Map building method of mobile robot based on laser ranging sensor

Abstract

The invention provides a map building method of a mobile robot based on a laser ranging sensor. The method comprises the following steps: S1, establishing a Cartesian coordinate system by taking the forwarding direction of the mobile robot as reference, and scanning a working area of the mobile robot by the laser ranging sensor to obtain laser data points; S2, performing data segmentation on the laser data points; S3, extracting corner point information from the segmented data; S4, extracting line segment information according to the corner point information; S5, modifying the Cartesian coordinate system according to the line segment information; and S6, building the map in the working area according to the modified rectangular coordinate system. Compared with the prior art, the method caneffectively optimize a subsequent cleaning planning process, reduce the turning process during cleaning and optimize cleaning in the edgewise process by extracting the corner information and the linesegment information from the laser data, modifying the Cartesian coordinate system according to the line segment information and rotating the map to an angle perpendicular to a wall, so the intelligence and the efficiency of the cleaning process are improved.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a map creation method for a mobile robot based on a laser ranging sensor. Background technique [0002] Mobile robots currently on the market can automatically complete specific tasks in specific areas without human participation, which brings convenience to people and has a promising market prospect. Especially mobile robots with laser ranging sensors can use laser ranging sensors to create maps of the surrounding environment for positioning and navigation. [0003] Laser ranging sensors are used to build a map of the machine's heading. Such as figure 1 As shown, when the forward direction of the machine is not perpendicular to the wall, the constructed map is crooked. If the built map is crooked, when the subsequent sweeping robot is cleaning and planning, the planned cleaning area will appear obliquely square, which will greatly reduce the intelligence of the sweeping robot, re...

AI Technical Summary

Problems solved by technology

If the built map is crooked, when the sweeping robot is cleaning and planning later, the planned cleaning area will appear oblique squares, which will greatly reduce the intelligence of the sweeping robot, reduce the cleaning efficiency along the edge, and the cleaning effect will not be good.

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