244 results about "Topological map" patented technology

The invention relates to the technical field of mobile robot navigation and discloses a mobile robot cascading map building method based on remarkable scenic spot detection. The mobile robot cascading map building method comprises the steps of: 1) according to image data collected by a mobile robot sensor, carrying out on-line detection on a road sign of a natural scene corresponding to a remarkable scene so as to generate a topological node in a global map; 2) updating the pose of a mobile robot and a local grid map; and 3) building a global topological map structure by taking a remarkable scenic spot as the topological node, and optimizing the topological structure by introducing a weighted scanning and matching method and a relaxation method on the basis of the closed detection of trajectory of the robot to ensure the global consistency of the topological map. The mobile robot cascading map building method is applicable to the autonomous path planning and navigation application for various mobile robots in large indoor environment ranges such as a plurality of rooms and corridors.

A network has clients and a server. The clients can discover and be discovered by each other. Discovery includes emitting requests to and acquiring identifying information from clients within a certain geographical range. A discovering client sends all identifying information to the server. The server includes client information database and topological map, comprised of nodes representing clients and edges indicating the discovery of one client by another. When the server receives identifying information from the discovering client, the server updates the topological map and determines which neighboring clients of the discovering client matches the match criteria of the discovering client. The server may determine a discovery schedule detailing which client should discover next. The server may send the match information and discovery schedule to the discovering client, discovered clients, or a third party. The server may also store this information.

The invention discloses an indoor map building method for improving robot path planning efficiency. The method combines a topological map and a grid map, the planning problem happens in space represented by topological nodes, and planning of global space is avoided. In addition, laser is used for identifying a door in the indoor environment, a topological relationship between rooms is built, the process is merged in particle filter SLAM (simultaneous localization and mapping) algorithm, the grid map represented by the environment and the topological map based on the grid map can be obtained finally, and the path planning algorithm in robot navigation is simpler and more efficient.

A system for locating a wireless device involves the use of the measured signal strength of various base stations in the building or outdoor area under analysis. A topological map of the building or outdoor area under analysis is created. The map is divided into cells, and signal intensities are collected in each cell. For each cell, the signal from a particular base station is fit to a statistical distribution, such as a Gaussian distribution, and the parameters of the statistical distribution are estimated. After a device obtains a set of signal strength measurements, a probabilistic technique is employed to estimate the probability of the existence of the measurements in each of the cells of the building or area under analysis. The estimated location is the cell with the highest probability. A mobile user is tracked with the use of a Markov chain and the system can be calibrated to account for equipment and environmental variations.

The invention belongs to the field of intelligent mobile robots and discloses a mobile robot cascading type map creating method based on mixed characteristics. The mobile robot cascading type map creating method based on the mixed characteristics overcomes the defect of the creation of a signal map and solves the problem that a large amount of service information can not be supplied by single map creation. The method comprises the steps of acquiring laser data points, extracting geometrical characteristics and conducting characteristic matching, extracting SURF characteristic points and conducting matching, establishing a cascading type map and segregating a room. According to the mobile robot cascading type map creating method based on the mixed characteristics, a laser optical sensor is used for acquiring environmental data and extracting the geometrical characteristics, meanwhile, a visual sensor is used for extracting SURF characteristics, an overall topological graph is created, an undirected weighted graph is structured to achieve segmentation of the room, the defects that in a traditional topological map, geometric environment information contained in topological nodes is less and precise location cannot be achieved are effectively overcome, and abundant room information can be provided. The mobile robot cascading type map creating method based on the mixed characteristics is suitable for the field of service robots and other fields related to mobile robot map creation.

The invention relates to a service robot autonomous navigation method based on a deformable topological map in the technical field of robot navigation, which comprises the following steps: collecting the geography and physiognomy condition of an indoor and outdoor environment in which a robot is located in real time by a SLAM technology; extracting environmental characteristics; creating a topological map of collected information and establishing the needed different sizes of a topological point according to the posture change of the service robot in the foundation; taking the sizes as input amount to reconstruct the topological map; and generating a topological point self-adapting topological map conforming to the posture change of the mobile robot.

