的流程图。FIG. 2 is a flow chart of the method for establishing a navigation path in the present invention.
图3为本发明机器人从人工标记A移动到B的行走路径。Fig. 3 is the walking path of the robot of the present invention moving from manual marker A to B.
主要元件符号说明Description of main component symbols
无none
如下具体实施方式将结合上述附图进一步说明本发明。The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings.
具体实施方式detailed description
下面将结合附图及具体实施例对本发明提供的自主移动设备及建立导航路径的方法作进一步的详细说明。The autonomous mobile device and the method for establishing a navigation path provided by the present invention will be further described in detail below with reference to the drawings and specific embodiments.
请参阅图1，本发明提供一种自主移动设备，其包括：一地图注释解译模组，该地图注释解译模组存储有欲移动区域的地图及对应的地图描述档，还存储有人工标记ID所对应的位置资讯，所述欲移动区域内设置多个人工标记，自主移动设备可以在该人工标记之间移动；一图像采集模组，该图像采集模组用于拍摄自主移动设备在欲移动区域移动过程中前方的图像形成图像信号；一人工标记识别模组，该人工标记识别模组用于接收所述图像采集模组输出的图像信号，识别图像中的人工标记，从而实现所述自主移动设备的定位；一人员跟随模组，该人员跟随模组可以使自主移动设备进入人员引导模式，持续把一些特定点作为导航点，并将该些导航点相对所述人工标记的位置以及所述自主移动设备实际移动信息存储到所述地图注释解译模组，形成导航路径；一语音输入模组，该语音输入模组用于输入导航路径的名称，自主移动设备会自动增加一条导航路径，一控制模组，该控制模组根据所述地图注释解译模组存储的导航路径控制自主移动设备移动。Please refer to Fig. 1, the present invention provides an autonomous mobile device, which includes: a map annotation interpretation module, the map annotation interpretation module stores the map of the area to be moved and the corresponding map description file, and also stores the artificial The location information corresponding to the tag ID, multiple artificial tags are set in the area to be moved, and the autonomous mobile device can move between the artificial tags; an image acquisition module, the image acquisition module is used to photograph the autonomous mobile device in the An image signal is formed from the image in front of the area to be moved; an artificial mark recognition module, which is used to receive the image signal output by the image acquisition module and identify the artificial mark in the image, so as to realize the Describe the positioning of the autonomous mobile device; a person follows the module, the person following the module can make the autonomous mobile device enter the personnel guidance mode, continue to use some specific points as navigation points, and compare these navigation points to the position of the artificial mark And the actual movement information of the autonomous mobile device is stored in the map annotation interpretation module to form a navigation path; a voice input module, which is used to input the name of the navigation path, and the autonomous mobile device will automatically add a Navigation route, a control module, the control module controls the movement of the autonomous mobile device according to the navigation route stored by the map annotation interpretation module.
所述自主移动设备可以为机器人、无人搬运车、无人驾驶机等能够自主移动的设备，所述自主移动设备的移动方式可以为足式、轮式等。The autonomous mobile device may be a device that can move autonomously, such as a robot, an unmanned truck, or an unmanned aircraft, and the mobile mode of the autonomous mobile device may be legged, wheeled, or the like.
所述欲移动区域可以为某一些固定的工作场所，如工厂、餐厅、巡逻站等。所述欲移动区域内设置有多个人工标记和导航点，所述每一个人工标记对应一个ID，该ID可以为数字、文字等信息，代表所述人工标记的名称，如起点或目的地。所述人工标记可以为Tag36h11标记系列、Tag36h10标记系列、Tag25h9标记系列或Tag16h5标记系列等中的任意一个或多个。The area to be moved may be some fixed workplaces, such as factories, restaurants, patrol stations, and the like. A plurality of artificial marks and navigation points are set in the area to be moved, and each artificial mark corresponds to an ID, which can be numbers, text and other information, representing the name of the artificial mark, such as a starting point or a destination. The artificial tag can be any one or more of Tag36h11 tag series, Tag36h10 tag series, Tag25h9 tag series or Tag16h5 tag series, etc.
所述地图注释解译模组存储有欲移动区域的地图及对应的地图描述档，还存储有人工标记ID所对应的位置资讯，所述欲移动区域内设置多个人工标记，自主移动设备可以在该人工标记之间移动。所述欲移动区域的地图以设计好的标记语言(XML)或其它格式档案存储，其中，定义有人工标记。所述地图描述档包括对所述地图中人工标记附近区域的描述，如地图中人工标记的地点名称。The map annotation interpretation module stores the map of the area to be moved and the corresponding map description file, and also stores the location information corresponding to the ID of the manual marker. Multiple manual markers are set in the area to be moved, and the autonomous mobile device can Move between this manual markers. The map of the area to be moved is archived in a well-designed Markup Language (XML) or other format, wherein manual markers are defined. The map description file includes a description of the artificially marked nearby area in the map, such as the name of the artificially marked place in the map.
