Method and device for generating indoor environment map

An indoor environment and map technology, applied in the field of mobile robots, can solve the problems that the method of generating environmental maps cannot satisfy the problems of easy construction and area segmentation at the same time, and achieve the effect of low efficiency, large amount of calculation and high complexity of path planning

Active Publication Date: 2020-08-11
BEIJING EVOLVER ROBOTICS TECH CO LTD
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a method and device for generating an indoor environment map, so as to alleviate the technical problem that the method for generating an environment map in the prior art cannot satisfy the technical problems of easy construction and region segmentation at the same time

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  • Method and device for generating indoor environment map
  • Method and device for generating indoor environment map
  • Method and device for generating indoor environment map

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Embodiment 1

[0076] A method for generating an indoor environment map, refer to figure 1 , the method includes:

[0077] S102. Determine a feasible area in the grid map, wherein the feasible area is an area accessible to the mobile robot, and the feasible area includes a door area;

[0078] In the embodiment of the present invention, the topological segmentation is performed on the constructed grid map (that is, in an offline state). The method for constructing the grid map can be constructed by adopting the method for constructing the grid map in the prior art, and the embodiment of the present invention does not repeat the description of the method for constructing the grid map.

[0079] In addition, the present invention is mainly aimed at the topological segmentation of the home environment map of the mobile robot, and may also be applicable to other indoor environment maps, which are not specifically limited in the embodiments of the present invention.

[0080] After obtaining the g...

Embodiment 2

[0174] A device for generating an indoor environment map, refer to Figure 7 , the device consists of:

[0175] A determining module 11, configured to determine a feasible region in the grid map, wherein the feasible region is the reachable region of the mobile robot, and the feasible region includes a door region;

[0176] The segmentation module 12 is used to divide the feasible region by the gate segmentation algorithm to obtain a plurality of sub-feasible regions, and the plurality of sub-feasible regions include: a first sub-feasible region and a second sub-feasible region, wherein the region of the first sub-feasible region The type is known, and the area type of the second sub-feasible area is unknown;

[0177]The processing module 13 is configured to process the second sub-feasible region through a spectral clustering algorithm to obtain a plurality of topological regions, wherein each topological region represents a region category;

[0178] The fusion module 14 is ...

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Abstract

The present invention provides a method and device for generating an indoor environment map. The method includes: determining a feasible region in a grid map; dividing the feasible region by a gate segmentation algorithm to obtain a first sub-feasible region and a second sub-feasible region ; Processing the second sub-feasible area by a spectral clustering algorithm to obtain multiple topological areas; fusing the gate area, the first sub-feasible area and multiple topological areas and establishing a topological connection relationship to obtain an indoor environment map. This method is a topological segmentation on a grid map. The gate segmentation algorithm reduces the computational load of the topological segmentation, and the spectral clustering algorithm improves the accuracy of the topological segmentation. It inherits the advantages of easy construction of the grid map and realizes The expression of the regional environment category, in the semantic navigation, the planning efficiency of the path is high, and the method of generating the environmental map in the prior art cannot satisfy the technical problem of easy construction and regional segmentation at the same time.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a method and device for generating an indoor environment map. Background technique [0002] Map is the basis of mobile robot localization and navigation, and grid method and topology method are two common forms of map expression. The grid method describes the environment in the way of precise measurement, and maps the environment to grids of the same size, and each grid indicates whether the corresponding environment area has obstacles or not. [0003] At present, the grid method is widely used because of its advantages of easy construction and maintenance, and easy calculation of the shortest path. However, the resolution of the grid must be sufficient to capture the important details of the environment, and the amount of calculation is large; the path planning is inefficient and complex, and the precise position of the robot needs to be maintained; more fatally, this kin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/11G06T7/162G06T7/187G06T11/60G06K9/62
CPCG06T7/11G06T7/162G06T7/187G06T11/60G06T2207/20072G06T2207/20048G06F18/23213G06F18/213G06F18/22
Inventor 袁梅
Owner BEIJING EVOLVER ROBOTICS TECH CO LTD
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