The invention discloses an autonomous parking route coordination method based on topological map. Based on V2X communication, the autonomous parking controller provides a topological map of a parkinglot, the target vacant space and the dynamic road traffic matrix by a parking lot server, plans a global path and a parking path, and forms a smooth and complete autonomous parking path through fusionand coordination. The method of the invention realizes that the autonomous parking path from the parking lot entrance to the parking space is planned before the vehicle runs, realizes the unbiased fusion of the global path and the parking path, enables smooth transition of the low-speed automatic driving and the automatic parking, and solves the problem of high-efficiency switching between the low-speed automatic driving and the automatic parking.

The patent application taught an object based information storage, search and mining system and method, which can store, retrieve, and mine massively amount of object data efficiently. A first embodiment includes an object based search engine which can organize and identify the objects efficiently from the search space based on certain operational measure quantifying the search objectives. A second embodiment includes an operational measure estimator which can adaptively adjust or reconfigure itself to improve the accuracy of the estimation. A third embodiment includes a method for mapping objects onto a topological maps to enable identifying objects rapidly from the search space according to certain measures for search objectives. A forth embodiment includes a method for conducting object based search through mapping query objects and search objects onto topological maps and searching effectively through the maps based on certain operational measures.

A system for providing a topology map generation service from a service information portal is improved by utilizing an object-oriented class, a mapview module, configured for generating topology maps. The mapview module may be implemented in an object-oriented language such as Smalltalk, C++, JAVA or the like. The mapview module may be configured to provide member functions that include at least associating an output file stream; adding icon symbols and connections symbols between the icon symbols; generating a background graphic (e.g., a building, a geographic map, etc.,); and generating a topology map (or image) by calling a command on an object; and utilizing hypertext transfer protocol ("HTTP") to transfer images across a network. In effect, the mapview module hides all the low-level graphic details for generating a topology view / map / image from a user. Thus, the generation of the topology maps may become easier. Additionally, since the mapview module is an object-oriented class, the mapview module may be used on a variety of computing platforms and support multiple graphic formats such as graphics interchange format ("GIF"), portable network graphics ("PNG") and the like.

Disclosed is a method for constructing a multi-mode environmental map in a three-dimensional environment. An unmanned vehicle is operated for many times in a mapping pattern, and different key frame coordinate sequences are obtained during each operation. Geographical proximity between different key frame coordinates is calculated on the basis of a Euclidean distance so as to identify cross joints of key frame sequences during different operations, these cross joints serve as nodes of a topological map, and multiple trajectories are connected together to form a whole map. By executing route planning based on a heuristic map search algorithm on the topological map, a route cross joint sequence can be obtained, original dense key frame coordinates can be obtained by indexing through the route cross joint sequence, and these coordinates serving as trajectory planning results are input to an unmanned vehicle control execution system, so as to realize position tracking of the unmanned vehicle.

An improved method for matching traces derived from probe data to one or more line segments in a digital vector map. Points in a probe trace are provisionally matched one-by-one to line segments in the digital vector map to identify all possible matching candidates. A graph of the matching candidates is created having one or more paths. The graph has a plurality of sequential levels corresponding to the points in the probe trace. Each matching candidate is assigned to a level of the graph corresponding with trace point to which it relates. Edges are established between matching candidates in adjacent levels provided they are topologically related to one another. The graph is simplified and scored. The best paths deliver the matching results. The invention allows use of graph theoretic methods to find the best path through the graph, which in turn represents an efficient map matching algorithm. The concepts of this invention may be used in conjunction with longitudinal distance as matching criterion.

