Improved grid topological semantic environment map construction method

A semantic environment and construction method technology, applied in the field of service robots, can solve problems such as not including human semantic information, achieve the effects of improving practicability and acceptability, high efficiency, and reducing the cognitive gap

Inactive Publication Date: 2017-07-21
JIANGSU CAS JUNSHINE TECH
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AI Technical Summary

Problems solved by technology

[0005] 2. There is a huge gap between the way humans and robots perceive their environment
The map constructed by traditional method

Method used

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  • Improved grid topological semantic environment map construction method
  • Improved grid topological semantic environment map construction method
  • Improved grid topological semantic environment map construction method

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with specific drawings and embodiments.

[0019] In the improved grid topology semantic environment map construction method proposed by the present invention, the order of composition construction is grid layer, topology layer, semantic layer, and the map search sequence during navigation is semantic layer, topology layer, grid layer. In order to reduce the cognitive gap between the grid data of the robot's cognition environment and the semantic concepts of the human cognition environment, a three-layer grid topological semantic map is established in this system from bottom to top. The bottom layer is the grid layer, which is used for the robot to understand the environment, such as positioning, path planning and obstacle avoidance.

[0020] The underlying raster map is constructed using the robot odometer and laser sensor data through the Gmapping algorithm; the top layer is the semantic layer, which ...

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Abstract

The invention provides an improved grid topological semantic environment map construction method. A grid topological semantic hierarchy map can be established; a bottom layer grid map is used for a robot to perceive and understand the environment, an upper layer semantic map is used for a person to perceive and understand the environment, a middle topological map is used for establishing a corresponding relationship between the semantic name and the position coordinate, and the corresponding relationship is a connection bridge between the upper layer semantic map and the bottom layer grid map; according to the composition construction sequence, a grid layer, a topological layer and a semantic layer are sequentially constructed, according to the map searching sequence during the navigation process, the semantic layer, the topological layer and the grid layer are sequentially searched; and perception gap between grid data of the robot environment perception mode and the semantic conception of the people environment perception mode can be reduced.

Description

technical field [0001] The invention relates to the field of service robots, in particular to a method for constructing an environment map of a robot. Background technique [0002] An important difference between service robots and industrial robots is that the working environment of industrial robots is known. Industrial robots only need to repeat simple behaviors without thinking, while most of the working environments faced by service robots are unknown. To complete complex tasks autonomously, it is necessary to build an understanding of the environment, that is, a map. With the environment map, the robot can achieve path planning, obstacle avoidance, target recognition and other tasks. Therefore, the establishment of an environmental map is the premise and guarantee for a robot to work stably for a long time in an unknown environment. However, service robots serve people, so only by establishing a semantic map similar to human cognition can robots interact with users i...

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Application Information

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IPC IPC(8): G05D1/02G01C21/00
CPCG01C21/005G05D1/0236G05D1/024G05D1/0285
Inventor 白迪赵旦谱台宪青
Owner JIANGSU CAS JUNSHINE TECH
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