CN107305376A - A kind of automatic drawing robot of indoor map and method for drafting - Google Patents
A kind of automatic drawing robot of indoor map and method for drafting Download PDFInfo
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- CN107305376A CN107305376A CN201610244578.0A CN201610244578A CN107305376A CN 107305376 A CN107305376 A CN 107305376A CN 201610244578 A CN201610244578 A CN 201610244578A CN 107305376 A CN107305376 A CN 107305376A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Automation & Control Theory (AREA)
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Abstract
A kind of automatic drawing robot of indoor map and method for drafting, including：At least one first positioner, is positioned at least one characteristic point indoors；Second positioner, for setting the origin of coordinates indoors；Robot body, for being moved in the coordinate system that at least one described characteristic point is formed with the origin of coordinates；Drafting module, indoor map is drawn according to the motion track of the robot body；Power supply module, the power supply module is powered to the drawing robot.Device of the present invention, is mainly used in the products such as the automatic Pilots such as robot, unmanned plane, and concrete application scene can include：According to current geographic position information, goods, and autonomous driving vehicle scene manned in airport or market are transported from map making.
Description
Technical field
The present invention relates to a kind of automatic drawing robot of indoor map and method for drafting.
Background technology
In the prior art, it is to be directed to outdoor environment that map is drawn automatically.It is not directed to indoor environment method for drawing map.So if the drafting for carrying out indoor map is always a problem of solution required for industry.
The content of the invention
The present invention provides a kind of automatic drawing robot of indoor map, including：At least one first positioner, is positioned at least one characteristic point indoors；Second positioner, for setting the origin of coordinates indoors；Robot body, for being moved in the coordinate system that at least one described characteristic point is formed with the origin of coordinates；Drafting module, indoor map is drawn according to the motion track of the robot body；Power supply module, the power supply module is powered to the drawing robot.
The automatic drawing robot of above-mentioned indoor map, first positioner is multiple and indoor characteristic point is positioned simultaneously.
The automatic drawing robot of above-mentioned indoor map, the first positioner quantity is one, and first positioner is arranged on inside the drawing robot, and the drawing robot is placed sequentially at the characteristic point respectively and positioned.
The automatic drawing robot of above-mentioned indoor map, the power supply module is battery pack.
The automatic drawing robot of above-mentioned indoor map, second positioner is arranged on inside the robot body, and the robot body is placed on into the predeterminated position sentences the setting origin of coordinates.
The automatic drawing robot of above-mentioned indoor map, the robot body is moved indoors in a clockwise direction.
The automatic drawing robot of above-mentioned indoor map, the robot body is moved indoors in a counterclockwise direction.
The automatic drawing robot of above-mentioned indoor map, in addition to：
Comparison module, the drawing robot is repeated to draw indoor map n times, and the comparison module is contrasted n drawing result, and exports comparing result map, and wherein n is natural number.
The automatic drawing robot of above-mentioned indoor map, in addition to：
Measurement module, with the distance between the multiple characteristic point and angle when the measurement module measures the robot body indoor sport；
The drafting module draws indoor map according to the distance and the angle.
The automatic drawing robot of above-mentioned indoor map, drafting module place different when n drawing result is compared is designated generally as barrier.
The present invention also provides a kind of indoor map automatic drafting method, including：
Multiple characteristic points are positioned indoors；
Coordinate system is set up according to the multiple characteristic point；
A predeterminated position in coordinate system is set to the origin of coordinates；
Drawing robot is placed into setting in motion after the origin of coordinates；
Drawing robot carries out drafting indoor map in motion process by standard of coordinate system.
Above-mentioned indoor map automatic drafting method, indoors multiple characteristic points progress positioning further comprise：Multiple location equipments are placed at the characteristic point simultaneously and positioned.
Above-mentioned indoor map automatic drafting method, indoor multiple characteristic points carry out positioning and further comprised：Drawing robot is placed sequentially in respectively at the characteristic point and positioned.
Above-mentioned indoor map automatic drafting method, is set to the origin of coordinates by a predeterminated position in coordinate system and further comprises：Location equipment is placed on the predeterminated position and sentences the setting origin of coordinates.
Above-mentioned indoor map automatic drafting method, is set to the origin of coordinates by a predeterminated position in coordinate system and further comprises：Drawing robot is placed on the predeterminated position and sentences the setting origin of coordinates.
Above-mentioned indoor map automatic drafting method, places setting in motion after the origin of coordinates by drawing robot and further comprises：Drawing robot starts to move indoors in a clockwise direction.
Above-mentioned indoor map automatic drafting method, places setting in motion after the origin of coordinates by drawing robot and further comprises：Drawing robot starts to move indoors in a counterclockwise direction.
