CN109916393A - A kind of multiple grid point value air navigation aid and its application based on robot pose - Google Patents
A kind of multiple grid point value air navigation aid and its application based on robot pose Download PDFInfo
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Abstract
The invention discloses a kind of multiple grid point value air navigation aid and its application based on robot pose, belong to robot navigation's technical field.The present invention is based on the multiple grid point value air navigation aids of robot pose, and the connectivity of topological map can be enhanced by region in grating map by expanding robot.Simultaneously, in the indoor wall construction autonomous mobile robot air navigation aid based on BIM information, BIM information based on extraction calculates operating point, location information and task sequence further according to operating point, the Local Navigation route between operated adjacent point is arranged in multiple grid point value air navigation aid based on robot pose；The obstacle information around indoor wall construction autonomous mobile robot is positioned and detected in real time, updates grating map, and the Local Navigation route between operated adjacent point is reset based on updated grating map.Implementation of the invention improves navigation working efficiency and accuracy rate.
Description
Technical field
The present invention relates to a kind of robot navigation's technical fields, and in particular to a kind of multiple grid based on robot pose
It is worth airmanship.
Background technique
With the development of computer technology, robot SLAM (Simultaneous Localization And
Mapping) technology is more mature, and common technology includes VSLAM based on computer vision (Visual Simultaneous
Localization And Mapping) and the Multi-sensor Fusion based on laser radar SLAM.These technologies are applied to all
Multi-field, such as sweeping robot, the outer space explores robot etc..
The map of traditional 2D laser SLAM technology building is grating map, and grating map only has dimensional information without having
Standby semantic information.It works to be difficult to preferable guidance machine people.
Commonly in the robot navigation based on grating map, robot is difficult the circumscribed barrier zone that arrives safe and sound, Yi Jifei
Free space.It is described in further detail are as follows: in conventional raster map, each grid has a grid point value, as shown in Figure 3.This
A grid point value is related to the outer dimension of map environment and robot.It is fatal obstacle, barrier and machine when grid point value is 254
Device people center is overlapped, and robot necessarily collides with barrier at this time.Grid point value 253 indicates inscribe obstacle, at this time barrier
In inscribed circle in robot profile, grid point value 252~128 is circumscribed obstacle, and robot is bordered by with barrier and contacts at this time,
Not necessarily collide.Non-free space is 128~0, is spatial cache of the circumscribed obstacle of robot to free space.Free zone
Domain is 0, and robot can be expressed as the region detected with free-running operation, zone of ignorance 255.It is conventional based on grating map
Navigation should avoid as far as possible robot enter non-free space, not can enter circumscribed obstacle.
In addition, in practical engineering applications, robot has to enter into circumscribed barrier zone sometimes, corresponding work could be completed
Make.Concrete instance is exactly only from 2 centimetres of wall when building plastering robot is plastered, and robot comes at this time
Circumscribed barrier zone, the i.e. prior art can not solve the navigation problem of indoor wall construction autonomous mobile robot.
Summary of the invention
Goal of the invention of the invention is: in view of the above problems, providing a kind of based on the multiple of robot pose
Grid point value air navigation aid, characterized in that it comprises the following steps:
It is each grid other than storing grid value information in grating map, one expression robot of Additional definitions
The array for whether colliding identifier under different angle state；
Grating map is pre-processed: being identifier by the label of all free spaces in grating map,
And by grating map fatal obstacle and inscribe obstacle be set to collision identifier；
The angle x of different positions and pose based on robot, judges whether each vertex of robot falls in fatal obstacle respectively
Grid on, if whole vertex is not fallen on the grid of fatal obstacle, the corresponding identifier that whether collides of angle x, which is arranged, is
Non-collision identifier；Otherwise it is arranged and whether collides identifier as collision identifier；It is multiple related to robot angle to obtain
Accessibility map, be denoted as accessibility map Map [n], wherein n be corresponding angle specificator；
Current starting point A and target point B based on robot, are arranged local path from point A to point B:
The map being made of barrier and free space for not limiting robot angle is indicated with Map0；
If A point is in free space, B point is in free space, and A point can find one to B point in map Map0
Reachable path is then navigated by the way of unrestricted angle change；If reachable path cannot be found in map Map0, time
It goes through and searches for the presence or absence of reachable path from point A to point B in each accessibility map Map [n], wherein each accessibility map
Map [n] only corresponds to a reachable path；Again from all reachable paths that search obtains, the reachable path of shortest path is searched
Corresponding accessibility map, and using its corresponding angle as the navigation angle of robot, pass through limitation robot angle
Mode navigates to B point；
If A point is in free space, B point is in non-free region, then the position based on point B, by all accessibilities
The accessibility map that identifier is non-collision identifier of whether colliding in figure Map [n] is as the first accessibility map subset, i.e.,
Based on B point when whether collision identifier is non-collision identifier, then corresponding map is added to the sub-collective drawing for needing searching route；
And it traverses in each accessibility map in the first accessibility map subset with the presence or absence of reachable path from point A to point B；Again from
It searches in obtained all reachable paths, searches accessibility map corresponding to the reachable path of shortest path, and corresponded to
Navigation angle of the angle as robot, navigate to B point by way of limiting robot angle；
If A point is in non-free region, and current robot angle is R, then the corresponding accessibility map of search angle R
Map [R], and judge in the accessibility map Map [R] with the presence or absence of reachable path, and if it exists, then pass through limitation robot angle
Degree is that the mode of R navigates to B point；Otherwise it is assumed that the path of point A to point B are unreachable, i.e. the local paths planning of point A to point B loses
It loses.
