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Raster map creating method for intelligent robot

An intelligent robot and grid map technology, applied in the field of intelligent robots, can solve problems such as difficult to distinguish, difficult to locate cleaning robots, and lack of environmental information, and achieve the effect of easy storage and management

Inactive Publication Date: 2013-12-25
SUZHOU LIANGJIANG TECH
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AI Technical Summary

Problems solved by technology

Compared with the above two map representation methods, the topological map has the advantage of occupying less memory, but it also brings serious problems: the lack of a large amount of environmental information makes it difficult for the cleaning robot to locate itself ; If there are two similar nodes in the environment, it is difficult for the robot to distinguish between the two nodes through traditional processing algorithms. At the same time, if the sensor has a large error, it will be difficult for the robot to distinguish itself real-time positioning

Method used

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  • Raster map creating method for intelligent robot

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Embodiment Construction

[0044] The present invention will be further described below in conjunction with the accompanying drawings.

[0045] The key to creating a grid map is the selection of the grid size. Too large a grid will reduce the accuracy of relative positioning calculations; and too small a grid will increase the complexity of the calculation, requiring higher processors and increasing costs. . In the present invention, the width of the selected grid is dynamically adjusted in consideration of the walking distance of the robot per second and the size of the actual working area, which is more adaptable. In this way, every time the intelligent robot is in a position, it can find a grid corresponding to it in the grid map, thus satisfying the area coverage problem. Since intelligent robots cannot know the geographic environment before working, they must have a mapped representation of the grid map while working. In the present invention, before the robot works, it first obtains the boundary...

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Abstract

The invention discloses a raster map creating method for an intelligent robot. The raster map creating method comprises a step of drawing a working area boundary line, a step of marking boundary characteristic points and a step of creating a SLAM map. The raster map creating method for the intelligent robot is capable of visually expressing the understanding of the overall environment of the robot at some point, ensures that the aster map can be stored and managed easily, is suitable for the memory of the areas of the robot in the operation process and is also capable of providing a basis for the technical research on route planning, automatic returning and charging and the like of the robot.

Description

technical field [0001] The invention relates to intelligent robot technology, in particular to a grid map creation method for an intelligent robot. Background technique [0002] Information perception and multi-information fusion technology [0003] Information perception comes from sensors, which is the basis for decision planning and motion control of intelligent mobile robots. When the mobile robot is driving, it must continuously perceive the surrounding environment information and its own state information. Due to the complexity of the mobile robot’s working environment and the uncertainty of the robot’s own state, the environmental information obtained by only a single sensor is often localized. , One-sided, and high-precision and high-reliability sensors are often expensive and will increase the complexity of the system. [0004] Robots usually need to install a variety of sensors to perceive environmental information. Obtain the same or different types of environm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0274
Inventor 陈国庆薛超王俊杰
Owner SUZHOU LIANGJIANG TECH
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