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Room and door recognition method for mobile robot

A mobile robot and recognition method technology, applied in the field of room and door recognition, which can solve problems such as unrealistic applications, inability to recognize doors, inability to recognize or understand rooms, etc.

Inactive Publication Date: 2019-12-10
韦云智
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a method for identifying rooms and doors of mobile robots, aiming to solve the problem that existing mobile robots cannot recognize or understand the concept of rooms, nor can they identify doors, which is out of practical application.

Method used

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  • Room and door recognition method for mobile robot
  • Room and door recognition method for mobile robot
  • Room and door recognition method for mobile robot

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Experimental program
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Embodiment Construction

[0028] Such as figure 1 , 2 , 3, 4, and 5, a method for identifying a room and a door of a mobile robot, the robot includes:

[0029] Action wheel, action wheel with odometer feedback, used to assist SLAM algorithm; action wheel can be two-wheel drive, or four-wheel drive;

[0030] Lidar, Lidar is used to measure the distance between the robot and obstacles, it can be triangular ranging Lidar or TOF Lidar, it can be 360-degree rotating Lidar or fixed Lidar.

[0031] Control the main board, control the main board to drive the movement of the action wheel, read the data of the lidar, and generate an indoor map through the SLAM algorithm;

[0032] Its method includes the following steps:

[0033] Step 1: Use laser radar SLAM for real-time positioning to locate the position of the robot;

[0034] Step 2: The laser radar scans 360° to obtain the coordinates of surrounding obstacles, the coordinates of laser scanning points, and the coordinate set of obstacles: O={{x1,y1},{x2,y2...

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Abstract

The invention discloses a room and door recognition method for a mobile robot, and the mobile robot comprises the following parts: moving wheels which have odometer feedback and are used for assistingan SLAM algorithm; a laser radar that is used for measuring the distance between the robot and an obstacle; a control mainboard that drives the moving wheels to move, reads data of the laser radar and generates an indoor map through the SLAM algorithm; the indoor map is established by adopting a laser radar and converted into a two-dimensional grid map, a door is identified on the basis of the two-dimensional grid map, and the room is calculated, so that the method can be applied to an intelligent sweeping robot to sweep according to room partitions or a household intelligent robot to understand the function of navigating from one room to another room.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a method for identifying rooms and doors of a mobile robot. Background technique [0002] In practical applications, we often need to allow the robot to navigate autonomously from the master bedroom to the living room, or in the application of intelligent sweeping robots, we often need to perform partition cleaning on a room-by-room basis. But the current robot can't achieve similar functions; because the robot can't understand the concept of the master bedroom, or the living room, can't understand the concept of the room, can't recognize the door. [0003] In the existing technology, laser radar scanning and SLAM algorithm can be used to establish indoor two-dimensional maps to realize the function of indoor autonomous navigation and positioning of robots. However, the current SLAM algorithm can only allow robots to understand obstacle information or feature point inform...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/0257G05D1/0221
Inventor 韦云智
Owner 韦云智