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End-to-end indoor mobile robot autonomous navigation method in non-structural environment

A mobile robot and autonomous navigation technology, applied in navigation, surveying and mapping and navigation, navigation computing tools, etc.

Active Publication Date: 2021-09-07
BEIJING UNIV OF CHEM TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main point is to solve the problem of using coefficient map navigation by processing the floor plan inside the building; through the end-to-end navigation module to solve the problem of collision avoidance in complex and dynamic environments

Method used

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  • End-to-end indoor mobile robot autonomous navigation method in non-structural environment
  • End-to-end indoor mobile robot autonomous navigation method in non-structural environment
  • End-to-end indoor mobile robot autonomous navigation method in non-structural environment

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Embodiment Construction

[0082] In order to enable practitioners in the technical field to better intuitively understand the present invention, the present invention will be further described below in conjunction with the implementation of specific cases, but in practical applications, the present invention is not limited to specific cases.

[0083] An autonomous navigation method for medical service robots based on deep learning in a dynamic environment of the present invention needs to be used in large indoor places such as hospital buildings, and its function is to navigate mobile robots safely, accurately and quickly in this dynamic environment reach the target point.

[0084] The above-mentioned users who use this navigation method need to complete the following indoor undirected graph creation steps first (such as image 3 shown):

[0085] Obtain floor plans of buildings (e.g. hospitals) and create preliminary indoor maps (e.g. Figure 4 shown);

[0086] Obtain the location information (coord...

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Abstract

The invention discloses an end-to-end indoor mobile robot autonomous navigation method in a non-structural environment. The end-to-end indoor mobile robot autonomous navigation method comprises the following steps of 1) acquiring a plane layoutdiagram in a strange building, 2) carrying out topologization on the layout diagram, and creating an undirected graph, 3) generating a shortest node path by using the undirected graph and combining with the target room, 4) inputting the first visual angle image of the robot into an anti-collision navigation module, and generating an anti-collision road point, (5) generating an anti-collision path through cubic splines, and tracking through model predictive control, and (6) judging whether the target point is reached or not, if so, ending navigation, otherwise, returning to the step (3). By adopting the autonomous navigation method of the robot, autonomous navigation can be realized only by using a single monocular RGB camera as visual input in a complex medical environment. The method has the advantages of simplicity, flexibility, economy, practicability, high accuracy and strong robustness.

Description

technical field [0001] The invention relates to an end-to-end autonomous navigation method of an indoor robot in an unstructured environment, in particular to an end-to-end autonomous navigation method for a medical service robot in an unstructured environment. Background technique [0002] With the continuous development of social economy, people's requirements for their own health status and medical service level are increasing year by year. The heavy medical tasks and the shortage of medical personnel are urgent problems in the medical field. With the development of modern science and technology, various mobile robots have emerged as the times require, which can replace or assist medical staff in sample delivery, medical waste recycling, etc., and reduce the repetitive labor of medical staff. This provides a new solution to the problem of heavy workload and shortage of personnel in the medical field. [0003] The above-mentioned robots operate in a complex and changeable...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00
CPCG01C21/206G01C21/383G01C21/3867
Inventor 黄冉鲁张帆刘可曹政才胡标
Owner BEIJING UNIV OF CHEM TECH
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