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Multi-grid value navigation method based on robot pose and application thereof

A navigation method and robot technology, applied in the field of multi-grid value navigation technology based on robot pose, can solve problems such as inability to solve the navigation problem of autonomous mobile robots, achieve enhanced connectivity, ensure human-machine safety, and expand passable areas. Effect

Active Publication Date: 2019-06-21
UNIV OF ELECTRONIC SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

A practical example is that the building plastering robot is only 2 cm away from the wall when it is plastering. At this time, the robot has entered the circumscribed obstacle area, that is, the existing technology cannot solve the navigation problem of the autonomous mobile robot for indoor wall construction.

Method used

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  • Multi-grid value navigation method based on robot pose and application thereof
  • Multi-grid value navigation method based on robot pose and application thereof
  • Multi-grid value navigation method based on robot pose and application thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0055] This example adopts a distributed robot operating system, and uses this system to share data between different robot nodes. The experimental environment is a semi-finished house that is actually built, and the robot will perform plastering work on it.

[0056] In order to better obtain the environmental information of the construction site, the 2D Lidar is installed on the top of the robot (1.8m high). In order to ensure safety during the construction process, it is necessary to install ultrasonic sensors around to detect other obstacles such as people around, and re-plan the route when encountering other obstacles. Through the geomagnetic sensor, the angle of the trolley can be obtained in real time. When strong magnetic interference occurs, the data of the geomagnetic sensor will be deactivated and reset to zero. When the cumulative error is not large, the robot's own odometer and inertial navigation odometer are used to position the robot. When the cumulative error ...

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Abstract

The invention discloses a multi-grid value navigation method based on the robot pose and an application thereof and belongs to the technical field of robot navigation. The method is characterized in that the accessible area of the robot in the grid map is expanded, and connectivity of topology maps is enhanced, moreover, through the indoor wall construction autonomous mobile robot navigation method based on the BIM information, working points are calculated based on the extracted BIM information, according to the position information of the working points and the order of work tasks, the multi-grid value navigation method based on the robot pose is utilized to set local navigation routes between the adjacent working points; real-time positioning is performed, and the obstacle information around an indoor wall construction autonomous mobile robot is detected, the grid map is updated, and the local navigation routes between the adjacent working points are reset based on the updated gridmap. The method is advantaged in that navigation work efficiency and accuracy are improved.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to a robot pose-based multi-grid value navigation technology. Background technique [0002] With the development of computer technology, robot SLAM (Simultaneous Localization And Mapping) technology has become more and more mature. Commonly used technologies include VSLAM (Visual Simultaneous Localization And Mapping) based on computer vision and SLAM based on laser radar-based multi-sensor fusion. These technologies are used in many fields, such as sweeping robots, outer space exploration robots, etc. [0003] The map constructed by traditional 2D laser SLAM technology is a grid map, which only has scale information but not semantic information. Thereby it is difficult to better guide the robot to work. [0004] In ordinary robot navigation based on grid maps, it is difficult for robots to safely reach circumscribed obstacle areas and non-free spaces. A further descript...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/16G01S17/02
Inventor 于鸿洋周乐天
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA
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