Garbage classification robot two-dimensional grid map construction system based on Gmapping algorithm

Abstract

The invention discloses a garbage classification robot two-dimensional grid map construction system based on a Gmapping algorithm, and the system comprises the following steps: S1, starting a picking and sorting integrated mobile garbage classification robot, and confirming the connection condition of a sensor and a system port; s2, according to data collected by a sensor, a wheel type odometer and an inertial navigation module which are installed on the picking and sorting integrated mobile garbage classification robot, the initial pose of the picking and sorting integrated mobile garbage classification robot is obtained based on an RBPF particle filtering algorithm; and S3, according to the estimated predicted moving track of the picking and sorting integrated mobile garbage sorting robot and observation data of the sensor template, probability distribution of the pose of the robot is covered with fewer particles, and the working efficiency of the robot is improved. Garbage in an area is picked up, classified and recycled through the picking and classifying integrated movable garbage classification robot, the workload of a large number of environmental protection workers is reduced, the implementation difficulty of garbage classification policies is reduced, and green city construction is promoted.

Description

technical field [0001] The invention relates to the technical field of visual navigation, in particular to a two-dimensional grid map construction system for a garbage sorting robot based on a Gmapping algorithm. Background technique [0002] As the SLAM navigation technology becomes more and more mature, more and more industrial robots choose to carry the SLAM navigation system to complete more detailed and practical tasks. Through the SLAM navigation technology, the garbage sorting robot can move freely and flexibly in the outdoor environment or indoor and large places, and at the same time pick up, classify and recycle the garbage in the area. With the assistance of the integrated mobile garbage sorting robot, urban garbage sorting will be better implemented. [0003] This method can assist the pick-and-point integrated mobile garbage sorting robot to construct a two-dimensional grid indoor environment map, and through the map autonomous fixed-point cruise, pick up, sort...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a two-dimensional grid map construction system for garbage sorting robots based on the Gmapping algorithm, which has the advantages of flexible and simple implementation methods and low implementation difficulty, and solves the workload of the majority of environmental protection workers Large, difficult implementation of waste sorting policies, and slow construction of green cities

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