Topological map building method of mobile robot and navigation method

A mobile robot and topology map technology, applied in the field of mobile robots, can solve the problems of low global positioning accuracy, high maintenance cost and inflexibility of following path guidance, and achieve the effect of improving navigation efficiency and flexibility

Active Publication Date: 2017-09-01
SHEN ZHEN 3IROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, following the path guidance has the disadvantages of high maintenance cost and inflexibility; visual matching has a large amount of calculation and is greatly affected by ambient lig

Method used

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  • Topological map building method of mobile robot and navigation method
  • Topological map building method of mobile robot and navigation method
  • Topological map building method of mobile robot and navigation method

Examples

Experimental program
Comparison scheme
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Example Embodiment

[0031] Example 1

[0032] This embodiment mainly describes a method for creating a topology map of a mobile robot. The mobile robot in this embodiment is described by taking an indoor cleaning robot as an example. The navigation system of the indoor cleaning robot includes a positioning module, a sensor module, a motion module and a control module, wherein the positioning module includes a lidar and an odometer, the sensor module includes a limit switch, an infrared sensor and an ultrasonic sensor, and the control module includes a driving wheel and a speed measurement. The mechanism, the positioning module and the sensor module transmit the acquired environmental information to the control module, and the motion module receives and executes the instructions of the control module.

[0033] combine Figure 1 to Figure 6 , the topological map creation method of the indoor cleaning robot includes the following steps:

[0034] S1: construct the current area according to the obt...

Example Embodiment

[0050] Example 2

[0051] This embodiment mainly describes the navigation method of the mobile robot.

[0052] please combine Figure 7 and Figure 8 , the navigation method of the mobile robot of the present invention is based on the topology map created by the method in Embodiment 1, and specifically includes the following steps:

[0053] Step 1: Obtain the current position and target position of the mobile robot.

[0054] The positioning subsystem of the mobile robot (indoor cleaning robot) calculates the odometer information according to the real-time distance information collected by the lidar positioning sensor and the motion control subsystem through the left and right encoders, so as to obtain the current position information of the mobile robot; the mobile robot analyzes the navigation instructions by Get the location information of the target point.

[0055] Step 2: Determine whether the current position of the mobile robot and the position of the target point ar...

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Abstract

The invention reveals a topological map building method of a mobile robot, comprising the following steps: S1: building a current region according to environmental information of current position of a mobile robot; S2: judging whether the current region accords with the sub-region division condition; entering S3 if the current region accords with the sub-region division condition; and entering S4 if the current region does not accord with the sub-region division condition; S3: dividing the current region into at least two sub-regions which contain the sub-region of current position and are connected through a boundary, and then entering S5; S4: considering the current region as the sub-region of the current position, and then entering S5; S5: building a local map at the sub-region of the current position and storing; S6: judging whether there exists a sub-region without local mapping, entering S7 if yes, and entering S8 if not; S7: letting the mobile robot move to the sub-region without local mapping, updating information of the current position and returning to S1; and S8: building a topological map with the sub-region as the node and the boundary as the edge. In addition, the invention also discloses a navigation method of the mobile robot based on the topological map.

Description

technical field [0001] The invention relates to mobile robot technology, in particular to a topological map creation method and a navigation method for a mobile robot. Background technique [0002] With the development of science and technology, mobile robots can be used in various occasions to replace manpower to complete various tasks. Work, efficiently complete various tasks in an effective space and time, and is currently widely used in logistics, detection, service and other fields. The map creation and navigation of mobile robots is the core technology of mobile robots, and has always been the focus of people's research. Due to various reasons such as the dynamic changes and unpredictability of the environment, the incomplete perception means of mobile robots, etc., the design of map creation and navigation for mobile robots is very difficult. [0003] The maps of mobile robots can be divided into geometric maps and topological maps. Geometric maps can be further di...

Claims

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Application Information

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IPC IPC(8): G01C21/32G01C21/34
CPCG01C21/3415G01C21/383G01C21/3848G05D1/0274G05D2201/0203G01C21/3807G01C21/3837G01C21/387
Inventor 杨勇潘濛濛郑志帆李崇国
Owner SHEN ZHEN 3IROBOTICS CO LTD
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