Constructing method and navigation method of global boundary map

A construction method and navigation method technology, applied in navigation, surveying and mapping and navigation, navigation calculation tools, etc., can solve the problems of high processor performance requirements, the influence of sub-region division detection range, and large amount of line segment feature calculations, etc., to save calculations resources, the effect of improving navigation efficiency and flexibility

Active Publication Date: 2018-09-07
AMICRO SEMICON CORP
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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 am

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  • Constructing method and navigation method of global boundary map
  • Constructing method and navigation method of global boundary map
  • Constructing method and navigation method of global boundary map

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[0032] The technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the drawings in the embodiments of the present invention. It should be understood that the specific embodiments described below are only used to explain the present invention, but not to limit the present invention.

[0033] In the patent of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship based on the orientation or position shown in the drawings. The relationship is only for the convenience of describing the implementation of the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the patent of the present invention.

[0034] T...

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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...

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Application Information

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IPC IPC(8): G01C21/20G01C21/32
CPCG01C21/206G01C21/32
Inventor 戴剑锋
Owner AMICRO SEMICON CORP
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