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A mobile robot indoor map construction method

A mobile robot and indoor map technology, which is applied in the directions of instruments, navigation, surveying and navigation, etc., can solve the problems of low mapping accuracy, large environmental dependence, inaccurate positioning, etc., to reduce cumulative errors and system drift, high Adaptability, the effect of increasing accuracy

Active Publication Date: 2022-04-08
SOUTHWEAT UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Aiming at the above-mentioned deficiencies in the prior art, the method for constructing an indoor map of a mobile robot provided by the present invention solves the problems of large dependence on the environment, inaccurate positioning and low precision of mapping in the construction process of the existing indoor map of the robot

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  • A mobile robot indoor map construction method
  • A mobile robot indoor map construction method
  • A mobile robot indoor map construction method

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Embodiment Construction

[0059] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0060] Such as figure 1 As shown, a mobile robot indoor map construction method includes the following steps:

[0061] S1. Collect the odometer data, fingerprint information and laser scanning data of the mobile robot respectively;

[0062] S2. Based on the odometer data and fingerprint information, construct and train the fingerprint "similarity-distance" model;

[0063] S3. Based on the trained fingerprint "similarity-d...

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Abstract

The invention discloses a method for constructing an indoor map of a mobile robot. The odometer, WiFi equipment and laser radar in the environment are used as sensing units to realize the collection of WiFi fingerprint data, odometer data and laser data. The odometer provides a rough map of the robot. Pose changes, the fusion of WiFi fingerprint data can provide more accurate poses, on this basis, combined with laser data for indoor map construction, is a method of fusing the above data for accurate indoor environment map construction; in the process of indoor map construction Fusing WiFi data, training the "similarity-distance" model, performing fingerprint closed-loop detection, effectively reducing the cumulative error of the odometer, can assist the lidar in the construction of maps in complex and changeable environments, and improve the accuracy and efficiency of map construction. This method can be widely used. It is applied to map construction in various complex environments and has high universality.

Description

technical field [0001] The invention belongs to the technical field of indoor map building of a mobile robot, and in particular relates to a method for building an indoor map of a mobile robot. Background technique [0002] In recent years, mobile robot technology has played an important role in many fields such as industry, medical treatment and service, and it has also been well applied in harmful and dangerous situations such as national defense and space detection. [0003] In the research field of mobile robots, SLAM has always been a hot research topic. It provides navigation maps and real-time positions for robots, which are the prerequisites for robots to perform path planning and path tracking, so it occupies a very important role in mobile robot navigation. important position. [0004] Because lidar has the advantages of high precision, wide range, and fast transmission speed, lidar is increasingly used in mobile robot navigation applications. The construction tec...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/89G01C21/00G01C21/20
CPCG01S17/89G01C21/005G01C21/206
Inventor 刘冉陈凯翔秦正泓曹志强何永平付文鹏张华
Owner SOUTHWEAT UNIV OF SCI & TECH