CN109917791A - The method that mobile device explores building map automatically - Google Patents
The method that mobile device explores building map automatically Download PDFInfo
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- CN109917791A CN109917791A CN201910234220.3A CN201910234220A CN109917791A CN 109917791 A CN109917791 A CN 109917791A CN 201910234220 A CN201910234220 A CN 201910234220A CN 109917791 A CN109917791 A CN 109917791A
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Abstract
The present invention discloses a kind of method that mobile device explores building map automatically, obtains the laser data of current location；It can be moved by region along described, while using current location as origin, using pre-determined distance as radius, explore zone of ignorance, wherein the zone of ignorance is the region that the laser data has not been obtained；Obtaining the zone of ignorance can continue to move to described by the critical path in region, and along the critical path to obtain current laser data；Map, which is generated, according to the laser data of acquisition and movement routine is sent to remote server.By mobile device, the continuous collecting laser data in moving process constructs map to the present invention, and mobile device starts in current location, Automatic-searching can explore zone of ignorance, further according to having constructed in map basic designed, designed guidance path can be used as by region and the junction that zone of ignorance can be explored, and it is mobile according to guidance path, the side Bian Yidong constructs map.
Description
Technical field
The present invention relates to the technical fields of mobile device navigation more particularly to a kind of mobile device to explore building map automatically
Method.
Background technique
During the navigation process, the map possessed is most important for mobile robot, and navigation function can be realized by being related to it
Energy.The scheme of existing building map often requires technical staff and constructs to execute-in-place mobile device, labor intensity
Greatly, at high cost, low efficiency, when technical staff is less, drawback is particularly evident.
According to current technology, if allowing mobile device oneself movement building map, there are the following problems for meeting:
1) do not know that this is where walked: can not confirm that this is mobile to construct complete map to which direction；
2) do not know either with or without barrier: the barrier in the height where laser radar can only be detected, to other height
The barrier (such as desk, step) of degree can not detect；
3) do not know and build figure either with or without completion: can not judge whether to have completed the scanning to all areas；
4) map effect is not known: can not be determined how many error between map and actual scene, be judged that map whether may be used
With.
As service-delivery machine Man's Demands constantly increase, deployment process is more and more obvious the occupancy of technical staff.According to
Traditional building map scheme needs technical staff to arrive execute-in-place mobile device building map, time cost and finance in person
Cost is all very high.The present invention is improved by being cooperated using multisensor to figure scheme is built, and realizes mobile device certainly
Main exploration constructs indoor map, deployment process is accomplished unmanned.
Summary of the invention
Shortcoming present in view of the above technology, the present invention provide a kind of easy to operate, save the cost mobile dress
Set the automatic method for exploring building map.
In order to achieve the above object, the method that a kind of mobile device of the present invention explores building map automatically, comprising:
Obtain the laser data of current location, wherein the laser data includes that can pass through region and barrier region；
It can be moved by region along described, while using current location as origin, using pre-determined distance as radius, be explored unknown
Region, wherein the zone of ignorance is the region that the laser data has not been obtained；
Obtain the zone of ignorance and it is described can by the critical path in region, and along the critical path continue to move to
Obtain current laser data；
Map, which is generated, according to the laser data of acquisition and movement routine is sent to remote server.
Wherein, described using current location as origin, using pre-determined distance as radius, the method for exploring zone of ignorance includes:
Using current location as origin, using pre-determined distance as radius, search range is formed, is searched in described search range
To Searching point；
Centered on described search point, respectively to adjacent four point search around described search point；
If Searching point is in the laser data of current location, marking described search point to be can be by putting or not reaching
Point；
If Searching point is not in the laser data of current location, judge whether Searching point is that can explore zone of ignorance simultaneously
Label.
Wherein, the label described search point be can by point or can not the method for the point of arrival include:
The laser data of the current location is divided into multiple uniform pixels；
Marking in the laser data of the current location can be that can pass through a little by the pixel in region；
Distance around barrier region is marked in the laser data of the current location to be less than the mobile device radius
Position is can not the point of arrival.
Wherein, judge Searching point whether be can explore zone of ignorance and mark method include:
If described search point is marked point, skip；
If described search point is unmarked point, continue to judge.
Wherein, described search point is non-Searching point, and the method for continuing judgement includes:
If described search point is in zone of ignorance, and having in adjacent four points can be by point, then by the arbitrary point
Labeled as zone of ignorance can be explored；
If described search point is in zone of ignorance, and can not be by point in adjacent four points, then will be described any
Point is labeled as not reaching.
Wherein, the recognition methods of the barrier region includes:
The barrier is detected using camera is felt deeply；Or
The barrier is detected using infrared distance sensor；Or
The barrier is detected using ultrasonic distance sensor.
Wherein, after the completion of the map structuring, it is also necessary to confirm whether map can be used, whether the confirmation map is available
Method includes:
Continuous collecting laser data constructs map and uploads the building ground to server terminal in every preset time period
Figure, so that the remote server identifies the confidence level of the map.
A kind of mobile device of the present invention, including laser radar, feel camera, infrared distance sensor, ultrasonic distance deeply
Sensor and processor, the method that the processor configuration mobile device explores building map automatically, the laser radar, depth
Sense camera, infrared distance sensor and ultrasonic distance sensor are electrically connected communication with processor.