The present invention is based on the multiple grid point value air navigation aid of robot pose, expand robot in grating map can
By region, the connectivity of topological map is enhanced.
Meanwhile the present invention also provides a kind of rooms for being based on BIM (Building Information Modeling) information
Interior wall surface construction autonomous mobile robot air navigation aid.The present invention extracts and utilizes BIM information for robot navigation, with enhancing
The accuracy of robot navigator fix under the scene of construction, optimizes the job order of robot, improves the association of robot
Same ability to work.Its technical solution used are as follows:
The BIM information for extracting the indoor environment of indoor wall construction autonomous mobile robot operation, constructs the interior of operation
Map, and the task of each indoor wall construction operation is calculated based on the indoor map, obtain each task
Operating point location information；And task sequence is set for all working task；
According to the location information of operating point and task sequence, based on the multiple grid of the invention based on robot pose
The Local Navigation route between operated adjacent point is arranged in lattice value air navigation aid；
It positions in real time and detects the obstacle information around indoor wall construction autonomous mobile robot, with updating grid
Figure, and based on the updated grating map again multiple grid point value air navigation aid based on of the invention based on robot pose,
Local Navigation route between operated adjacent point is set.
Further, can also by construction that depth camera detects cavity and the unknown obstacle information in ground,
As the obstacle information around indoor wall construction autonomous mobile robot.
Compared with the prior art, the invention has the following beneficial effects:
(1) the multiple grid point value air navigation aid based on robot pose, expands robot leading in grating map
Region is crossed, the connectivity of topological map is enhanced；
(2) it for the first time by BIM Information application in robot navigation, solves under construction environment, traditional navigation techniques
It is difficult to the problems such as obtaining construction parts information.And optimal operating path can be calculated according to BIM information, improves robot
Working efficiency.
(3) present invention utilizes ultrasonic wave, and RGB-D depth camera detects danger unknown in environment, ensure that man-machine peace
Entirely.
Detailed description of the invention
Fig. 1 is that the present invention is based on the general frames of the indoor wall of BIM information construction autonomous mobile robot navigation system
Figure.
Fig. 2 is that the present invention is based on the flow charts of the indoor wall of BIM information construction autonomous mobile robot navigation system.
Fig. 3 is grating map value schematic illustration.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this hair
It is bright to be described in further detail.
Indoor wall construction autonomous mobile robot air navigation aid based on BIM information of the invention, is mentioned based on preset
The plug-in unit of BIM information is taken, BIM information is extracted, operating point is calculated by BIM information, plans optimal path.And BIM will be passed through
The map real-time display that information generates facilitates human-computer interaction to remote control terminal.Robot is realized by laser radar, IMU
Positioning, ultrasonic listening peripheral obstacle, discovery barrier programme path again in time.And utilize RGB-D depth camera
The construction cavity temporarily dug not included in detection BIM information, avoids dangerous generation.Robot cluster works robot
Status information is synchronized to total control terminal, total control terminal reasonable distribution task.Making for construction robot can simplify using the present invention
With reduction user's operation difficulty, the task of robot may be implemented to calculate automatically, while promote navigation working efficiency.
