Mobile robot autonomous mapping method based on CAD drawing

Abstract

The invention relates to a mobile robot autonomous mapping method based on a CAD drawing. The method comprises the following steps: enabling a CAD vector map to generate a grid map in the same proportion according to the marked size, and then processing the grid map into a navigation prior map; drawing an expected mapping route on the navigation prior map, and sampling discrete path points on themapping route to generate a dense final mapping path; enabling a robot to perform positioning based on a navigation prior map and tracking a planned mapping path, and performing autonomous obstacle avoidance and real-time mapping in the walking process; and enabling the robot to return to the end point of the mapping path, and generating and storing the constructed map. According to the method, the CAD map is used as a navigation prior map, the mapping path of the robot is planned in advance, the motion trail of the robot can be controlled, the influence of no reference and randomness of the robot in autonomous mapping walking on the mapping quality is avoided, the controllability and high efficiency of autonomous mapping are improved, and the method is high in practicability and easy to implement.

Description

technical field [0001] The invention relates to the technical field of map construction, in particular to a method for autonomous map construction of a mobile robot based on CAD drawings. Background technique [0002] In the field of mobile robots, the positioning and navigation of the robot are inseparable from the map, so the robot must scan and detect the working environment in advance, build a map, and provide reference for the follow-up work of the robot. Map construction is the process in which the robot moves in the environment, detects environmental information through its own sensors, records the outline information of the environment, and finally generates a map. Usually the map is constructed by manually operating the robot to scan the environment to generate a map. This method requires a lot of labor costs. Therefore, the method of autonomous map construction by mobile robots has become a research hotspot in the field of mobile robots in the near future. At pres...

AI Technical Summary

Problems solved by technology

Usually, the map is constructed by manually operating the robot to scan the environment to generate a map. This method requires a lot of labor costs, so the method of autonomous map construction by mobile robots has become a research hotspot in the field of mobile robots in the near future.

At present, the method of autonomous mapping is mainly exploratory mapping, that is, the robot performs exploratory movement within a specified range and finally generates a map, such as SLAM technology, which is simultaneous positioning and map construction. In the case of no prior information of the scene, the robot Moving in an unknown environment, at the same time, according to sensor detection data and pose estimation, self-positioning is performed through multi-feature matching, and an incremental map is constructed. This type of method is based on trajectory data of random rules, which is random and uncontrollable, and difficult to Constructing a complete environmental map is inefficient, takes a long time, and the cost of obtaining the map is high, so the practicability is not very strong

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