Method and system for indoor map self-establishment of mobile robot

A mobile robot and robot technology, applied in the field of automation, can solve the problems that the map is difficult to determine whether it is the same point, ignoring environmental details, robot position positioning, etc., to achieve convenient and rapid access, adjustment and correspondence, and positioning. and navigation effects

Active Publication Date: 2015-11-11
BEIJING EVOLVER ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The two key issues in navigation are: 1. The description map construction of the environment, 2. The location of the robot in the map
However, this method ignores the detailed information of the environment, and it is difficult to plan the robot's path finely.
In addition, when the sensor detection error is large, it is difficult to create and maintain
Also, if there are two very similar places in the environment, it can be difficult to determine if they are the same point on the map
This makes it difficult to correctly identify in a wide range of environments

Method used

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  • Method and system for indoor map self-establishment of mobile robot
  • Method and system for indoor map self-establishment of mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0083] Embodiment 1: A method for a mobile robot to build an indoor map by itself.

[0084] figure 1 It is a flowchart of a method for a mobile robot to build an indoor map by itself in Embodiment 1 of the present invention. Such as figure 1 As shown, the process includes the following steps:

[0085] Step 101, forming an initialized map.

[0086] The map is a grid pattern composed of a series of square grids;

[0087] The map marks the location of the indoor environment in a grid;

[0088] The initial map size is 400×400 grids, and each grid represents an indoor area with an actual size of 200mm×200mm;

[0089] The map stores grid information in a two-dimensional array, and the data type of the two-dimensional array is a self-defined data structure AStarNode, which is defined as follows:

[0090]

[0091] Among them, map_maze is a two-dimensional array of AstarNode data structure;

[0092] s_x is the position information of the abscissa (X coordinate);

[0093] s_y...

Embodiment 2

[0112] Embodiment 2: A method of self-constructing and initializing a grid map.

[0113] figure 2 It is a flowchart of a method for self-constructing and initializing a grid map in Embodiment 2 of the present invention. Such as figure 2 As shown, the method flow includes the following steps:

[0114] Step 201, forming an initialized mesh grid map.

[0115] The initialized grid map is a grid pattern composed of a series of square grids;

[0116] The initialized grid map marks the location of the indoor environment in grid form;

[0117] The initial map size is 400×400 grids, and each grid represents an indoor area with an actual size of 200mm×200mm;

[0118] The initial map stores the information of each grid in a two-dimensional array, and the data type of the two-dimensional array is a custom data structure AStarNode, which is defined as follows:

[0119]

[0120] Among them, map_maze is a two-dimensional array of AstarNode data structure;

[0121] s_x is the posi...

Embodiment 3

[0129] Embodiment 3: A method for recording a path of a mobile robot indoors.

[0130] Figure 4 It is a flow chart of a method for recording a path of a mobile robot indoors in Embodiment 3 of the present invention. Such as Figure 4 As shown, the process includes the following steps:

[0131] Step 301, the odometer records the moving distance of the robot.

[0132]Step 302, calculating the angle change of the robot movement.

[0133] angle change θ ( k ) = θ ( 0 ) + Σ i = 1 k - 1 Δ θ ( i )

[0134] Step 303, calculating the moving distance of the robot in the X and Y axis directions.

[0135] The X-axis movement distance is ...

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Abstract

The invention discloses a method and a system for indoor map self-establishment of a mobile robot. The method comprises the steps of forming an initialized map; marking an origin of coordinates in the initialized map; the robot traversing indoor feasible areas and recording path information and environment information; the robot calculating and marking a CV value of each grid in the map; establishing a map according to the path information and the CV value, wherein the path information and the CV value are calculated and obtained by adopting a mathematical algorithm. Since the technical scheme of the invention adopts the grid map to establish a model, the real-time adjustment and corresponding of the indoor environment and the grid information are realized and the validity of the map model is guaranteed; moreover, the grid map is easy to maintain, the map data can be conveniently and quickly accessed, the applicability is wide, the quick response to diversified environments can be realized, and dynamic map models which reflect real environment information can be quickly established.

Description

technical field [0001] The invention relates to the technical field of automation, in particular to a method and system for a mobile robot to build an indoor map by itself. Background technique [0002] The development of robot technology is the common crystallization of the comprehensive development of science and technology. Robots can be divided into military robots, industrial robots, service robots, etc. according to their uses. Among them, there is a huge demand for mobile robots in these types of robots. [0003] The research scope of mobile robots covers: architecture, control mechanism, information system, sensing technology, planning strategy, and drive system, involving mechanical kinematics, artificial intelligence, intelligent control, pattern recognition, image processing, and vision technology , sensor technology, computer network and communication, and bioinformatics, etc. Mobile robots are not only widely used in industry, agriculture, medical treatment, s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/32G01C21/20
CPCG01C21/206G01C21/383G01C21/3837G01C21/3881G05D1/0274G05D1/0255G01C21/3833G01C22/00G01C21/20G05D1/02G01S15/08
Inventor 王晓刚王巍王玉亮薛林
Owner BEIJING EVOLVER ROBOTICS TECH CO LTD
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