Map Creation Method for Mobile Robot Based on Laser Ranging Sensor

Abstract

The present invention provides a method for creating a map of a mobile robot based on a laser ranging sensor, comprising the following steps: S1: establishing a Cartesian coordinate system with reference to the forward direction of the mobile robot, and scanning the working area with the laser ranging sensor of the mobile robot to obtain laser data points; S2: Determine the dynamic threshold Q according to the distance between the current laser data point and the ranging sensor, and perform data block on the laser data point according to the dynamic threshold Q; S3: Extract corner point information in the data block; S4: According to the angle Extract line segment information from point information; S5: modify the Cartesian coordinate system according to the line segment information; S6: Create a map in the working area according to the modified Cartesian coordinate system. Compared with the prior art, the present invention determines the dynamic threshold according to the distance between the current laser data point and the ranging sensor, and divides the data value into blocks according to the dynamic threshold Q, which reflects the distribution of data points more accurately than the static threshold, Make chunking more accurate.

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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