When specific implementation, corresponding navigation system includes laser radar, IMU, RGB-D depth information camera, 4 turbines
Device people mobile platform (abbreviation robot), industrial personal computer (system of industrial control computer), the hardware system of total control terminal, and have
Body executes operations described below:
Firstly, based on preset one for extracting the plug-in unit of BIM information, obtain construction environment cartographic information and to
Construction parts characteristic attribute (such as door, window, column, metope, etc.), the information such as size positions.And the BIM information of extraction is carried out
Following processing:
Position of the cartographic information and robot of construction environment described in real-time display in operating environment and work shape
State.And robot can be monitored in real time by remote terminal.Wherein, the remote terminal can be PC, mobile device, VR
(Virtual Reality) equipment etc..
The industrial personal computer calculates the specific tasks of each work (indoor wall construction operation) according to BIM information, and sets
Each corresponding job order is set, according to the job order of default rule setting optimization.
Secondly, obtaining the real time information of operating environment by laser radar, and it is sent to industrial personal computer, is realized by industrial personal computer
Robot localization.Its specific implementation process may is that
Robot is arranged according to the cartographic information that laser radar obtains in the cartographic information that real-time display laser radar obtains
Guidance path, wherein the setting method of guidance path can using it is any it is existing it is used have mode, usually it is contemplated that having avoidance
The navigation mode of processing；
Robot gives current position coordinates information, work state information real-time synchronization to total control terminal, and total control terminal is unified
Co-ordination task；
The construction cavity that RGB-D depth camera is detected and the unknown barrier real-time display in ground are in long-range whole
End.
Thirdly, using the method for laser radar+IMU Multi-sensor Fusion, robot localization precision and in real time is improved
Build the reliability of figure.Wherein IMU includes inertial navigation information, geomagnetic sensor information etc..Itself the specific implementation process is as follows:
Industrial personal computer builds figure information according to SLAM, calculates the robot location's information and BIM information received, based on preset
Navigation path planning mode be the optimal path of robot planning navigation and feed back corresponding move to robot.Its
In, optimal path is the most high usage route in the route of a plurality of achievable construction task.
Robot carries out independent navigation according to the move that industrial personal computer is issued.
Then, for the construction cavity of the earth bulging not included in BIM and cutting, RGB-D depth camera is utilized
It is detected, avoids dangerous generation.
Then, classified using BIM information to indoor environment, using BIM information architecture grating map, and be grid
Each of map grid assigns architecture information semantic label.Using laser radar, real-time update map datum, and in grid
On the basis of lattice map, generative semantics topological map provides foundation for the navigation of robot.
Wherein semantic topological map is used to carry out global path planning, and grating map is used to carry out local paths planning.By
In having more topological node under Large Construction scene, therefore in present embodiment, service performance preferably ant colony is calculated
Method is found compared with major path.
In local paths planning in the specific implementation, in order to make robot security reach non-free space lattice and circumscribed barrier
Hinder grid, the invention also provides a kind of improved air navigation aids.A kind of multiple grid point value navigation side based on robot pose
Method, to enable in x, the robot of y both direction free shift can enter safely non-free space lattice and circumscribed obstacle grid
Lattice.Itself the specific implementation process is as follows；
In grating map, each grid is other than storing grid value information, the array A of one N size of Additional definitions
[N], each elements A [x] of array indicate the collision whether robot can collide in the state that angle is x with barrier
Identifier in present embodiment, indicates to collide with " -1 "；" 1 " indicates not collide.I.e. with common grating map
Two-dimensional array, the data deposited in each map nodes are that grid point value is compared, the improved grating map of the present invention each
Node has not only deposited a grid point value, and also having deposited one indicates the one-dimension array A [x] whether corresponding node collides under x angle.
Be equivalent to and 1+N map be all stored in a two-dimensional array, these maps include a robot can move freely it is general
The map of logical grating map and N number of limited angular.
Then grating map is pre-processed, the collision identifier of all free spaces (A value) is set to 1 first, caused
Life obstacle and inscribe obstacle are set to -1.The grid of circumscribed obstacle Yu non-free space is traversed, and accessibility is made to it and is sentenced
It is disconnected.Indicate that robot under x angle, in current grid, will not collide with barrier if A [x]=1.And -1 table
Show to collide therewith.Specific judgment method are as follows:
(1) number of vertex of robot is indicated with M, and center is expressed as W0 (x0, y0), remaining each vertex position difference
The WM (xM, yM) for W1 (x1, y1) ...；
When robot angle is x, judge whether each vertex falls on the grid of fatal obstacle respectively, if do not had all
It falls on the grid of fatal obstacle, then A [x]=1, on the contrary A [x]=- 1；It thus generates N number of relevant to robot angle
Accessibility map Map [1], Map [2] ... Map [N], robot can find reachable path by accessibility map.