Provided is a mobile robot indoor route planning method based on an array map. A map expression method involves a geographic map, a point cloud map, a topological map, a grid map and the like. The grid map divides the environment into a series of grids, wherein a probable value is given to each grid to express the occupation probability of the grid. On the basis of the concept of the grid map, the special situation of the grid map is used, an appropriate change is made in the map establishing process, and the concept of the array map is put forward. On the basis of the array map, route planning is conducted through an A* algorithm; meanwhile, in the robot moving process, real-time data is obtained according to a carried laser sensor, and the array map is dynamically upgraded.

The invention discloses a path planning method, a device and a mobile device. The method comprises: collecting environment information within the perspective by a sensor of the mobile device, using the simultaneous localization and mapping(SLAM) algorithm to process the environment information to obtain a grid map; dividing the grid map into pixel blocks, taking the area composed of the pixel blocks having no obstacles as a search area of the path planning, and obtaining a processed grid map; determining a reference point based on pixel points in the search area, arranging topological points on the processed grid map according to the determined reference point, and constructing a topological map; and calculating the optimal path between a starting point and a target point using a predetermined algorithm based on the constructed topological map. The embodiments of the invention improve the path planning efficiency and save storage resources.

The invention belongs to the field of intelligent movable robots, and discloses a layered topological structure based map splicing method for a multi-robot system in an unknown environment and solves the map splicing problem of the multi-robot system in case the position and posture are unknown. The method comprises the following steps: acquiring an accessible space tree, building a layered topological structure, creating a global topological map, extracting SIFT (Scale Invariant Feature Transform) features and performing feature matching, and performing map splicing based on ICP (Iterative Closest Point) scanning matching. According to the invention, under the condition that the relative positions and gestures of robots are unknown, a layered topological structure merging SIFT features is provided, the global topological map is created in an increment manner, and the map splicing of the multi-robot system under large scale unknown environment is realized according to the SIFT information among the nodes, in combination with a scanning matching method; and the splicing accuracy and real-time performance are effectively improved. Therefore, the method is suitable for the field of intelligent mobile robots related to map creation and map splicing.

The invention discloses a mobile robot route planning method based on a distance grid map. The mobile robot route planning method includes selecting front grids by a moving window method in the process of moving of a robot, updating the distance grid map, managing the front grids to be updated by an array management method during updating, and updating a control model of the mobile robot by an A*search algorithm in the mobile robot route planning method based on the distance grid map. The mobile robot route planning method based on the distance grid map is of great fundamental significance in high-ranking tasks like generating topological maps and planning a route in the unknown environment.

A robot cleaner and a method for controlling the same are disclosed. The robot cleaner includes a main body; a driver configured to move the main body; a storage configured to store a topological map and a grid map generated on the basis of a floor plan of a cleaning space; and a controller configured to control the driver in a manner that the main body travels in the cleaning space on the basis of the topological map and the grid map. The topological map and the grid map are generated prior to initial traveling of the cleaning space.

The invention discloses a multi-grid value navigation method based on the robot pose and an application thereof and belongs to the technical field of robot navigation. The method is characterized in that the accessible area of the robot in the grid map is expanded, and connectivity of topology maps is enhanced, moreover, through the indoor wall construction autonomous mobile robot navigation method based on the BIM information, working points are calculated based on the extracted BIM information, according to the position information of the working points and the order of work tasks, the multi-grid value navigation method based on the robot pose is utilized to set local navigation routes between the adjacent working points; real-time positioning is performed, and the obstacle information around an indoor wall construction autonomous mobile robot is detected, the grid map is updated, and the local navigation routes between the adjacent working points are reset based on the updated gridmap. The method is advantaged in that navigation work efficiency and accuracy are improved.

The invention discloses a user network topology recognition device and method for low-voltage areas. The device comprises an electricity utilization information collection system which consists of a collector, a concentrator and a main station, wherein the collector is used for collecting electric energy information of an electric energy meter and exchanging data with the concentrator; the concentrator is used for collecting data of the collector or the electric energy meter and storing and processing data information required by area topology recognition; an area network topology recognitionsignal sent by the main station is obtained and stored area user data is uploaded to the main station; the main station is used for realizing a user network topology recognition algorithm for low-voltage areas and generating a final area network topological map; and a topology recognition instruction is sent to the concentration and data information uploaded by the concentrator is obtained. The device and method are capable of enhancing the informatization and intelligence levels of power distribution network management.

