Semantic navigation method and system used for ground sweeping robot

A technology of sweeping robot and navigation method, which is applied in the direction of control/regulation system, two-dimensional position/channel control, instruments, etc., to achieve the effect of solving missed sweeps and improving cleaning efficiency

Inactive Publication Date: 2019-09-24
湖南海森格诺信息技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the above-mentioned background technology, provide a semantic navigation method and sy

Method used

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  • Semantic navigation method and system used for ground sweeping robot
  • Semantic navigation method and system used for ground sweeping robot
  • Semantic navigation method and system used for ground sweeping robot

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0057] refer to figure 1 , the implementation of the semantic navigation method for sweeping robots, including the following steps:

[0058] Step S1: Obtain the positioning information of the sweeping robot in the environment;

[0059] Step S2: Obtain the depth map corresponding to the obstacles in the environment;

[0060] Step S3: Obtain the three-dimensional positions of all obstacles in the depth map;

[0061] Step S4: Identify semantic information corresponding to obstacles in the environment;

[0062] Step S5: Construct a two-dimensional grid map of the scene with semantics;

[0063] Step S6: Plan the path of the sweeping robot and guide the sweeping robot to move forward;

[0064] Step S7: Updating the two-dimensional grid map of the scene with semantics in real time.

[0065] In this embodiment, in step S1, obtaining the positioning information of the sweeping robot in the environment also includes the following steps:

[0066] Step S11: Acquire image P 1 , imag...

Embodiment 2

[0102] refer to Figure 5 , The difference between this embodiment and Embodiment 1 is only that: the lens direction of the fisheye lens camera 2 forms an angle of 45 degrees with the X axis in the XZ axis plane, and the rest are the same as Embodiment 1.

[0103] In practical applications, the lens direction of the fisheye camera 2 can be set according to actual needs, and the lens direction of the fisheye camera 2 can be set to form an angle of 30-90 degrees with the X axis in the XZ axis plane.

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Abstract

The invention discloses a semantic navigation method and system used for a ground sweeping robot. The method comprises the following steps of step S1, acquiring positioning information of the ground sweeping robot in an environment; step S2: acquiring a depth map corresponding to obstacles in the environment; step S3: acquiring three-dimensional positions of all the obstacles in the depth map; step S4, identifying semantic information corresponding to the obstacles in the environment; step S5: constructing a two-dimensional grid map of a scene with semantics; step S6: planning a path of the ground sweeping robot, and guiding the ground sweeping robot to travel; and step S7: updating the two-dimensional grid map of the scene with semantics in real time. The semantic navigation system used for the ground sweeping robot is also included. In the invention, problems that some places are not swept; repeated sweeping is performed; and wrong sweeping exists are solved, cleaning efficiency of the ground sweeping robot is increased, and the dynamic obstacles can be avoided.

Description

technical field [0001] The invention relates to a sweeping robot, in particular to a semantic navigation method and system for a sweeping robot. Background technique [0002] Sweeping robots are used more and more in daily household cleaning. Existing sweeping robots mainly use SLAM positioning and navigation and a dead reckoning navigation system based on gyroscopes and odometers. Since these two technologies do not have the ability to recognize objects in the environment and objects, and cannot understand the target semantic information in the scene, it is difficult to solve the problems of missing scans, repeated scans, and wrong scans. Contents of the invention [0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the above-mentioned background technology, provide a semantic navigation method and system for sweeping robots, solve the problems of missed sweeps, repeated sweeps, and wrong sweeps, improve the cleaning effi...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0246G05D2201/0203
Inventor 张先江张远谋雷明军皮钒蒋玉城
Owner 湖南海森格诺信息技术有限公司
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