Constructing method and navigation method of global boundary map

Abstract

The invention discloses a constructing method and a navigation method of a global boundary map. The constructing method comprises the following steps: firstly, determining a virtual cleaning zone in working space while a robot is started, labeling boundary characteristic information of a navigation boundary during a sweeping process of the virtual cleaning zone, and constructing a local boundary map; secondly, converting data of the local boundary map to a global coordinate system; moving to unswept zone after completing the sweeping of the virtual cleaning zone, determining a next virtual cleaning zone, continuously labeling the boundary characteristic information, repeatedly recycling, exiting the recycling after completing the sweeping of the whole working space, and completing construction of the global boundary map; finally, navigating by selecting the navigation boundary as a navigation path. According to the method for constructing the local boundary map and the global boundarymap, disclosed by the invention, rapid navigation of the robot is realized under a condition that the boundary characteristic information is reserved; meanwhile, system memory is saved, and the flexibility and high efficiency of navigation of the robot can be improved.

Description

technical field [0001] The invention relates to the technical field of indoor navigation and intelligent control of robots, in particular to a method for constructing a global boundary map and a navigation method thereof. Background technique [0002] Robots based on inertial navigation are becoming more and more popular, and the most representative ones are household sweeping and cleaning robots. The sweeping robot combines the data of the gyroscope, acceleration and wheel odometer to realize real-time positioning and mapping of the indoor environment, and then realize positioning and navigation according to the established map. The robot based on inertial navigation navigates back to the charging base based on the global grid map. When implementing gyroscope-based inertial navigation in the actual home environment, because there are various unknown conditions in the relatively complex home environment, the Over time, the errors caused by wheel slippage and gyroscope drift...

AI Technical Summary

Problems solved by technology

[0004] Chinese invention patent CN100449444 proposes a method for simultaneous positioning and map construction of mobile robots in an unknown environment. High-precision positioning and navigation is achieved by constructing a global line segment feature map and a global occupancy grid map, but the matching line segment features and grid map update in the map The algorithm has high requirements on the performance of the processor, and the amount of calculation for line segment feature matching is relatively large; the method of topological map is used in the Chinese patent CN107121142, and the method of combining the current environment characteristics of the robot is used to judge whether to divide the sub-regions and how to divide them, and then fuse the sensor data Path planning is performed, but the division of sub-areas is affected by the detection range of the laser sensor

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