所述地图注释解译模组进一步存储有导航点、该导航点相对所述人工标记的位置以及所述自主移动设备实际移动信息。The map annotation interpretation module further stores a navigation point, the position of the navigation point relative to the artificial marker, and the actual movement information of the autonomous mobile device.
所述图像采集模组包括一摄像头，该摄像头设置于所述自主移动设备面对移动方向的一面，拍摄自身视野能够覆盖的区域范围的图像，以便能够拍摄到所述人工标记，形成图像信号，该图像信号通过一数据线传送到所述人工标记识别模组。所述摄像头为一般的基于CCD或CMOS的网络摄像头即可。The image acquisition module includes a camera, which is arranged on the side of the autonomous mobile device facing the direction of movement, and takes images of the area covered by its own field of view, so as to capture the artificial marks and form an image signal, The image signal is transmitted to the artificial mark recognition module through a data line. The camera can be a general network camera based on CCD or CMOS.
所述人工标记识别模组接收到所述图像采集模组拍摄到的图像，读取并识别其中的人工标记，并将该人工标记的ID传输给地图注释解译模组，从而判断出自主移动设备相对于所述人工标记的相对位置及角度，实现定位。如果所述人工标记识别模组根据采集到的人工标记可以计算自主移动设备与人工标记之间的距离与角度，然后控制模组可以微调所述自主移动设备移动到人工标记处。The artificial mark recognition module receives the image captured by the image acquisition module, reads and recognizes the artificial mark therein, and transmits the ID of the artificial mark to the map annotation interpretation module, thereby judging the autonomous movement The relative position and angle of the device relative to the artificial mark realizes the positioning. If the artificial marker recognition module can calculate the distance and angle between the autonomous mobile device and the artificial marker based on the collected artificial markers, then the control module can fine-tune the autonomous mobile device to move to the artificial marker.
所述人员跟随模组可以使自主移动设备跟随引导人员前进，进入人员引导模式，持续把一些特定点作为导航点，并将该些导航点相对所述人工标记的位置以及所述自主移动设备实际移动信息存储到所述地图注释解译模组，形成导航路径，具体的请参见下面的建立导航路径的方法。The personnel following module can make the autonomous mobile device follow the guide personnel, enter the personnel guidance mode, continue to use some specific points as navigation points, and compare the positions of these navigation points relative to the artificial markers and the actual location of the autonomous mobile device. The movement information is stored in the map annotation interpretation module to form a navigation path. For details, please refer to the method of establishing a navigation path below.
所述语音输入模组用于输入导航路径的名称，自主移动设备会自动增加一条导航路径。The voice input module is used to input the name of the navigation path, and the autonomous mobile device will automatically add a navigation path.
所述控制模组根据所述地图注释解译模组存储的导航路径控制自主移动设备移动到目的地。The control module controls the autonomous mobile device to move to the destination according to the navigation route stored by the map annotation interpretation module.
请参阅图2，本发明进一步提供一种建立导航路径的方法，其包括以下步骤：Referring to Fig. 2, the present invention further provides a method for establishing a navigation path, which includes the following steps:
S1，提供一个具有如前所述的自主移动设备；S1, providing an autonomous mobile device as described above;
S2，在必要位置设置人工标记，并将该人工标记ID所对应的位置资讯存储至所述地图注释解译模组；S2, setting a manual marker at a necessary location, and storing the location information corresponding to the ID of the manual marker in the map annotation interpretation module;
S3，启动所述自主移动设备的人员引导模式，该自主移动设备跟随引导人员从起点向目的地前进，在前进过程中，持续把一些特定点作为导航点，并将该些导航点相对所述人工标记的位置以及所述自主移动设备实际移动信息存储到所述地图注释解译模组，形成导航路径；S3. Start the personnel guidance mode of the autonomous mobile device. The autonomous mobile device follows the guide personnel from the starting point to the destination. The position of the manual mark and the actual movement information of the autonomous mobile device are stored in the map annotation interpretation module to form a navigation path;
S4，给所述导航路径命名，所述语音输入模组语音输入导航路径的名称，自主移动设备自动增加一条导航路径。S4. Name the navigation path, the voice input module voice inputs the name of the navigation path, and the autonomous mobile device automatically adds a navigation path.
在所述步骤S1中，所述自主移动设备可以是机器人、无人搬运车或者无人驾驶车等。In the step S1, the autonomous mobile device may be a robot, an unmanned transport vehicle, or an unmanned vehicle.
