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Robot for real-time positioning and map construction

A technology of map construction and real-time positioning, applied in the field of robotics, can solve problems such as high price, and achieve the effect of improving accuracy, real-time, and strong creativity

Pending Publication Date: 2019-08-23
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

One of the core technologies of the path-planning sweeping robot is SLAM (Simultaneous Localization and Mapping) technology, and the sweeping robot that can realize the SLAM function in the existing sweeping robot products is expensive, and it is mainly some foreign brands

Method used

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Embodiment 1

[0023] This embodiment discloses a robot for real-time positioning and map construction, including a power supply system, which is used to supply power to the robot; including an STM32 robot control module and a Raspberry Pi 3B image module, the STM32 robot control module and a raspberry The 3B image modules are connected through a serial port, and the raspberry pie 3B image module is used for image data acquisition through a camera and a gyroscope. The STM32 robot control module is connected with a PC host computer through a wireless router, and the STM32 robot control module is connected with connected to the motor control module.

[0024] Preferably, the STM32 robot control module collects the data of the encoder odometer, and controls the operation on it through the motor control module.

[0025] The Raspberry Pi 3B image module performs preliminary processing on the collected image data, and transmits it to the PC through wireless WIFI for reconstruction of the three-dime...

Embodiment 2

[0034] This embodiment discloses a camera-based visual SLAM, using the current map reconstruction technology and route planning technology, the main content includes the construction of the sweeping robot platform; the collection and transmission of distance odometer and visual data; multi-sensor information fusion method; Car control based on differential controller; map reconstruction technology and route planning.

[0035] The STM32 module is responsible for the data acquisition of the encoder odometer, and at the same time controls the operation on it through the motor. The Raspberry Pi 3B collects the image, and the preliminary processing is transmitted to the PC through wireless WIFI for reconstruction of the 3D image. At the same time, the data of the gyroscope and the image data are processed to adjust the attitude of the robot based on the ROS system. The PC upper computer performs three-dimensional reconstruction processing on the image, and returns the result to th...

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Abstract

The invention relates to the technical field of robots, and particularly relates to a robot for real-time positioning and map construction, which comprises an STM32 robot control module and a raspberry Pi 3B image module, wherein the STM32 robot control module and the raspberry Pi 3B image module are connected through a serial port; the raspberry Pi 3B image module performs image data acquisitionby a camera and a gyroscope; the STM32 robot control module is connected to a PC host computer through a wireless router; and the STM32 robot control module is connected to a motor control module. Thevisual SLAM based on the camera can use the current map reconstruction technology and the route planning technology to build an SLAM car platform that can independently perform map reconstruction andobstacle avoidance. A sweeping robot platform construction scheme is put forward. A map optimization algorithm is finally used to improve the accuracy and the real-time performance of route planning,thereby being creative.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot for real-time positioning and map construction. Background technique [0002] In recent years, many new robots have emerged using SLAM technology, such as figure 1 The Turtle Bot robot in and figure 2 The sweeping robot in . The sweeping robot products currently on the market are mainly divided into two types according to the cleaning type: random collision type and path planning type. Among them, the path planning sweeping robot will establish an environmental map during operation, and can complete the cleaning operation more intelligently through map navigation. With the advancement of sweeping robot technology, there is a trend that random collision sweeping robots are gradually replaced by path planning sweeping robots. One of the core technologies of the path-planning sweeping robot is SLAM (Simultaneous Localization and Mapping) technology. Among the existing sw...

Claims

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Application Information

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IPC IPC(8): G01C21/32B25J9/16B25J11/00G06T17/00G06T7/73G06T7/55
CPCG01C21/32B25J9/16B25J11/00B25J9/1689B25J9/1697G06T17/00G06T7/73G06T7/55
Inventor 官杰张学习林楷林润楠柳奕濠邹毅
Owner GUANGDONG UNIV OF TECH
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