In-building mobile robot multi-floor automatic mapping method based on feature point matching

Abstract

The invention relates to the technical field of robots, and discloses an in-building mobile robot multi-floor automatic mapping method based on feature point matching. The main scheme comprises the steps: building a reference floor map coordinate system; calculating floor information through an air pressure value; exploring a floor area through a laser radar and track plotting based on a floor, and constructing a floor map coordinate system; and calculating a coordinate transformation relationship between the floor map coordinate system and the reference floor map coordinate system based on the parameter consistent key points, so that the parameter consistent key points in the floor map coordinate system and the parameter consistent key points in the reference floor map coordinate system have the same coordinates. The method at least has the following beneficial effects that the robot can automatically and autonomously replace the map corresponding to the floor, the coordinate transformation relationship between the maps of different floors is established, and the efficiency of automatic establishment and analysis of the multi-floor map is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a multi-floor automatic mapping method for a mobile robot in a building based on feature point matching. Background technique [0002] In the autonomous intelligent technology of service robots, the multi-floor autonomous navigation technology of robots is the focus of attention. In recent years, with the development of urbanization in my country, the number and population of cities have increased significantly. Since buildings are the living and working spaces of most urban residents, urban buildings have also become important application scenarios for service robots, and have spawned a series of Practical applications, such as express mail and takeaway collection, building cleaning, document distribution, welcome reception, etc., and these applications require robots to be able to navigate across a wide range of floors in the building. [0003] In order to realize the autonomous...

AI Technical Summary

Problems solved by technology

Existing cross-floor robot navigation applications generally use the method of artificially setting the coordinate transformation relationship between multi-floor maps to establish multi-floor maps. At the same time, it is necessary to obtain the corresponding floors of the map manually or through an external control system. low

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