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Robot autonomous mapping method in closed environment

A closed environment, robot technology, applied in special data processing applications, structured data retrieval, database indexing, etc., can solve problems such as sparse exploration sites, and achieve fast results

Pending Publication Date: 2021-06-01
杭州图歌科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Considering that the current detection range of sensors is relatively large, we generally sparsely explore the locations we have obtained.

Method used

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  • Robot autonomous mapping method in closed environment

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Experimental program
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Effect test

Embodiment

[0050] In the closed robot 20m*20m operating environment (indoor), remove some relatively short small boxes and some power lines, move the robot chassis, single-line laser radar, and set the range of automatic mapping to 25m*25m.

[0051] The robot performs steps such as figure 1 Shown:

[0052] Step 1: Start the navigation module of the robot and start the mapping module, and then start the automatic mapping module to obtain the hyperparameters and the initial map view. The specific steps are as follows:

[0053] Step 1-1: Create a new grid map in the automatic mapping module, and read the hyperparameter configuration file in the automatic mapping module to determine the value of each hyperparameter. The hyperparameters include: map length Rx=25 , map width Ry=25, threshold th=0.05, fine-tuning coefficient fine=0.01, filter radius r filter =0.1, filter threshold th filter =1, complete radiation radius r radiation =0.1, the end threshold of mapping th end =0.6;

[0054] ...

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Abstract

The invention relates to the technical field of robot mapping, and discloses a robot autonomous mapping method in a closed environment, comprising the following steps: obtaining hyper-parameters and an initial map view; determining a search point set; deleting redundant search points in the search point set; marking an execution point set; executing a target point to which the robot needs to go; if the robot arrives at target point within specified time, marking the target point as an arrived point, otherwise, cancelling the action and marking the target point as a timeout point, and putting the arrived point and the timeout point into a complete point set; and repeating the steps until the mapping is completed. According to the method, unknown region search can be completed more quickly; the mapping speed of the robot is higher; and the automatic construction of the map is completed in a relatively complex environment.

Description

【Technical field】 [0001] The invention relates to the technical field of robot mapping, and is a supplement to slam (Simultaneous Localization and Mapping). 【Background technique】 [0002] As the core technical problem of mobile robots, slam technology tries to solve such a problem: how a robot moves in an unknown environment, how to determine its own trajectory by observing the environment, and at the same time construct a map of the environment. Its specific implementation is as follows: convert the sensor data (lidar or image) of each position in the environment into point cloud data, and then stitch the point cloud data of each position into a map. Now there are two common ways to obtain sensor data: 1. Hand-held sensors and corresponding processors are constantly moving in the environment to obtain sensor data; 2. Fix the sensor on the robot and direct the robot to various locations through the remote control . We found that in this process, the robot did not build a ...

Claims

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Application Information

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IPC IPC(8): G06F16/29G06F16/22
CPCG06F16/29G06F16/2246
Inventor 华璟俞庭彭浩宇胡峥
Owner 杭州图歌科技有限公司