A system and method to create web sites and web applications that address the significant limitation of unnecessary and artificial page refreshes, which are inherent in most current web solutions, by moving away from the paradigm where a user navigates from one page to another. Rather, they are based on an architecture that morphs the user interface from one state to another, thereby performing more like desktop applications. This system and method are based on a topological map that exhibits self-similar or fractal characteristics, consisting of a hierarchy of heterogeneous nodes where each parent node is an identical construct that comprises repeatable bands.

The invention discloses a g2o-based SLAM rear end optimization algorithm method, pose node information of a robot is used as input data, a weight factor is added for each edge by focusing closed loop restriction with a rear end optimization algorithm, a value of the weight factor is obtained according to a mathematic relation between the derived weight factor and an information matrix, and after the read end optimization algorithm, the pose node information of the robot is corrected; a built-in optimization strategy of g2o is further optimized based on a g2o platform by a least square method, and a post node path more according with an actual path condition is constructed. The g2o-based SLAM rear end optimization algorithm method adopts a DCSI algorithm, and is used for solving the problem of robutness rear end optimization, complexity is reduced, operation time is reduced and the rate of convergence rate is improved. The g2o-based SLAM rear end optimization algorithm method has important meaning in correction and optimization of a topological map in an unknown environment.

The invention discloses a topological map based unmanned boat route searching system and method. The method comprises following steps: step one, obtaining the external information of the searching area of an unmanned boat, wherein the external information comprises data of start position, final position, number of barriers, and edge point sets of barriers, based on the external information, carrying out route information analysis, based on the analysis result, establishing navigation topological relationship of the unmanned boat, and based on the topological relationship, establishing a spatial topological map; and step two, based on the established spatial topological map, a Dijskra algorithm, and navigation conditions of the unmanned boat, calculating the optimal path, and after the optical path is selected, controlling the track of the unmanned boat according to the optimal path. The method has the advantages that the optimal path that can meet the navigation requirements can be calculated out, the algorithm complexity is reduced, and the situation that route searching is trapped by local optimum is avoided.

The invention discloses an electric power inspection robot path planning method based on a simulated annealing ant colony algorithm. The method includes the steps: building a map according to an outdoor transformer substation environment, planning the running path and stop points of an electric power inspection robot and building a topological map according to coordinate information of the stop points; acquiring the local shortest path of two optional inspection points by the aid of a classical Dijkstra algorithm according to inspection tasks, and building an undirected graph; transforming a global optimal path planning problem into a multi-target traveling salesman problem according to path lengths and the number of passing stop points, and planning a global optimal path on the basis of the undirected graph by the simulated annealing ant colony algorithm; replacing a local path in the global optimal path by the local shortest path to obtain a complete final path. The method is high inconvergence rate and global searching ability and has the advantages of low complexity, high feasibility and high speed.

The invention relates to a global path planning method based on a fuzzy topological map under a large-scale environment to finish task requirements on a single target and multiple targets for planning paths. The method comprises the following steps of: 1) first, establishing a map and constructing a global fuzzy topological semantic map oriented to patrol management and path planning and based ondistributed information presentation; 2) inputting map related data; 3) processing and collecting the map data and establishing a new mapping map frame by old map data; 4) processing data of a targetpoint to correct the new mapping map; 5) processing an initial point and further correcting the new mapping map; 6) comparing comparatively available mapping target node path linked list arrangementsin turn so as to obtain an arranging mode with a minimum length; 7) converting the obtained mapping target node link into a target node link arrangement under an original map system; 8) expanding by using a heuristic algorithm to obtain a path under the original map system, wherein the path is the planned optimal path; and 9) outputting algorithm result data.

