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Indoor map construction method for mobile robot integrated with multiple sensors

A mobile robot, indoor map technology, applied in the direction of instruments, structured data retrieval, geographic information database, etc., can solve the problem of low mapping accuracy, and achieve the effect of accurate pose information and low resolution accuracy.

Active Publication Date: 2020-01-03
SOUTHWEAT UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above-mentioned deficiencies in the prior art, the invention provides a multi-sensor fusion indoor map construction method for a mobile robot that solves the problem of low accuracy of indoor map construction in the prior art

Method used

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  • Indoor map construction method for mobile robot integrated with multiple sensors
  • Indoor map construction method for mobile robot integrated with multiple sensors
  • Indoor map construction method for mobile robot integrated with multiple sensors

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Embodiment Construction

[0045] Specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0046] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0047] Such as figure 1 As shown, a multi-sensor fusion indoor map construction method for mobile robots includes the following steps:

[0048] S1. Collect the distance information between the mobile robot and the anchor point, the pose information and the environment information of the mobile robot throug...

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Abstract

The invention discloses an indoor map construction method for a mobile robot integrated with multiple sensors. The indoor map construction method comprises the following steps of respectively acquiring distance information of the mobile robot and an anchor point, gesture information of the mobile robot and environmental information by UWB, a speedometer and laser radar; building a top point-constraint map according to the distance information, the gesture information and the environmental information; optimizing the top point-constraint map by a map optimization algorithm, and acquiring optimized track data of the mobile robot; and building a raster map according to the optimized track data of the mobile robot and the environmental information. The speedometer is used for providing accurate gesture change within a short time of the robot, long-time accurate gesture change can be provided by integrating UWB positioning information, map construction is performed by combining the data ofthe laser radar, and the problem of poor accuracy during constructing indoor complicated environmental map by the laser radar is solved.

Description

technical field [0001] The invention belongs to the technical field of indoor map building of mobile robots, and in particular relates to a method for building an indoor map of a mobile robot by fusing multiple sensors. Background technique [0002] In recent years, mobile robot technology has played an important role in the industrial, medical and service fields, and has also been well applied in harmful and dangerous situations such as national defense and space detection. In the research field of mobile robots, SLAM has always been a hot research topic. It provides navigation maps and real-time positions for robots, which are the prerequisites for robots to perform path planning and path tracking, so it occupies a very important role in mobile robot navigation. important position. [0003] Because lidar has the advantages of high precision, wide range and fast transmission speed, lidar is widely used in mobile robot navigation applications. The construction technology of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20G06F16/29
CPCG01C21/005G01C21/206G06F16/29
Inventor 刘冉秦正泓张华何永平肖宇峰付文鹏张静刘满禄
Owner SOUTHWEAT UNIV OF SCI & TECH
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