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Path planning method and device for intelligent robot

An intelligent robot and path planning technology, applied in the field of intelligent robots, can solve problems such as poor stability and lack of open source code, and achieve the effect of improving stability

Active Publication Date: 2020-06-02
BEIJING GUANGNIAN WUXIAN SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the current visual SLAM algorithm is immature compared with the laser SLAM algorithm, and the open source code is relatively scarce, and its stability is far inferior to the laser SLAM algorithm.

Method used

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  • Path planning method and device for intelligent robot
  • Path planning method and device for intelligent robot
  • Path planning method and device for intelligent robot

Examples

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no. 1 example

[0030] figure 1 To be a schematic flow chart of Example 1 of the path planning method for an intelligent robot according to the present invention, the intelligent robot is preferably a robot installed with a robot operating system, and the method of this embodiment mainly includes the following steps.

[0031] In step S110, a visual three-dimensional point cloud with three-dimensional depth information in the angle of view is acquired.

[0032] Specifically, the intelligent robot uses a high-definition depth camera, and uses structured light to perceive the scene in the field of view in real time (such as image 3 Shown) and form a depth map image. Each pixel in the depth map image records the depth value of the scene, which is completely different from the light intensity value represented by the pixel in the ordinary RGB image. In addition, the depth camera can directly convert the acquired depth map image into a visual three-dimensional point cloud (such as Figure 4 (Shown), ca...

no. 2 example

[0044] Image 6 This is a structural block diagram of a path planning device 600 for an intelligent robot according to an embodiment of this application. Such as Image 6 As shown, the path planning device 600 of the embodiment of the present application mainly includes: a visual three-dimensional point cloud acquisition module 610, a projection area division module 620, a laser two-dimensional point cloud acquisition module 630, a path planning module 640, and a navigation module 650.

[0045] A visual three-dimensional point cloud acquisition module 610, which acquires a visual three-dimensional point cloud with three-dimensional depth information in a perspective. Further, the visual 3D point cloud acquisition module 610 also performs filtering and / or smoothing processing on the acquired visual 3D point cloud data to repair the missing depth data.

[0046] The projection area dividing module 620 divides a plurality of projection areas within the viewing angle on the viewing plan...

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Abstract

The invention discloses a route programming method for an intelligent robot. A robot operating system is mounted in the intelligent robot. The route programming method comprises the following steps: obtaining a vision three-dimensional point cloud with three-dimensional depth information in an angle of view; dividing the angle of view into a plurality of projection areas on a view plane; performing iterative closest point treatment on the projection of each projection area of the vision three-dimensional point cloud with the three-dimensional depth information, and using the closest point as a laser two-dimensional data point of the projection area, so as to obtain a laser two-dimensional point cloud corresponding to the vision three-dimensional point cloud; and utilizing a laser SLAM algorithm and the obtained laser two-dimensional point cloud to perform route programming. Through the adoption of the route programming method disclosed by the embodiment of the invention, the vision three-dimensional point cloud obtained through a depth vision camera is changed into the laser two-dimensional point cloud, and the laser SLAM algorithm and a vision sensor can be combined and used, so that the route programming and navigatation of the robot are completed, and the route programming stability of the robot using the vision sensor is effectively improved.

Description

Technical field [0001] The invention relates to the field of intelligent robots, in particular to a path planning method and device for intelligent robots. Background technique [0002] With the rapid development of technologies such as computers, sensors, control technology, and artificial intelligence, although robots have only experienced more than 50 years of development, they have become a new industry and technology driven by demand. Good development. Because there are many types of robots and their functions are different, they can be widely used in various fields such as industry and civil use. [0003] Simultaneous Localization and Mapping (SLAM) technology is a major development research direction in the robotics field in recent decades. As the core technology of robots, SLAM technology has important research significance in robot navigation, control, and production. Generally speaking, SLAM technology is divided into two main technical modes: laser SLAM and visual SLA...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 代勇
Owner BEIJING GUANGNIAN WUXIAN SCI & TECH
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