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A navigation map construction method for mobile robots in complex indoor environments

A mobile robot and navigation map technology, applied in the field of robotics, can solve problems such as unrecognizable glass objects

Active Publication Date: 2021-09-14
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the traditional mobile robot mapping method cannot recognize glass objects (such as glass curtain walls) in the environment, the present invention provides a complex indoor environment mobile robot navigation map construction method, including:

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  • A navigation map construction method for mobile robots in complex indoor environments
  • A navigation map construction method for mobile robots in complex indoor environments
  • A navigation map construction method for mobile robots in complex indoor environments

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Embodiment 1

[0050] The first embodiment of the present invention relates to a method for constructing a navigation map of a mobile robot in a complex indoor environment, the process of which is as follows figure 1 as shown,

[0051] This embodiment is implemented by using the mobile platform in the office environment of the teaching building, and the platform is composed as follows figure 2 As shown, the office environment of the teaching building is as follows image 3 As shown, the office environment of the teaching building is mainly composed of corridors and glass. One of the corridors is close to the outer wall of the teaching building, so one side is a wall and the other side is a glass fence. When the mobile platform is performing mapping operations in this corridor, the laser The laser emitted by the radar can only return to the lidar within a small angle range due to the mirror reflection of the glass fence, so the distance information of the glass cannot be obtained, so only t...

Embodiment 2

[0063] Further, the second embodiment of the present invention relates to a method for constructing a navigation map of a mobile robot in a complex indoor environment, which specifically includes the following steps:

[0064] Step A1: Use the laser radar, odometer, and depth camera to work simultaneously to obtain the robot's own pose information and environmental information. The depth cameras are set at different angles and the number of depth cameras is multiple;

[0065] Specifically, in the ROS environment, the laser radar is used to emit laser light and receive the returned laser light to obtain the obstacle information of the surrounding obstacles except glass; the odometer is used to obtain the speed, position and corner information of the mobile platform; the depth camera is used to obtain the environment RGB image information, publish topics and summarize the topics into rosbag, so as to complete the collection of the robot's own pose and environmental information.

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Abstract

The embodiment of the present invention relates to the field of robotics, and discloses a method for constructing a navigation map for a mobile robot in a complex indoor environment, including: obtaining the robot's own pose information and environmental information; initial SLAM and establishing the original map; processing the laser radar intensity data, and screening Areas where glass is suspected; RGB images are selected according to areas where glass is suspected; glass detection in complex environments is realized based on the selected RGB images; the state of the grid in the corresponding area is determined by the glass detection results; the map is updated and a two-dimensional grid containing indoor glass is provided map. The invention solves the problem that the traditional mobile robot mapping method cannot identify glass objects (such as glass curtain walls) in the environment, accurately and quickly calibrates the glass objects in the navigation map, and improves the mobile robot in the presence of glass. Safety at work in the environment.

Description

technical field [0001] The invention relates to the field of robot technology, in particular to a method for constructing a mobile robot navigation map in a complex indoor environment (that is, an environment with a large range of glass, such as a teaching building, an office building, and other complex indoor environments). Background technique [0002] In recent years, with the introduction of concepts such as "Industry 4.0", "Intelligent Manufacturing" and "Made in China 2025", the field of robotics has made great progress and vigorous development. In the field of service robots, the research on indoor mobile robots has become a hot issue. At present, the research on indoor mobile robots mainly focuses on map construction, positioning, navigation, etc., that is, to solve the problems of "who am I", "where am I" and "where am I going" for mobile robots. At present, the technology of synchronous positioning and mapping of robots using lidar and odometer information in unkn...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/20G01S17/86
CPCG01C21/005G01C21/206G01S17/86
Inventor 陶永温宇方高赫任帆兰江波江山
Owner BEIHANG UNIV