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Mobile robot cascading type map creating method based on mixed characteristics

A technology of mobile robots and mixed features, which is applied in the directions of maps/plans/charts, instruments, image enhancement, etc. It can solve the problem that the robot cannot provide room information, achieve the effect of preventing association failure, enriching room information, and improving efficiency

Inactive Publication Date: 2013-08-28
BEIJING UNIV OF TECH
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

Some scholars have proposed a two-layer map model by using different map representation methods for structured and simple environments. However, these layered maps are only suitable for navigation, and cannot provide rich room information for robot service operation tasks, and further enrich the environmental information

Method used

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  • Mobile robot cascading type map creating method based on mixed characteristics
  • Mobile robot cascading type map creating method based on mixed characteristics
  • Mobile robot cascading type map creating method based on mixed characteristics

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Embodiment Construction

[0035] The present invention will be further described in detail below in conjunction with the drawings.

[0036] The main flow chart of the method of the present invention is as attached figure 1 As shown, including the following steps:

[0037] Step one, obtain laser data points, the specific method is as follows:

[0038] The measuring range of the laser sensor is 20~4000mm; the angular resolution: 0.36°; the scanning time: 100ms. It is characterized by high accuracy, high resolution and wide measurement range.

[0039] The principle of laser sensor data collection:

[0040] The angle θ corresponding to the i-th data point i for:

[0041] θ i = ( i X 360 1024 - 30 ) X π / 180

[0042] Convert polar coordinates to rectangular coordinates to obtain data point coordinates (X i ,Y i ):

[0043] X i =ρ i ×cosθ i ,Y i =ρ i ×sinθ i

[0044] Where ρ i Is the distance between the i-th data point measured by the laser sensor and the robot.

[0045] Step 2: E...

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Abstract

The invention belongs to the field of intelligent mobile robots and discloses a mobile robot cascading type map creating method based on mixed characteristics. The mobile robot cascading type map creating method based on the mixed characteristics overcomes the defect of the creation of a signal map and solves the problem that a large amount of service information can not be supplied by single map creation. The method comprises the steps of acquiring laser data points, extracting geometrical characteristics and conducting characteristic matching, extracting SURF characteristic points and conducting matching, establishing a cascading type map and segregating a room. According to the mobile robot cascading type map creating method based on the mixed characteristics, a laser optical sensor is used for acquiring environmental data and extracting the geometrical characteristics, meanwhile, a visual sensor is used for extracting SURF characteristics, an overall topological graph is created, an undirected weighted graph is structured to achieve segmentation of the room, the defects that in a traditional topological map, geometric environment information contained in topological nodes is less and precise location cannot be achieved are effectively overcome, and abundant room information can be provided. The mobile robot cascading type map creating method based on the mixed characteristics is suitable for the field of service robots and other fields related to mobile robot map creation.

Description

Technical field [0001] The invention belongs to the field of intelligent mobile robots, and relates to a method for constructing a cascaded map by using mixed features by a mobile robot in an unknown environment. Background technique [0002] In recent years, autonomous mobile robots have become an important field of today's robotics technology, and are widely used in industrial, medical and military fields. In robotics, robot map construction is currently a hot spot. Scholars have conducted a lot of research and proposed different map representation methods. Robot maps can be divided into the following two categories: geometric maps and topological maps. At the same time, geometric maps can be divided into grid maps and feature maps. Different map creation methods have their own advantages and limitations. [0003] Grid map is a grid-based map representation method that divides the entire environment into several grids of the same size. Each cell in the grid represents a part of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G09B29/00G06T5/00G06T7/00
Inventor 贾松敏赵雪李雨晨李秀智
Owner BEIJING UNIV OF TECH
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