System and method for navigating indoor cloud robot

Abstract

The invention discloses a system and a method for navigating an indoor cloud robot. The system comprises a cloud terminal, wherein the cloud terminal is connected with a UWB base station group and a robot group respectively; the UWB base station group is configured to detect the positions of corresponding robots in the robot group in a global environment and feeding back the detected positions tothe cloud terminal; the cloud terminal is configured to send a navigation command to an appointed robot and receive the local minimum subgraph of the current position constructed by the appointed robot; the cloud terminal is configured to determine the orientation of the robot by using the local minimum subgraph of the current position constructed by the appointed robot and the position in the global environment; the cloud terminal is configured to download the pre-planning global path of the appointed robot from the current position to a navigation end point and a middle navigation point; thecloud terminal is configured to receive the local minimum subgraph of the appointed robot at the middle navigation point, optimize the posture of the current robot in combination with the position inthe global environment and then optimize the global path and adjust the middle navigation point; and the cloud terminal is configured to download the optimized global path, the posture and the middlenavigation point to the appointed robot for continuous navigation until a navigation end point is reached.

Description

technical field [0001] The invention belongs to the field of robot navigation technology and cloud robot application, and in particular relates to an indoor cloud robot navigation system and method. Background technique [0002] The positioning and navigation technology of indoor mobile robots has always occupied a pivotal position in the entire robotics. The traditional indoor robot navigation methods have the following disadvantages: [0003] (1) In the global environment, it mainly relies on periodic positioning methods with limited transmission range such as WIFI and Bluetooth, and cannot effectively use the information in the surrounding environment. [0004] (2) In the local environment, it relies on visual perception sensing devices such as cameras and laser radars, and cannot accurately perform global positioning. Due to the limitation of the measurement range and accuracy of the sensor itself and the complexity of the surrounding environment, the local position ofte...

AI Technical Summary

Problems solved by technology

[0003] (1) In the global environment, it mainly relies on periodic positioning methods with limited transmission range such as WIFI and Bluetooth, and cannot effectively use the information in the surrounding environment

[0004] (2) In the local environment, it relies on visual perception sensing devices such as cameras and laser radars, and cannot accurately perform global positioning. Due to the limitation of the measurement range and accuracy of the sensor itself and the complexity of the surrounding environment, the local position often obtained will not be accurate. big deviation

Such a single navigation and positioning method cannot effectively judge the position of the robot in the global environment, especially when the indoor environment is relatively large and the distance of navigation movement is relatively long, the position error caused by the movement of the robot will continue to accumulate, and the accuracy of navigation will also decrease. greatly reduced, causing the robot to fail to move to the specified position smoothly

[0005] (3) It is often difficult for traditional robot groups to coordinate and operate when performing indoor navigation; in many cases, due to certain heterogeneity, it is often difficult for the console to provide a unified solution for route correction and algorithm update for different types of robots. Interfaces and Services

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