CN109855630A - A kind of Map building method of intelligent robot - Google Patents
A kind of Map building method of intelligent robot Download PDFInfo
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- CN109855630A CN109855630A CN201910230360.3A CN201910230360A CN109855630A CN 109855630 A CN109855630 A CN 109855630A CN 201910230360 A CN201910230360 A CN 201910230360A CN 109855630 A CN109855630 A CN 109855630A
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- building method
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- 230000004888 barrier function Effects 0.000 claims abstract description 20
- 238000004088 simulation Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
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Abstract
The present invention relates to a kind of Map building methods of intelligent robot, include the following steps working region being divided into several zonules；The Map building in zonule, Map building method are as follows: a sets initial position and inceptive direction, using the initial position as zero point, using the inceptive direction as X-direction, using the direction of the vertical X-axis as Y direction；The free movement in the zonule of b robot, and acquire the specific location of barrier in the zonule and carry out Map building according to collected location information.Modeling method in the present invention can be realized modeled in the domain of single subdistrict after collect for big model, and several zonules between model it is relatively independent, be independent of each other, therefore robot ensure that precision into coordinate system is rebuild behind next zonule.
Description
Technical field
The present invention relates to a kind of modeling method more particularly to a kind of Map building methods of intelligent robot.
Background technique
Robot includes the machinery of all simulation human behaviors or thought and simulation other biological.In contemporary industry, machine
Device people refers to the man-made machine device that can execute task automatically, to replace or assist human work.Highly emulated device in ideal
People is advanced integral traffic control opinion, mechano-electronic, computer and artificial intelligence, materialogy and bionic product, at present scientific circles
Researched and developed to this direction.The high-intelligentization of robot is known as a kind of inevitable trend, if robot realizes high-precision certainly
Dynamic selection path then needs to establish cartographic model, generally establishes ground artwork in the movement area of the robot in existing modeling method
Type, for this method when motion range is wider, modeling intensity is big, and precision is lower.
Summary of the invention
The present invention in order to solve working range it is larger when, it is proposed that the problem that intensity caused by a cartographic model is big, precision is low,
Provide a kind of Map building method of intelligent robot.
The technical solution used in the present invention are as follows: a kind of Map building method of intelligent robot includes the following steps
Working region is divided into several zonules by S01；
S02 Map building in zonule, Map building method are as follows:
A sets initial position and inceptive direction, using the initial position as zero point, using the inceptive direction as X-direction, with
The direction of the vertical X-axis is Y direction；
The free movement in the zonule of b robot, and acquire in the zonule specific location of barrier and according to collecting
Location information carry out Map building；
S03 collects the Map building of several zonules as a result, modeling result planning path according to the map；
Corresponding electronic tag is set in each zonule, and the robot is by identifying the electronic label identification location
Domain, and carry out coordinate system initialization.
Further, controller and electronic tag recognition device are set on the intelligent robot, and the electronic tag is known
Other device reads the electronic tag, and passes the information on to the controller, and the controller is according to the information weight received
Newly establish coordinate system.
Further, several ultrasonic distance measuring modules are provided in robot, for measuring barrier and the machine
The distance of people.
Further, robot selects walked zonule according to target position, when entering in next zonule,
Establish the coordinate system of region.
Further, when the robot motion is to barrier, along the barrier edge, the obstacle is recorded in walking
The range of object.
Further, message processing module is provided in the robot, the message processing module receives the obstacle
The location information of object, and free sky in the zonule is obtained according to the occupied area of the area of the zonule and the barrier
Between density.
Modeling method in the present invention can be realized modeled in the domain of single subdistrict after collect for big model, and several zonules
Model between interior is relatively independent, is independent of each other, therefore robot rebuilds coordinate system after entering next zonule, ensure that essence
Degree.
Specific embodiment
Further details of explanation is done to the present invention combined with specific embodiments below, it should be appreciated that of the invention
Protection scope is not limited by the specific implementation.
The Map building method of one of present invention intelligent robot, includes the following steps
Working region is divided into several zonules by S01；
S02 Map building in zonule, Map building method are as follows:
A sets initial position and inceptive direction, using the initial position as zero point, using the inceptive direction as X-direction, with
The direction of the vertical X-axis is Y direction；
The free movement in the zonule of b robot, and acquire in the zonule specific location of barrier and according to collecting
Location information carry out Map building；
S03 collects the Map building of several zonules as a result, modeling result planning path according to the map；
Corresponding electronic tag is set in each zonule, and the robot is by identifying the electronic label identification location
Domain, and carry out coordinate system initialization.