(2) robot is from A point to the local paths planning specific steps of B point are as follows:
The map being made of barrier and free space for not limiting robot angle is indicated with Map0；And limit robot
The map of angle is Map [n], wherein n=1,2 ... ..., N；
If A point is in free space, B point is in free space, and A point can find one up to road to B point in Map0
Diameter is then navigated with the mode for not limiting angle change.If it is not, traversal search Map [N], each accessibility of traversal search
With the presence or absence of reachable path from point A to point B, (there is only a reachable paths in i.e. each accessibility map, also referred to as in map
Optimal reachable path), the reachable path obtained based on search obtains reachable path set { P1..., PK, wherein K expression is N number of can
Up to the reachable path number for the point A to point B for including in property map；Then the shortest reachable path in path (be may be defined as into P againmin)
Navigation angle of the angle (i.e. min) as robot corresponding to corresponding accessibility map (may be defined as Map [min]),
B point is navigate to by way of limiting robot angle.
If A point is in free space, B point is in non-free region, then accessibility map of search B point A [x]=1
Collection, and with the presence or absence of reachable path from point A to point B in each accessibility map in the traversal search map subset, from
It searches in obtained all reachable paths, searches accessibility map corresponding to the reachable path of shortest path, be denoted as Map
[min] retells navigation angle of the corresponding angle min of the accessibility map as robot, passes through limitation robot angle
Mode navigates to B point.
If A point is in non-free region, and current robot angle is R, then searching map Map [R], judges that map is
No reachable (whether there is reachable path), and if it exists, then navigate to B point in such a way that limitation robot angle is R；Otherwise
B point is unreachable.
Embodiment
This example uses distributed robot's operating system, and is shared between different robots node by the system
Data, experimental situation are the semi-finished product house actually built, and robot will carry out plastering construction operation to it.
In order to preferably get the environmental information of construction site, 2D Lidar is mounted on robot (high 1.8m)
Top.In order to guarantee the safety in work progress, it is also necessary in surrounding mounting ultrasonic sensor, just people around etc. can be detected
Other barriers, programme path again when encountering other barriers.By geomagnetic sensor, trolley angle is obtained in real time, works as hair
When raw strong magnetic disturbance, geomagnetic sensor data are deactivated, and do zero-in.When cumulative errors are little, robot itself is utilized
Odometer and inertial navigation odometer position robot.When cumulative errors are more than the SLAM system accuracy of 2D Lidar,
Using based on 2D Lidar SLAM system and closed loop detection algorithm it is relocated, eliminate cumulative errors.Reach work
When point, since robot will be further accurately positioned, therefore cumulative errors can be further eliminated.
The construction cavity using earth bulging in RGB-D depth camera detecting chamber and temporarily dug avoids dangerous
Occur.
Fig. 1 is participated in, in the present embodiment, realizes the navigation system of indoor wall construction autonomous mobile robot navigation of the invention
System includes 5 modules；
Wherein, human-computer interaction module is mainly used for the parameter setting of robot, and target is selected, and work shape
The real-time display of state is operator and robot interactive, the main modular of instruction is assigned to robot；
Module is built, extracted BIM information is based on, constructs corresponding operating environment map；It includes that architecture information mentions
It takes and is extracted and closed loop detection module with map structuring, corner feature；
Path planning module, the instruction that control robot is assigned according to operator, plans optimal path；It includes work
Make point and operating point task computation, plans optimal path and receive new task path and plan three submodules again；
Navigation module, positioning ensures that robot is assigned just on correct course line, and to the mobile platform of robot in real time
Really instruction；It includes estimating original state pose, real-time computer device people pose and synchrodata submodule, wherein synchrodata
It is synchronous with the data of distal end for realizing local；
In avoidance and security system, robot ensures that man-machine safety.It includes avoiding obstacles by supersonic wave, system reboot and recovery
(investigation depth information) is detected with depth camera.
