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Method and system for indoor self-construction map 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. Corresponding effect

Active Publication Date: 2018-02-02
BEIJING EVOLVER ROBOTICS 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 self-construction map of mobile robot
  • Method and system for indoor self-construction map of mobile robot
  • Method and system for indoor self-construction map 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

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

[0135] The X-axis movement distance is

[0136] The Y-axis moving distance is

[0137] X(0), Y(0) are the position of the robot at the initial moment, D(i) and is the driving distance and azimuth angle of the autonomous vehicle from time i-1 to time i.

[0138] Step 304, calculating the coordinate value of the position of the robot.

[0139] The X coordinate value is X(k) / 200, and the Y coordinate value is Y(k) / 200.

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Abstract

The invention discloses a method and system for a mobile robot to build an indoor map by itself. The method includes: forming an initialized map; marking the origin of coordinates in the initialized map; the robot traverses the indoor feasible area, and records path information and environmental information; Calculate and mark the CV value of each grid in the map; build a map based on path information and CV values; path information and CV values ​​are calculated by mathematical algorithms. The technical scheme of the present invention adopts a grid map to model, realizes real-time adjustment and correspondence between the indoor environment and grid information, and ensures the effectiveness of the map model; moreover, the grid map is easy to maintain, convenient and fast access to map data, and It has wide adaptability, can realize rapid response to diversified environments, and quickly create dynamic map models that reflect real environmental information.

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 Patents(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 CO LTD
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