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

A mobile robot and multi-floor technology, applied in the field of robotics, can solve problems such as low efficiency and achieve the effect of improving efficiency

Pending Publication Date: 2021-04-13
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Abstract
  • Description
  • Claims
  • Application Information

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

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Embodiment Construction

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0046] In the description of the present invention, the meaning of several means one or more, and the meaning of multiple means two or more than two. Greater than, less than, exceeding, etc. are understood as not including the original number, and above, below, within, etc. are understood as including the original number . If the description of the first and second is only for the purpose of distinguishing the technical features, it cannot be understood as indicating or implying the relative importance or implicitly indicating the number...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 楼云江赵均鑫孟雨皞陈雨景赵真
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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