Specifically, in the present embodiment, figure is being built, in path planning and navigation module, present embodiment is based on ROS
(Robot Operating System, robot operating system) Development of Framework.Trolley control aspect, it is real by RS232 serial ports
Existing communication control.Under ROS frame, speed command control is linear, and for controlling the linear velocity in the direction XYZ, unit is m/
s；Speed command controls angular, and for controlling the angular speed on the direction XYZ, unit is rad/s.Pose indicates that robot works as
Front position coordinate, including tri- shaft position of robot XYZ and directioin parameter, and the covariance matrix for correction error.twist
For the current motion state of robot, linear velocity and angular speed including tri- axis of XYZ, and the covariance square for correction error
Battle array.ROS frame is communicated by subscribing to and delivering topic, and the topic of subscription includes: tf- for laser radar coordinate system, base
Coordinate system, the transformation between odometer coordinate system.The data of scan- laser radar scanning.The topic of publication includes: map_
Metadata- issues map Meta data.Map- issues map raster data.Entropy- issues robot pose Distribution Entropy
Estimation.
Fig. 2 is participated in, is robot navigation's process flow diagram of the invention.Wherein, controlling terminal of the invention is used across flat
The form of platform, including mobile terminal and the end PC.The location information of trolley, real-time map information etc. pass through TCP and use lightweight
Data interchange format Json format transmission to human-computer interaction module, for the real-time display to robot working condition.
In terms of map structuring, it is divided into the real time environment map of BIM information map and laser radar SLAM building.
I.e. default first one can extract the plug-in unit of BIM information, using the information of extraction as the foundation of building map.Root
Determine operating point according to the actual requirement of architecture information and construction, and calculate the specific task in each operating point and
Working time in present embodiment, calculates shortest path using Dijkstra's algorithm, passes through between each operating point
Navigation grid algorithmic rule route.
The real time environment map of laser radar SLAM building, is the SLAM algorithm based on particle filter, it passes through specified
One group of random sample propagated in the state vector space carrys out the actual probability distribution of approximation, and with the weighted average generation of sample
For integral operation, and then realize the minimum variance estimate of system mode.
Grating map information is stored with a two-dimensional array comprising node, and the information of node includes: grid point value, array A
[N], A [N]=1 indicate that robot collides in angle N Shi Huiyu barrier, and -1 expression will not.
Then grating map is pre-processed: the A value of all free spaces is set to 1, fatal obstacle and inscribe obstacle
It is set to -1.
The grid of circumscribed obstacle Yu non-free space is traversed, and makes accessibility judgement to it:
When robot angle is x, judge whether each vertex of robot falls on the grid of fatal obstacle respectively, if
It does not fall on the grid of fatal obstacle all, then A [x]=1, on the contrary A [x]=- 1；Thus generate N number of and robot angle
Relevant accessibility map Map [1], Map [2] ... Map [N] are spent, robot can find reachable path by accessibility map.
Robot is from A point to the processing of the local paths planning of B point:
The map being made of barrier and free space for not limiting robot angle is indicated with Map0；And limit robot
The map of angle is Map [n], wherein n=1,2 ... ..., N；
The location of starting point (A) and target point (B) based on robot information plans starting point between target point
Local path:
If A point is in free space, B point is in free space, and A point can find one up to road to B point in Map0
Diameter is then navigated with the mode for not limiting angle change.If it is not, traversal search Map [N], each accessibility of traversal search
With the presence or absence of reachable path from point A to point B in map, then from all reachable paths that search obtains, shortest path is searched
Reachable path corresponding to accessibility map, be denoted as Map [min], retell the corresponding angle min of the accessibility map as machine
The navigation angle of device people navigates to B point by way of limiting robot angle.
If A point is in free space, B point is in non-free region, then accessibility map of search B point A [x]=1
Collection, and with the presence or absence of reachable path from point A to point B in each accessibility map in the traversal search map subset, then from
Search
If A point is in non-free region, and current robot angle is R, then searching map Map [R], judges that map is
It is no reachable, and if it exists, then to navigate to B point in such a way that limitation robot angle is R；Otherwise indicate that the path of point-to-point transmission can not
It reaches.
Compared with the prior art, the invention has the following beneficial effects:
(1) the multiple grid point value air navigation aid based on robot pose, expands robot leading in grating map
Region is crossed, the connectivity of topological map is enhanced；
(2) it for the first time by BIM Information application in robot navigation, solves under construction environment, traditional navigation techniques
It is difficult to the problems such as obtaining construction parts information.And optimal operating path can be calculated according to BIM information, improves robot
Working efficiency.