在所述步骤S2中，在必要位置设置人工标记，并将该人工标记ID所对应的位置资讯存储至所述地图注释解译模组。所述图像采集模组持续采集欲移动区域周遭的人工标记的图像形成图像信号，并将该图像传输给所述人工标记识别模组；所述人工标记识别模组识别人工标记的图像并将人工标记的ID传输给所述地图注释解译模组，所述地图注释解译模组根据人工标记的ID判断自主移动设备的位置，从而实现所述自主移动设备的定位。In the step S2, a manual marker is set at a necessary location, and the location information corresponding to the manual marker ID is stored in the map annotation interpretation module. The image acquisition module continues to collect images of artificial marks around the area to be moved to form an image signal, and transmits the image to the artificial mark recognition module; the artificial mark recognition module recognizes the images of artificial marks and manually The marked ID is transmitted to the map annotation interpretation module, and the map annotation interpretation module judges the position of the autonomous mobile device according to the artificially marked ID, thereby realizing the positioning of the autonomous mobile device.
在所述步骤S3中，启动所述自主移动设备的人员引导模式，该自主移动设备跟随引导人员从起点向目的地前进，在前进的过程中，会遇到障碍物、拐角或路面粗糙度发生较大变化的位置，这些位置即是一些特定点，自主移动设备会跟随引导人员走过该些特定点，并持续把该些特定点作为导航点，并将该些导航点相对所述人工标记的位置以及所述自主移动设备实际移动信息存储到所述地图注释解译模组，形成导航路径。所述自主移动设备实际移动信息包括自主移动设备的轮子的旋转方向、轮子的转速以及轮子旋转的圈数等等。In the step S3, the personnel guidance mode of the autonomous mobile device is activated, and the autonomous mobile device follows the guide personnel from the starting point to the destination. During the progress, obstacles, corners or road surface roughness may occur Larger changes in position, these positions are some specific points, the autonomous mobile device will follow the guide to walk through these specific points, and continue to use these specific points as navigation points, and compare these navigation points to the artificial markers The location of the autonomous mobile device and the actual movement information of the autonomous mobile device are stored in the map annotation interpretation module to form a navigation route. The actual movement information of the autonomous mobile device includes the rotation direction of the wheels of the autonomous mobile device, the rotational speed of the wheels, the number of rotations of the wheels, and the like.
在所述步骤S4中，给所述导航路径命名，所述语音输入模组语音输入导航路径的名称，自主移动设备自动增加一条导航路径。In the step S4, the navigation path is named, the voice input module voice inputs the name of the navigation path, and the autonomous mobile device automatically adds a navigation path.
之后，所述控制模组控制所述自主移动设备根据上述导航路径顺利地、准确地移动到目的地。到达目的地后，所述图像采集模组根据采集到的目的地的人工标记可以计算所述自主移动设备与目的地之间的距离与角度，然后控制模组可以微调所述自主移动设备移动到目的地。Afterwards, the control module controls the autonomous mobile device to smoothly and accurately move to the destination according to the above-mentioned navigation route. After arriving at the destination, the image collection module can calculate the distance and angle between the autonomous mobile device and the destination according to the collected artificial marks of the destination, and then the control module can fine-tune the movement of the autonomous mobile device to destination.
下面举例说明自主移动设备建立导航路径的方法，该自主移动设备可以是机器人、无人搬运车或者无人驾驶车等。The method for establishing a navigation path for an autonomous mobile device is illustrated below with an example. The autonomous mobile device may be a robot, an unmanned transport vehicle, or an unmanned vehicle.
请参阅图3，某工厂购置一台具有如前所述的机器人，欲使机器人在该工厂的某一区域内移动。首先在机器人欲移动区域的起点设置人工标记A，在目的地设置人工标记B，使机器人从人工标记A移动到B。因为是新的环境，所以启动所述机器人的人员引导模式，该机器人跟随引导人员从起点向目的地前进，当前进到c点时，出现一个障碍物，不能再继续前进，引导人员需要带着机器人绕过该障碍物，那么该障碍物所在的点F点即为一个特定点，为了绕开该障碍物，引导人员向左走，走到e点发现避开了障碍物，然后发现可以按原有路线继续前进，当前进到g点时，再向右走到h点，已经完全绕开所述障碍物，之后按原有路线向前走到达人工标记B。在从人工标记A移动到人工标记B的过程中，所述机器人一直跟随着引导人员，该机器人从人工标记A直行移动25圈到达c点，然后往左移动4圈到达e点，然后向右转按照原有路线移动5圈到达g点，之后再向右移动4圈到达h点，之后按原有路线向前移动25圈到达人工标记B，上述即为机器人的实际移动信息。当然也有其他方式可以避开障碍物。Referring to Fig. 3, a certain factory purchases a robot with the foregoing, and intends to make the robot move in a certain area of the factory. First, set a manual marker A at the starting point of the area where the robot wants to move, and set a manual marker B at the destination, so that the robot can move from manual marker A to B. Because it is a new environment, the human guidance mode of the robot is activated. The robot follows the guidance personnel from the starting point to the destination. If the robot bypasses the obstacle, the point F where the obstacle is located is a specific point. In order to avoid the obstacle, guide the personnel to go to the left, walk to point e and find that the obstacle is avoided, and then find that they can press The original route continues to advance, and when it reaches point g, it goes to the right to point h, and the obstacle has been completely bypassed, and then it moves forward according to the original route to artificial marker B. In the process of moving from artificial mark A to artificial mark B, the robot has been following the guide personnel. The robot moves straight from artificial mark A to point c for 25 circles, then moves to the left for 4 circles to point e, and then moves to the right Turn to move 5 circles according to the original route to point g, then move 4 circles to the right to reach point h, and then move forward 25 circles according to the original route to the manual mark B. The above is the actual movement information of the robot. Of course there are other ways to avoid obstacles.