The invention provides a reliable indoor mobile robot precise navigation positioning system and a method, wherein the reliable indoor mobile robot precise navigation positioning system comprises a radio frequency identification device (RFID) topology point, an ultrasonic distance measurement guidance subsystem and a laser positioning subsystem. The method comprises steps: a topological map is built, smart labels are distributed, the distances between a real-time detection robot and a left and a right wall surfaces are kept on a Voronoi side to move, and are accurately positioned through the RFID topology point, the positioning subsystem, the ultrasonic distance measurement guidance subsystem and the laser positioning subsystem and determine direction angles. The reliable indoor mobile robot precise navigation positioning system and the method can effectively improve precision of positioning of the robot and the direction angles, are accurate in whole positioning results, have strong self-correcting capability, are prevented from entering an irreversible error status during the woke process, and have market application prospect.

The method comprises: according to the information inputted from test engineer, dynamically generating topological structure graph; according to the topological structure graph, the test engineer can visually make check to decide if the topological structure information in the text system is accordance with the actual topological structure information. The test system can also automatically check the topology structure of the object to be tested to decide if it is accordance with the actual topological structure.

Disclosed herein are an apparatus and method for generating a topological map for navigation of a robot. The method for generating a topological map for navigation of a robot, performed by the apparatus for building the topological map for the navigation of the robot, includes calculating the physical size of a single pixel on a metric map of a space in which a mobile robot is to navigate, extracting the physical coordinates of the pixel on the metric map, building node data and edge data for the navigation of the mobile robot using the physical coordinates, and generating a topological map for the navigation of the mobile robot based on the built node data and the built edge data.

The invention discloses a monitoring method and a system based on a WEB GIS topological map. The method comprises the following steps: carrying out multi-view configuration on an interface; putting the configuration information in storage; reading the configuration information; displaying the interface according to the configuration information; receiving performance indexes or alarm type information needing to be monitored; updating element attribution of the interface according to the performance indexes or the alarm type information; and rendering the interface. The technical scheme of the invention can provide an intuitive, multi-faceted and full angular monitoring scheme having significance to monitoring personnel.

The invention is suitable for the technical field of robots, and provides a robot path planning method based on multiple regions, a robot and terminal equipment, and the method comprises the steps: obtaining an initial position and a target position of the robot; if the initial position and the target position are located in different areas, obtaining information of a switching point located in the initial area; determining cross-domain paths according to the information of the switching point in the initial area and a pre-stored cross-domain topological map; determining a corresponding initial area sub-path for each cross-domain path according to the area topological map, the initial position and the cross-domain path of the initial area; determining a corresponding target area sub-path for each cross-domain path according to the area topological map of the target area, the target position and the cross-domain path; and determining a target path according to the cross-domain path, theinitial area sub-path and the target area sub-path. According to the embodiment of the invention, robot path planning based on multiple regions can be efficiently realized.

The invention discloses a power distribution network fault evaluation and scheduling method and system, and the method comprises the steps: constructing and obtaining an urban digital distribution network topological map based on a geographic information system and distribution network construction information; positioning fault point distribution information based on the distribution network terminal monitoring data and the marketing data; planning an inspection path; photogrpahing images of the routing inspection path along the way and fault points by the unmanned aerial vehicle group; inputting the shot image into a pre-trained convolutional neural network, and evaluating the affected condition and the traffic condition to obtain an evaluation result; constructing and obtaining an optimal scheduling model according to a predetermined strategy; solving the optimal scheduling model by utilizing a simulated annealing algorithm to obtain an optimal scheduling scheme; and scheduling according to the optimal scheduling scheme. According to the method, after an extreme meteorological event occurs, a fault point can be rapidly positioned and a disaster situation can be evaluated, and anoptimal first-aid repair scheduling scheme and a first-aid repair progress monitoring function are provided.