Above-mentioned indoor map automatic drafting method, drawing robot carries out drafting indoor map by standard of coordinate system in motion process and further comprised：When drawing robot repeats to draw indoor map n time, n drawing result is contrasted, and exports comparing result map, wherein n is natural number.
Above-mentioned indoor map automatic drafting method, with the distance between the multiple characteristic point and angle drafting indoor map when the drawing robot is moved indoors according to the drawing robot.
Above-mentioned indoor map automatic drafting method, carries out contrast by n drawing result and further comprises：Different places is designated generally as barrier when n drawing result is compared.
Brief description of the drawings
Fig. 1 is the schematic diagram according to the automatic drawing robot of indoor map in one embodiment of the invention.
Wherein, reference：
100：The automatic drawing robot of indoor map
1：First positioner
2：Second positioner
3：Robot body
4：Drafting module
5：Power supply module
Embodiment
Fig. 1 is the schematic diagram according to the automatic drawing robot of indoor map in one embodiment of the invention.Fig. 1 is refer to, in the present embodiment, a kind of automatic drawing robot 100 of indoor map includes：First positioner 1, the second positioner 2, robot body 3, drafting module 4, power supply module 5.The first positioner of wherein at least one 1 is used at least one characteristic point indoors and positioned.Second positioner 2 is used to set the origin of coordinates indoors.Robot body 3 is used to move in the coordinate system that at least one described characteristic point is formed with the origin of coordinates.Drafting module 4 draws indoor map according to the motion track of the robot body 3.Power supply module 5 is powered to the drawing robot 100.
As one kind selection, in the embodiment of the application one, first positioner is multiple and indoor characteristic point is positioned simultaneously.
For example, multiple location equipments are individually placed into each corner or turning or the furniture surrounding in room before starting positioning.Coordinate system is set up according to these location equipments.Because the putting position of multiple equipment is any setting, so it is irregular shape that coordinate system, which does the scope included, sometimes.E.g. individual U shape.An origin of coordinates is defined inside the coordinate system of U shape afterwards, the origin of coordinates is defined as at power supply, because robot needs to start working after charging every time.When drawing robot is moved in U shape coordinate system, run into obstacle and turn to, until all space walks in U shape are finished.Finally according to run trace map making.
As one kind selection, in the embodiment of the application one, the first positioner quantity is one, and first positioner is arranged on inside the drawing robot, and the drawing robot is placed sequentially at the characteristic point respectively and positioned.
For example, by inapplicable location equipment before starting positioning, but drawing robot is once placed on to each corner or turning or furniture surrounding is positioned.This avoid extra positioner, cost is saved.Coordinate system is set up according to these anchor points.Because the putting position of multiple anchor points is any setting, so it is irregular shape that coordinate system, which does the scope included, sometimes.E.g. individual U shape.An origin of coordinates is defined inside the coordinate system of U shape afterwards, the origin of coordinates is defined as at power supply, because robot needs to start working after charging every time.When drawing robot is moved in U shape coordinate system, run into obstacle and turn to, until all space walks in U shape are finished.Finally according to run trace map making.
As one kind selection, in the embodiment of the application one, the power supply module is battery pack（Including lithium battery, Eco-drive battery etc.）.
As one kind selection, in the embodiment of the application one, second positioner is arranged on inside the robot body, and the robot body is placed on into the predeterminated position sentences the setting origin of coordinates.
As one kind selection, in the embodiment of the application one, the robot body is moved indoors in a clockwise direction.
As one kind selection, in the embodiment of the application one, the robot body is moved indoors in a counterclockwise direction.
As one kind selection, in the embodiment of the application one, in addition to：
Comparison module, the drawing robot is repeated to draw indoor map n times, and the comparison module is contrasted n drawing result, and exports comparing result map, and wherein n is natural number.
If for example, drawing robot indoor environment during map making is changed, then inaccurate situation just occurs in the map drawn.When now drawing robot repeats to render up to such as 3 times, each drawing result is compared, the position for contrasting different has been defaulted as barrier.
As one kind selection, in the embodiment of the application one, in addition to：Measurement module, with the distance between the multiple characteristic point and angle when the measurement module measures the robot body indoor sport；The drafting module draws indoor map according to the distance and the angle.
In one embodiment of the invention, indoor map automatic drafting method, including：
S1：Multiple characteristic points are positioned indoors；
S2：Coordinate system is set up according to the multiple characteristic point；
S3：A predeterminated position in coordinate system is set to the origin of coordinates；
S4：Drawing robot is placed into setting in motion after the origin of coordinates；
S5：Drawing robot carries out drafting indoor map in motion process by standard of coordinate system.
As one kind selection, in the embodiment of the application one, multiple characteristic points progress positioning indoors further comprise：Multiple location equipments are placed at the characteristic point simultaneously and positioned.