Modeling method can be realized modeled in the domain of single subdistrict after collect for big model, and in several zonules between mould
Type is relatively independent, is independent of each other, therefore robot enters behind next zonule by identifying that electronic tag rebuilds corresponding seat
Mark system, ensure that precision.
In order to guarantee smoothly to identify electronic tag, controller and electronic label identification dress are set on the intelligent robot
It sets, the electronic tag recognition device reads the electronic tag, and passes the information on to the controller, the controller root
Coordinate system is re-established according to the information received.
In order to guarantee robot during free movement Map building, cognitive disorders object location information, in robot
Several ultrasonic distance measuring modules are provided with, for measuring barrier at a distance from the robot.
When the robot motion is to barrier, along the barrier edge, the range of the barrier is recorded in walking.
Message processing module is provided in the robot, the message processing module receives the location information of the barrier, and root
Free space density in the zonule is obtained according to the area of the zonule and the occupied area of the barrier.When robot advises
The region that free space density can be selected as far as possible big when drawing path.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in the content of embodiment.For in this field
Technical staff for, can have various change and change within the scope of technical solution of the present invention, made any variation and
Change, within that scope of the present invention.
Claims (6)
1. a kind of Map building method of intelligent robot, it is characterised in that: include the following steps
Working region is divided into several zonules by S01；
S02 Map building in zonule, Map building method are as follows:
A sets initial position and inceptive direction, using the initial position as zero point, using the inceptive direction as X-direction, with
The direction of the vertical X-axis is Y direction；
The free movement in the zonule of b robot, and acquire in the zonule specific location of barrier and according to collecting
Location information carry out Map building；
S03 collects the Map building of several zonules as a result, modeling result planning path according to the map；
Corresponding electronic tag is set in each zonule, and the robot is by identifying the electronic label identification location
Domain, and carry out coordinate system initialization.
2. the Map building method of intelligent robot according to claim 1, it is characterised in that: on the intelligent robot
Controller and electronic tag recognition device are set, and the electronic tag recognition device reads the electronic tag, and information is passed
It is handed to the controller, the controller re-establishes coordinate system according to the information received.
3. the Map building method of intelligent robot according to claim 1, it is characterised in that: be provided in robot
Several ultrasonic distance measuring modules, for measuring barrier at a distance from the robot.
4. the Map building method of intelligent robot according to claim 1, it is characterised in that: robot is according to target position
It sets and selects walked zonule, when entering in next zonule, establish the coordinate system of region.
5. the Map building method of intelligent robot according to claim 1, it is characterised in that: as the robot motion
When to barrier, along the barrier edge, the range of the barrier is recorded in walking.
6. the Map building method of intelligent robot according to claim 1, it is characterised in that: be arranged in the robot
There is message processing module, the message processing module receives the location information of the barrier, and according to the face of the zonule
The long-pending occupied area with the barrier obtains free space density in the zonule.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910230360.3A CN109855630A (en) | 2019-03-26 | 2019-03-26 | A kind of Map building method of intelligent robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910230360.3A CN109855630A (en) | 2019-03-26 | 2019-03-26 | A kind of Map building method of intelligent robot |
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| CN109855630A true CN109855630A (en) | 2019-06-07 |
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| CN201910230360.3A Pending CN109855630A (en) | 2019-03-26 | 2019-03-26 | A kind of Map building method of intelligent robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113607156A (en) * | 2020-09-24 | 2021-11-05 | 深圳市云鼠科技开发有限公司 | Grid map construction method |
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| US20180364045A1 (en) * | 2015-01-06 | 2018-12-20 | Discovery Robotics | Robotic platform with mapping facility |
| CN109464074A (en) * | 2018-11-29 | 2019-03-15 | 深圳市银星智能科技股份有限公司 | Area division method, subarea cleaning method and robot thereof |
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| US20180364045A1 (en) * | 2015-01-06 | 2018-12-20 | Discovery Robotics | Robotic platform with mapping facility |
| CN108062098A (en) * | 2017-12-11 | 2018-05-22 | 子歌教育机器人（深圳）有限公司 | Map construction method and system for intelligent robot |
| CN107943058A (en) * | 2017-12-26 | 2018-04-20 | 北京面面俱到软件有限公司 | Sweeping robot and its cleaning paths planning method |
| CN108763287A (en) * | 2018-04-13 | 2018-11-06 | 同济大学 | On a large scale can traffic areas driving map construction method and its unmanned application process |
| CN109464074A (en) * | 2018-11-29 | 2019-03-15 | 深圳市银星智能科技股份有限公司 | Area division method, subarea cleaning method and robot thereof |
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Application publication date: 20190607 |