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An intelligent multi-robot collaborative mapping system and method

A multi-robot, robot technology, applied in the field of robotics, can solve problems such as few 3D radars, and achieve the effect of rich data, less time, and easy processing

Active Publication Date: 2020-10-30
SUN YAT SEN UNIV +1
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Problems solved by technology

For radar-based collaborative SLAM, the main research direction is 2D radar. At this stage, there are few 3D radar collaborative SLAM.

Method used

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  • An intelligent multi-robot collaborative mapping system and method
  • An intelligent multi-robot collaborative mapping system and method

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Embodiment Construction

[0025] The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as a limitation on this patent.

[0026] Such as figure 1 , 2 As shown, an intelligent multi-robot collaborative mapping system includes a data acquisition module, a point cloud matching module, and a collaborative SLAM module; the data acquisition module collects the environmental information around the robot and processes it to obtain two kinds of feature points, lines, and surfaces Points, and their nearest neigh...

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Abstract

The invention discloses an intelligent multi-robot collaborative mapping system, wherein the system includes a data acquisition module, a point cloud matching module, and a collaborative SLAM module; the data acquisition module processes the data collected by the laser radar carried by the robot, and extracts the Line point and surface point feature points, as well as the nearest neighbor points of these points, are output to the point cloud matching module as feature data points; the point cloud matching module will perform point cloud matching between the obtained feature data points of different robots, and if they can match Then the corresponding connection between the robots is established, and the connection is transmitted to the collaborative SLAM module. If it cannot be matched, the posture matrix (6-DOE) is temporarily retained; the collaborative SLAM module matches the module based on the previous point cloud. If there is already Closure, then the newly obtained data points are reconstructed into the global map according to the relationship between the robots, and a complete map is obtained. The present invention has a novel idea and is a brand-new collaborative mapping method.

Description

technical field [0001] The present invention relates to the technical field of robots, and more specifically, to an intelligent multi-robot collaborative mapping system and method thereof. Background technique [0002] With the development of the times, collaborative SLAM has always been a research hotspot. The traditional collaborative SLAM also has many classifications, such as the classification for sensors: radar, camera, RGB-D, GPS, etc. For radar-based collaborative SLAM, the main direction of research is 2D radar. At this stage, there are few collaborative SLAMs for 3D radar. Therefore, we propose a novel, 3D radar-based multi-robot collaborative mapping method. This method can collect more environmental data, construct a 3D map that can fully display environmental information, and enhance the objectivity and accuracy of the map. Contents of the invention [0003] In order to overcome at least one of the defects described in the above-mentioned prior art, the pre...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01S17/58
CPCG05D1/0251G05D1/0257G05D1/0276G01S17/58
Inventor 陈龙张亚琛黄凯李清泉涂伟周宝定
Owner SUN YAT SEN UNIV
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