由此可见，在从起点走到目的地的过程中，也就是从人工标记A走到人工标记B的过程中，遇到一个障碍物，那么不能一直直线前行，需要新增一个导航点F，表示该位置有一个障碍物，并将该导航点F相对所述人工标记的位置存储到所述地图注释解译模组，且将所述机器人的实际移动信息存储到所述地图注释解译模组，形成导航路径。It can be seen that in the process of walking from the starting point to the destination, that is, from the artificial mark A to the artificial mark B, if you encounter an obstacle, you cannot go straight ahead, and you need to add a new navigation point F , indicating that there is an obstacle at this position, and store the position of the navigation point F relative to the artificial mark in the map annotation interpretation module, and store the actual movement information of the robot in the map annotation interpretation module module, forming a navigation path.
给所述导航路径命名为“躲避障碍物”，所述语音输入模组语音输入导航路径的名称即“躲避障碍物”，机器人自动增加一条导航路径。Name the navigation path "avoiding obstacles", and the voice input module voice inputs the name of the navigation path, namely "avoiding obstacles", and the robot automatically adds a navigation path.
之后，所述控制模组控制所述机器人根据上述导航路径即“躲避障碍物”顺利地、准确地移动到目的地。Afterwards, the control module controls the robot to smoothly and accurately move to the destination according to the above-mentioned navigation path, namely "avoiding obstacles".
可以理解，当人工标记A和人工标记B之间有拐角或路面粗糙度有较大变化时，也可以增加一些导航点，使自主移动设备能更顺利、更准确地移动到目的地。It can be understood that when there is a corner between artificial marker A and artificial marker B or there is a large change in road surface roughness, some navigation points can also be added, so that the autonomous mobile device can move to the destination more smoothly and accurately.
本发明提供的自主移动设备及建立导航路径的方法，启动所述自主移动设备的人员引导模式，该自主移动设备跟随引导人员从起点向目的地前进，在前进过程中，持续把一些特定点作为导航点，并将该些导航点相对所述人工标记的位置以及所述自主移动设备实际移动信息存储到所述地图注释解译模组，形成导航路径，之后，自主移动设备会按照该导航路径移动。所以，可以省去技术人员上门服务和人工作业的麻烦，既省时又省力，而且所述自主移动设备还能顺利、准确地到达目的地。The autonomous mobile device and the method for establishing a navigation path provided by the present invention start the personnel guidance mode of the autonomous mobile device, and the autonomous mobile device follows the guide personnel from the starting point to the destination, and continues to use some specific points as navigation points, and store the positions of these navigation points relative to the artificial markers and the actual movement information of the autonomous mobile device in the map annotation interpretation module to form a navigation path, and then the autonomous mobile device will follow the navigation path move. Therefore, the trouble of on-site service by technicians and manual work can be saved, which saves time and effort, and the autonomous mobile device can reach the destination smoothly and accurately.
另外，本领域技术人员还可在本发明精神内做其他变化，当然，这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。In addition, those skilled in the art can also make other changes within the spirit of the present invention. Of course, these changes made according to the spirit of the present invention should be included within the scope of protection claimed by the present invention.
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| CN201610631821.4ACN107687852A (en) | 2016-08-04 | 2016-08-04 | Autonomous mobile apparatus and the method for establishing guidance path |
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| CN201610631821.4ACN107687852A (en) | 2016-08-04 | 2016-08-04 | Autonomous mobile apparatus and the method for establishing guidance path |
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| CN113484486A (en)* | 2021-07-01 | 2021-10-08 | 广东理行生态环境科技有限公司 | Water quality mobile automatic monitoring method and system |
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