Indoor multi-balance cars autonomous navigation method based on sparse map and driver identification
A technology of autonomous navigation and self-balancing vehicles, which is applied in navigation, surveying and mapping, navigation computing tools, etc. It can solve the unsolved problems of convenience, intelligence, and autonomous indoor transportation, and achieve the effect of improving the level of intelligence
Active Publication Date: 2018-11-16
重庆金美汽车电子有限公司
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Problems solved by technology
This solution solves the problem of transportation, but has not yet solved the problem of convenient, intelligent and autonomous indoor transportation
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Embodiment Construction
[0036] see figure 1 and figure 2 , an autonomous navigation method for indoor multi-balance vehicles based on sparse maps and driver identification, including the following steps:
[0037] S1: Establish an indoor multi-balancing car autonomous navigation and linkage dispatching system, which includes map sampling vehicles, multiple indoor self-navigating self-balancing cars, fixed-point charging systems, and background cloud servers; the background cloud server is used as a LAN cloud, and the background cloud server Provide 3D data support for all indoor self-navigating self-balancing vehicles.
[0038] S2: In the system construction phase, the map sampling vehicle collects the 3D sparse point cloud map corresponding to the indoor environment, see image 3 , and store the map in the background cloud server for use by the indoor autonomous navigation self-balancing vehicle; each indoor self-navigating self-balancing vehicle communicates with the background cloud server throu...
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The invention discloses an indoor multi-balance car autonomous navigation method based on a sparse map and driver identification. The method is characterized by comprising the following steps: S1: anindoor multi-balanced cars autonomous navigation and linkage scheduling system is established; S2: a map sampling vehicle acquires a three-dimensional sparse point cloud map corresponding to an indoorenvironment, and stores the map in a background cloud server; S3: the background cloud server ensures reasonable distribution of the indoor autonomous navigation balance cars according to the multi-vehicles linkage scheduling strategy; S4: after a user gets on an indoor autonomous navigation balance car, the user's face is scanned to obtain identity verification of the user, and the user's indoordestination is then obtained; and S5: each indoor autonomous navigation balance car automatically uploads, downloads and updates the indoor three-dimensional sparse point cloud map through the communication mechanism between the cars and the cloud, and automatically brings users to their destinations according to users' travel demands. The method of the invention can be widely applied in airports, office buildings, stations and other occasions.
Description
technical field [0001] The invention relates to a vehicle autonomous navigation method, in particular to an indoor multi-balance vehicle autonomous navigation method based on sparse maps and driver identification. Background technique [0002] With the development of the economy and society, the construction of cities, convenient and smart driving in an indoor closed environment has become a widespread social demand of people. With the continuous development of modern society, the rapid development of urban construction, and the continuous expansion of the scope of people's activities, the resulting problem is that people are very easy to lose their way in unfamiliar airports, office buildings, stations, shopping malls, and venues, and cannot plan on time. Find the destination within, and delay the follow-up itinerary. At the same time, GPS signals fail in indoor environments, and GPS devices cannot be used to provide precise positioning services, making this problem even m...
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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 陈君兰王科汤新蔚张连华熊周兵
Owner 重庆金美汽车电子有限公司