A Semantic Map Construction Method Based on Cloud Robot Hybrid Cloud Architecture

A semantic map and robot technology, applied in the field of cloud-based robot semantic map construction, can solve problems such as large recognition delay, inability to recognize unfamiliar objects, and long request response time

CN107066507BActive Publication Date: 2019-09-17NAT UNIV OF DEFENSE TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2019-09-17

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Abstract

The invention discloses a semantic map construction method based on cloud robot hybrid cloud architecture, aiming to achieve a proper balance between improving the accuracy of object recognition and shortening the recognition time. The technical solution is to build a hybrid cloud composed of robots, private cloud nodes, and public cloud nodes. The private cloud nodes obtain environmental pictures, odometer and location data taken by the robot based on the ROS message mechanism, and use SLAM to draw the environment in real time based on the odometer and location data. Geometric map. The private cloud node performs object recognition based on the environment picture, and uploads the object that may be misrecognized to the public cloud node for recognition. The private cloud node maps the object category identification label returned by the public cloud node with the SLAM map, and marks the object category identification label on the corresponding position of the map to complete the construction of the semantic map. By adopting the invention, the local calculation load of the robot can be reduced, the request response time can be minimized, and the accuracy of object recognition can be improved.
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Description

technical field

[0001] The invention relates to the technical field of robot distributed computing, in particular to a method for building a cloud-based robot semantic map by using cloud computing as backup support and building a hybrid cloud architecture. Background technique

[0002] The perception data sources of robots may include multiple dimensions such as vision, force, touch, infrared, ultrasound, and lidar. Robot semantic map construction means that robots recognize and understand the environment based on these perception data, and the core focus is on how to perceive The data is extracted from the rough and the essence, the false and the true are removed, and then analyzed and synthesized to extract high-level semantic information (such as object names and locations) that can be used by the robot for autonomous decision-making. The specific performance is to add labels of objects in the environment on the geometric map. The acquisition of semantic information can b...

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Embodiment Construction

[0090] figure 1 It is the robot hybrid cloud environment constructed in the first step of the present invention, which is composed of robot computing nodes, private cloud nodes and public cloud nodes. Robot computing nodes are robot hardware devices that can run software programs (such as drones, unmanned vehicles, humanoid robots, etc.), private cloud nodes are resource-controllable computing devices with good computing capabilities, and can run computing-intensive or knowledge-based Intensive robotic applications. Public cloud nodes are computing devices with abundant storage resources and the ability to provide external services. Robot computing nodes and private cloud nodes are interconnected through network devices, and private clouds access public clouds through the Internet.

[0091] figure 2 It is a software deployment diagram on the robot computing node and the private cloud node of the present invention. The robot computing node is a robot hardware device that ...