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Mapping system and method for swarm robots

A robot and cluster technology, applied in control/adjustment systems, instruments, vehicle position/route/height control, etc., can solve problems affecting work efficiency, environmental perception errors, complex structures, etc., to save time and improve work efficiency , the effect of improving the quality of construction

Active Publication Date: 2021-06-18
CENT SOUTH UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, as the cleaning environment changes, for example, the area becomes larger and the structure becomes more complex, the task completion efficiency of a single sweeping robot gradually decreases, and even the perception of the environment also produces certain errors with long-term walking, which affects work efficiency.
Therefore, the work of cluster robots has become a research hotspot. The existing feature point matching and fusion methods require a large overlapping area, which cannot be fused in real time.

Method used

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  • Mapping system and method for swarm robots
  • Mapping system and method for swarm robots
  • Mapping system and method for swarm robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0069] The system in Example 1 is composed of two Shenlan Fuxi vacuum cleaner robots and a terminal computer, which can collaboratively build maps in a large area. Each sweeping robot is equipped with a router and a TIM561 lidar, and the terminal computer is installed with Ubuntu 16.04 system. For the framework of the cluster sweeping robot system, see figure 1 , the main steps of the present invention are as follows:

[0070] Step 1: Two sweeping robots walk randomly in the environment, and use the cartographer package to create a grid map. This function package will transmit the map data to the topic in real time.

[0071] Step 2: The sweeping robot transmits the map data and pose data to the control center through the local area network.

[0072] Step 3: After the control center receives the map data, using the map fusion method, we can fuse the local sub-maps according to the initial pose of the sweeping robot to obtain the global map. The control center sends the globa...

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Abstract

The invention discloses a cluster robot mapping system and method. The sweeping robot uses laser radar to construct a grid map, and sends a local sub-map to the control center in real time in a local area network communication module built on the basis of a router. Finally, when the initial relative position of the robot is known, Based on the pose, the map coordinate system is transformed and fused into a complete map. The real-time mapping method of cluster sweeping robots based on the local area network of the present invention can solve the problem of long mapping time in a large-area indoor environment, and can not only improve the mapping quality, but also observe the mapping effect in real time.

Description

technical field [0001] The invention relates to the field of mapping by cluster sweeping robots, in particular to a real-time mapping system for cluster robots based on a local area network. Background technique [0002] Robots are gradually replacing humans to complete basic tasks. The most common is the sweeping robot, which can help us clean up and is deeply loved by the people. However, as the cleaning environment changes, for example, the area becomes larger and the structure becomes more complex, the task completion efficiency of a single sweeping robot gradually decreases, and even the perception of the environment also produces certain errors with long-term walking, which affects work efficiency. Therefore, the work of cluster robots has become a research hotspot. The existing feature point matching and fusion methods require a large overlapping area, which cannot be fused in real time. Contents of the invention [0003] The technical problem to be solved by the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0225G05D1/024G05D1/0257G05D1/0276
Inventor 陈白帆李思羽
Owner CENT SOUTH UNIV
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