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Method and system for robot path planning and environment reconstruction based on virtual reality

A path planning and virtual reality technology, applied in instruments, data processing applications, forecasting, etc., can solve the problems of long time period, occupation of resources, slow calculation speed, etc., to achieve less resource occupation, high promotion value, and reduced data volume. Effect

Active Publication Date: 2022-04-26
XIAN UNIV OF SCI & TECH
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  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the shortcomings of the existing technology, the purpose of the present invention is to provide a method and system for robot path planning and environment reconstruction based on virtual reality, which solves the problem of using a large number of control algorithms and obstacle extraction in the current robot path planning and environment reconstruction methods. The calculation speed is slow, the time period is long, the problem of taking up a lot of resources and difficult to implement in a complex environment

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  • Method and system for robot path planning and environment reconstruction based on virtual reality
  • Method and system for robot path planning and environment reconstruction based on virtual reality
  • Method and system for robot path planning and environment reconstruction based on virtual reality

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Embodiment Construction

[0034] The present invention uses virtual reality technology to realize the virtual prototype of the detection robot and the initial virtual scene on the virtual simulation interactive platform, and realize the path planning in the virtual scene by processing the scene in the virtual simulation interactive platform, and generate control commands to drive the real The detection robot moves synchronously with the virtual prototype; during the movement, the laser radar is used to collect real-time scene data to realize the reconstruction of the scene, and a new path is planned based on the reconstructed scene. The "environment" reconstruction in the name of the invention refers to the scene in the technical content.

[0035] The 3D grid map is to divide the space into 3D grids of equal size, use the state of each grid to describe the actual space state, and update the 3D grid in real time through the acquired sensor data, so as to realize the creation of the 3D grid map However, ...

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Abstract

The invention discloses a method and system for robot path planning and environment reconstruction based on virtual reality. First, the robot virtual prototype and the initial scene are imported into a virtual simulation interactive platform, and a navigation grid is generated for the current scene in the platform. The three-dimensional coordinates of the destination and the three-dimensional coordinates of the destination are used to obtain the walking path of the virtual prototype of the detection robot in the initial virtual scene, and generate control commands to drive the virtual prototype of the robot to move synchronously with the real robot. The scene is partially updated and reconstructed to generate a new scene, and the previous steps are repeated in the new scene. The method of the invention has good interactivity, reasonable design, strong practicability and high popularization value, and makes up for the deficiencies in the control technology of the current coal mine rescue robot.

Description

technical field [0001] The invention belongs to the technical field of robot path planning, and in particular relates to the path planning and scene reconstruction technology of a coal mine post-disaster detection robot, in particular to a method and system for robot path planning and environment reconstruction based on virtual reality. Background technique [0002] Robot path planning technology has always been an important issue in the field of robot research. The so-called path planning problem is to find a suitable movement path for the robot from the starting point to the end point in an environment with obstacles, so that the robot can safely and without collision. through obstacles. At present, traditional path planning methods are based on some specific algorithms, including genetic algorithms, fuzzy logic algorithms, etc., but the main technical problem of path planning methods based on traditional algorithms is that the calculation time period is long in a dynamic ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06Q10/04G06Q50/02G06T19/00
CPCG06Q10/047G06Q50/02G06T19/006
Inventor 张旭辉董润霖杜昱阳王妙云张雨萌
Owner XIAN UNIV OF SCI & TECH