(3) robot of the invention uses distributed system, can be appointed to robot cluster reasonable distribution according to BIM information
The working condition of oneself can be also synchronized to total control terminal by business, robot, and master control is uniformly coordinated task, avoids conflicting, mention
Rise efficiency.
(4) present invention utilizes ultrasonic wave, and RGB-D depth camera detects danger unknown in environment, ensure that man-machine peace
Entirely.
(5) present invention can generate the grating map comprising architecture information semantic label, instruct construction, and grid
On the basis of figure, generative semantics topological map improves the efficiency of path planning.And conventional laser radar SLAM can only give birth to
At the common grating map for not including semantic label.
The above description is merely a specific embodiment, any feature disclosed in this specification, except non-specifically
Narration, can be replaced by other alternative features that are equivalent or have similar purpose；Disclosed all features or all sides
Method or in the process the step of, other than mutually exclusive feature and/or step, can be combined in any way.
Claims (3)
1. a kind of multiple grid point value air navigation aid based on robot pose, characterized in that it comprises the following steps:
It is each grid other than storing grid value information, one expression robot of Additional definitions is not in grating map
With the array for whether colliding identifier under angle state；
Grating map is pre-processed: being identifier by the label of all free spaces in grating map, and
By in grating map fatal obstacle and inscribe obstacle be set to collision identifier；
The angle x of different positions and pose based on robot, judges whether each vertex of robot falls in the grid of fatal obstacle respectively
On lattice, if whole vertex are not fallen on the grid of fatal obstacle, it is non-touch that the corresponding identifier that whether collides of angle x, which is arranged,
Hit identifier；Otherwise it is arranged and whether collides identifier as collision identifier；To obtain it is multiple it is relevant to robot angle can
Up to property map, it is denoted as accessibility map Map [n], wherein n is corresponding angle specificator；
Current starting point A and target point B based on robot, are arranged local path from point A to point B:
The map being made of barrier and free space for not limiting robot angle is indicated with Map0；
If A point is in free space, B point is in free space, and A point to B point can be found in map Map0 one it is reachable
Path is then navigated by the way of unrestricted angle change；If cannot find reachable path in map Map0, traversal is searched
With the presence or absence of reachable path from point A to point B in each accessibility map Map [n] of rope, wherein each accessibility map Map [n]
An only corresponding reachable path；Again from all reachable paths that search obtains, search corresponding to the reachable path of shortest path
Accessibility map led by way of limiting robot angle and using its corresponding angle as the navigation angle of robot
It navigates to B point；
If A point is in free space, B point is in non-free region, the then position based on point B, by all accessibility map Map
The accessibility map that identifier is non-collision identifier of whether colliding in [n] is as the first accessibility map subset；And it traverses
With the presence or absence of reachable path from point A to point B in each accessibility map in first accessibility map subset；Again from searching for
To all reachable paths in, search accessibility map corresponding to the reachable path of shortest path, and by its corresponding angle
As the navigation angle of robot, B point is navigate to by way of limiting robot angle；
If A point is in non-free region, and current robot angle is R, then the corresponding accessibility map Map of search angle R
[R], and judge in the accessibility map Map [R] with the presence or absence of reachable path, and if it exists, then pass through limitation robot angle
B point is navigate to for the mode of R；Otherwise it is assumed that the path of point A to point B are unreachable.
The autonomous mobile robot air navigation aid 2. the indoor wall based on BIM information is constructed, which is characterized in that including following step
It is rapid:
The BIM information for extracting the indoor environment of indoor wall construction autonomous mobile robot operation, constructs the indoor map of operation,
And the task of each indoor wall construction operation is calculated based on the indoor map, obtain the work of each task
The location information of point；And task sequence is set for all working task；
It is according to claim 1 based on the more of robot pose according to the location information of operating point and task sequence
Weight grid point value air navigation aid, is arranged the Local Navigation route between operated adjacent point；
The obstacle information around indoor wall construction autonomous mobile robot is positioned and detected in real time, updates grating map, and
Based on the updated grating map again multiple grid point value navigation side according to claim 1 based on robot pose
The Local Navigation route between operated adjacent point is arranged in method.
3. method according to claim 2, which is characterized in that the construction cavity and ground detected by depth camera
Unknown obstacle information, as the obstacle information around indoor wall construction autonomous mobile robot.
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| CN110647129A (en) * | 2019-10-30 | 2020-01-03 | 广东博智林机器人有限公司 | Robot scheduling method, elevator scheduling method and system |
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