For example, multiple location equipments are individually placed into each corner or turning or the furniture surrounding in room before starting positioning.Coordinate system is set up according to these location equipments.Because the putting position of multiple equipment is any setting, so it is irregular shape that coordinate system, which does the scope included, sometimes.E.g. individual U shape.An origin of coordinates is defined inside the coordinate system of U shape afterwards, the origin of coordinates is defined as at power supply, because robot needs to start working after charging every time.When drawing robot is moved in U shape coordinate system, run into obstacle and turn to, until all space walks in U shape are finished.Finally according to run trace map making.
As one kind selection, in the embodiment of the application one, indoor multiple characteristic points carry out positioning and further comprised：Drawing robot is placed sequentially in respectively at the characteristic point and positioned.
For example, by inapplicable location equipment before starting positioning, but drawing robot is once placed on to each corner or turning or furniture surrounding is positioned.This avoid extra positioner, cost is saved.Coordinate system is set up according to these anchor points.Because the putting position of multiple anchor points is any setting, so it is irregular shape that coordinate system, which does the scope included, sometimes.E.g. individual U shape.An origin of coordinates is defined inside the coordinate system of U shape afterwards, the origin of coordinates is defined as at power supply, because robot needs to start working after charging every time.When drawing robot is moved in U shape coordinate system, run into obstacle and turn to, until all space walks in U shape are finished.Finally according to run trace map making.
As one kind selection, in the embodiment of the application one, a predeterminated position in coordinate system is set to the origin of coordinates and further comprised：Location equipment is placed on the predeterminated position and sentences the setting origin of coordinates.
As one kind selection, in the embodiment of the application one, a predeterminated position in coordinate system is set to the origin of coordinates and further comprised：Drawing robot is placed on the predeterminated position and sentences the setting origin of coordinates.
As one kind selection, in the embodiment of the application one, drawing robot is placed into setting in motion after the origin of coordinates and further comprised：Drawing robot starts to move indoors in a clockwise direction.
As one kind selection, in the embodiment of the application one, drawing robot is placed into setting in motion after the origin of coordinates and further comprised：Drawing robot starts to move indoors in a counterclockwise direction.
In order to improve accuracy, as one kind selection, in the embodiment of the application one, drawing robot carries out drafting indoor map by standard of coordinate system in motion process and further comprised：When drawing robot repeats to draw indoor map n time, n drawing result is contrasted, and exports comparing result map, wherein n is natural number.As one kind selection, in the embodiment of the application one, n drawing result is subjected to contrast and further comprised：Different places is designated generally as barrier when n drawing result is compared.
If for example, drawing robot indoor environment during map making is changed, then inaccurate situation just occurs in the map drawn.When now drawing robot repeats to render up to such as 3 times, each drawing result is compared, the position for contrasting different has been defaulted as barrier.
As one kind selection, in the embodiment of the application one, with the distance between the multiple characteristic point and angle drafting indoor map when the drawing robot is moved indoors according to the drawing robot.
The automatic drawing robot of indoor map provided by the present invention, by pre-setting the method for coordinate system so that robot is moved in coordinate system, uses movement locus to draw indoor map.Solve the problem of indoor map drafting.
In several embodiments provided herein, it should be understood that disclosed method, device and equipment, it can realize by another way.For example, device embodiment described above is only schematical, for example, the division of the unit, it is only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple units or component can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.Another, it, by some communication interfaces, the INDIRECT COUPLING or communication connection of device or unit, can be electrical, machinery or other forms that shown or discussed coupling or direct-coupling or communication connection each other, which can be,.
The unit illustrated as separating component can be or may not be physically separate, and the part shown as unit can be or may not be physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.In addition, each functional unit in each of the invention embodiment can be integrated in a processing unit or unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized using in the form of SFU software functional unit and as independent production marketing or in use, can be stored in a computer read/write memory medium.Understood based on such, the part or the part of the technical scheme that technical scheme substantially contributes to prior art in other words can be embodied in the form of software product, the computer software product is stored in a storage medium, including some orders are to cause a computer equipment（Can be personal computer, server, or network equipment etc.）Perform all or part of step of each embodiment methods described of the invention.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage（ROM, Read-Only Memory）, random access memory（RAM, Random Access
Memory）, magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.A variety of modifications to these embodiments be will be apparent for those skilled in the art, and generic principles defined herein can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is to fit to the most wide scope consistent with features of novelty with principles disclosed herein.
Claims (20)
1. a kind of automatic drawing robot of indoor map, it is characterised in that including：
At least one first positioner, is positioned at least one characteristic point indoors；
Second positioner, for setting the origin of coordinates indoors；
Robot body, for being moved in the coordinate system that at least one described characteristic point is formed with the origin of coordinates；
Drafting module, indoor map is drawn according to the motion track of the robot body；
Power supply module, the power supply module is powered to the drawing robot.
2. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that first positioner is multiple and positioned simultaneously to indoor characteristic point.
3. the automatic drawing robot of indoor map as claimed in claim 1, it is characterized in that, the first positioner quantity is one, and first positioner is arranged on inside the drawing robot, and the drawing robot is placed sequentially at the characteristic point respectively and positioned.
4. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that the power supply module is battery pack.
5. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that second positioner is arranged on inside the robot body, is placed on the predeterminated position by the robot body and sentences the setting origin of coordinates.
6. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that the robot body is moved indoors in a clockwise direction.
7. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that the robot body is moved indoors in a counterclockwise direction.
8. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that also include：
Comparison module, the drawing robot is repeated to draw indoor map n times, and the comparison module is contrasted n drawing result, and exports comparing result map, and wherein n is natural number.
9. the automatic drawing robot of indoor map as claimed in claim 1, it is characterised in that also include：
Measurement module, with the distance between the multiple characteristic point and angle when the measurement module measures the robot body indoor sport；
The drafting module draws indoor map according to the distance and the angle.
10. the automatic drawing robot of indoor map as claimed in claim 8, it is characterised in that drafting module place different when n drawing result is compared is designated generally as barrier.
11. a kind of indoor map automatic drafting method, it is characterised in that including：
Multiple characteristic points are positioned indoors；
Coordinate system is set up according to the multiple characteristic point；
A predeterminated position in coordinate system is set to the origin of coordinates；
Drawing robot is placed into setting in motion after the origin of coordinates；
Drawing robot carries out drafting indoor map in motion process by standard of coordinate system.
12. indoor map automatic drafting method as claimed in claim 11, it is characterised in that multiple characteristic points progress positioning further comprise indoors：Multiple location equipments are placed at the characteristic point simultaneously and positioned.
13. indoor map automatic drafting method as claimed in claim 11, it is characterised in that indoor multiple characteristic points carry out positioning and further comprised：Drawing robot is placed sequentially in respectively at the characteristic point and positioned.
14. indoor map automatic drafting method as claimed in claim 11 a, it is characterised in that predeterminated position in coordinate system is set to the origin of coordinates and further comprised：Location equipment is placed on the predeterminated position and sentences the setting origin of coordinates.
15. indoor map automatic drafting method as claimed in claim 11 a, it is characterised in that predeterminated position in coordinate system is set to the origin of coordinates and further comprised：Drawing robot is placed on the predeterminated position and sentences the setting origin of coordinates.
16. indoor map automatic drafting method as claimed in claim 11, it is characterised in that drawing robot is placed into setting in motion after the origin of coordinates and further comprised：Drawing robot starts to move indoors in a clockwise direction.
17. indoor map automatic drafting method as claimed in claim 11, it is characterised in that drawing robot is placed into setting in motion after the origin of coordinates and further comprised：Drawing robot starts to move indoors in a counterclockwise direction.
18. indoor map automatic drafting method as claimed in claim 11, it is characterised in that drawing robot carries out drafting indoor map by standard of coordinate system in motion process and further comprised：When drawing robot repeats to draw indoor map n time, n drawing result is contrasted, and exports comparing result map, wherein n is natural number.
19. indoor map automatic drafting method as claimed in claim 11, it is characterised in that with the distance between the multiple characteristic point and angle drafting indoor map when the drawing robot is moved indoors according to the drawing robot.
20. indoor map automatic drafting method as claimed in claim 18, it is characterised in that n drawing result is subjected to contrast and further comprised：Different places is designated generally as barrier when n drawing result is compared.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610244578.0A CN107305376A (en) | 2016-04-19 | 2016-04-19 | A kind of automatic drawing robot of indoor map and method for drafting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610244578.0A CN107305376A (en) | 2016-04-19 | 2016-04-19 | A kind of automatic drawing robot of indoor map and method for drafting |
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| CN109637339A (en) * | 2018-11-19 | 2019-04-16 | 深圳市海柔创新科技有限公司 | Ground drawing generating method, device, computer readable storage medium and computer equipment |
| CN114161421A (en) * | 2021-12-14 | 2022-03-11 | 深圳市优必选科技股份有限公司 | Motion terrain determination method and device, robot and readable storage medium |
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Address after: 200433, five floor, Boston International Building, 18 Yangpu District Government Road, Shanghai. Applicant after: Shanghai Ming me information technology Co., Ltd. Address before: 200433, five floor, Boston International Building, 18 Yangpu District Government Road, Shanghai. Applicant before: Shanghai Hui Liu cloud computing Science and Technology Ltd. |
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Application publication date: 20171031 |