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Grid map creating method for self-moving robot

A grid map and robotics technology, applied in the field of robotics, can solve problems such as collision with obstacles, large amount of calculation, and insufficient flexibility of mobile robots

Active Publication Date: 2016-04-20
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

This not only solves the problem of the central grid algorithm colliding with obstacles, but also solves the problem that the expansion algorithm is not flexible enough to move the robot, and at the same time avoids the problem of excessive calculation caused by the use of refined cells

Method used

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  • Grid map creating method for self-moving robot
  • Grid map creating method for self-moving robot
  • Grid map creating method for self-moving robot

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Embodiment Construction

[0013] Self-moving robots include many functions and types of robots, such as window cleaning robots, floor cleaning robots, etc. The present invention takes floor cleaning robots as an example, but is not limited thereto. The floor cleaning robot of the present invention includes a control unit, a drive unit, a walking unit, a detection unit and a cleaning unit. The detection unit includes a code wheel for detecting its own moving direction and moving distance and other sensors for detecting surrounding environmental conditions.

[0014] figure 1 is a schematic illustration of a state-of-the-art initial raster map. Such as figure 1 As shown, when it is necessary to establish an obstacle area, the method is: first rasterize the map, divide the map into many cells to form an initial grid map, and define all cells containing obstacles 100 as the previous obstacle area X. Specifically, put the cleaning robot in an unknown environment and first rasterize the map, that is, divi...

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Abstract

The invention provides a grid map creating method for a self-moving robot. The method comprises the following steps that 1) the map is divided into multiple cells to form an initial grid map, and the cells with a barrier are defined as a prior barrier area (X); 2) a new grid map is formed by taking the vertex of a grid in the initial grid map as the center and radiating in the size of the cells, and the vertex serves as the central point of cells of the new grid map; and 3) cells with the prior barrier area (X) are defined as a final barrier area (Z) in the new grid map. The method of the invention enables the robot to the barrier (100) effectively, reducing the turning frequency, solves the problem of collision effectively, and is more flexible than an expansion algorithm.

Description

technical field [0001] The invention relates to a method for creating a grid map of a self-moving robot, which belongs to the field of robots. Background technique [0002] In the path planning technology of self-mobile robots, whenever the robot is applied to a new environment, the robot needs to detect the surrounding environment and build a map. At present, existing robots usually use a grid map to divide the walking area into obstacle areas and non-obstacle areas. For the creation method of the grid map, please refer to CN103472823A. When the grid algorithm is used, the cell is used as the smallest unit to distinguish between obstacle areas and non-obstacle areas. Such as figure 1 The shaded area shown is the obstacle area. However, in the actual operation process, in order to avoid the collision between the robot and the obstacle, it is necessary to artificially expand the obstacle area. The commonly used method is the expansion algorithm, that is, in figure 1 On th...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 汤进举
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD
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