A kind of computer readable storage medium of the present invention is stored with mobile device on the computer readable storage medium
Remote control program, the remote control program of the mobile device are executed by processor mobile device and explore building map automatically
Method.
The beneficial effects of the present invention are:
Compared with prior art, by mobile device, the continuous collecting laser data in moving process constructs ground to the present invention
Figure, and mobile device starts in current location, and Automatic-searching can explore zone of ignorance, further according to having constructed passing through in map
Region is used as basic designed, designed guidance path, and, Bian Yi mobile according to guidance path with the junction that can explore zone of ignorance
Dynamic side constructs map.Automatic in the present invention, which is explored, builds figure technical staff will be needed to be in the action the deployment operation of progress originally,
It is changed to carry out automatically, realizes the unmanned of deployment process substantially, improve the attraction and competitiveness of robot.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the method flow diagram that mobile device of the present invention explores building map automatically；
Fig. 2 is the method flow diagram that the present invention explores zone of ignorance；
Fig. 3 be the present invention label described search point be can by point or can not the point of arrival method flow diagram；
Fig. 4 is that the present invention judges whether Searching point is the method flow diagram that can be explored zone of ignorance and mark；
Fig. 5 is the mobile device structural block diagram in one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.It is used herein to arrange
Diction "and/or" includes one or more associated wholes for listing item or any cell and all combinations.
It will be understood by those skilled in the art that unless otherwise defined, all terms used herein (including technical term and
Scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.It should also be appreciated that
, those terms such as defined in the general dictionary, it should be understood that have and the meaning in the context of the prior art
Consistent meaning, and unless otherwise will not be solved with idealization or meaning too formal by specific definitions as here
It releases.
Those skilled in the art of the present technique are appreciated that remote control equipment used herein above comprising but it is not limited to hand
The cloud that machine, computer, network host, single network server, multiple network server collection or multiple servers are constituted.Here,
Cloud is made of a large number of computers or network servers based on cloud computing (Cloud Computing), wherein cloud computing is distribution
One kind that formula calculates, a super virtual computer consisting of a loosely coupled set of computers.The embodiment of the present invention
In, it can be realized and be communicated by any communication mode between remote control equipment, terminal device and WNS server, including is but unlimited
In, mobile communication based on 3GPP, LTE, WIMAX, based on TCP/IP, the computer network communication of udp protocol and based on indigo plant
The low coverage wireless transmission method of tooth, Infrared Transmission standard.
Refering to fig. 1, the method that a kind of mobile device of the present invention explores building map automatically, comprising:
S100, the laser data for obtaining current location, wherein the laser data includes that can pass through region and barrier area
Domain；
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.Its work is former
Reason be to objective emission detectable signal (laser beam), then by the reflected signal of slave target (target echo) received with
Transmitting signal is compared, after making proper treatment, so that it may target is obtained for information about, such as target range, orientation, height, speed
Degree, posture, the even parameters such as shape, to be detected, tracked and be identified to targets such as aircraft, guided missiles.It is by Laser emission
Electric pulse is become light pulse emission and gone out by the composition such as machine, optical receiver, turntable and information processing system, laser, and light connects
Receipts machine electric pulse is reduced into from the reflected light pulse of target, is sent to display again.The working principle and thunder of laser radar
Up to very close, using laser as signal source, the pulse laser launched by laser gets to trees, the road, bridge on ground
On building, cause to scatter, a part of light wave can be reflected on the receiver of laser radar, according to laser distance measuring principle meter
It calculates, just obtains the distance from laser radar to target point, pulse laser constantly scans object, so that it may obtain on object
The data of target complete point, after carrying out imaging with this data, so that it may obtain accurate three-dimensional image.
Mobile device calculates obstacle distance, the size information of surrounding in current location by laser beam, in certain distance
Then proved with the laser beam for not receiving reflection in the time the region be can by region, the laser beam for receiving reflection can essence
The specific location of quasi- disturbance in judgement object, can obtain barrier region.
S200, it can be moved by region along described, while using current location as origin, using pre-determined distance as radius, be visited
Rope zone of ignorance, wherein the zone of ignorance is the region that the laser data has not been obtained；
Mobile device obtains the laser data around current location in current location, and laser data instruction can pass through region
And barrier region, mobile device, using mobile device itself radius as search radius, are gradually traversed using current location as origin
Search, until search zone of ignorance, and mark position region is explored a little.
In this application, described using current location as origin further referring to Fig. 2, using pre-determined distance as radius, explore
The method of zone of ignorance includes:
S210, using current location as origin, using pre-determined distance as radius, formed search range, in described search range
Search obtains Searching point；
S220, centered on described search point, respectively to adjacent four point search around described search point；
Pre-determined distance is itself radius of mobile device, and setting search range forms the Searching point at multiple groups initial stage, then with
Constantly extend outward based on Searching point, when device to be moved is explored in moving process, whole positions are Searching point, then
Search process is completed.
If S230, Searching point are in the laser data of current location, mark described search point be can by point or not
Reachable point；
Searching point gradually extends outwardly out of mobile device is constructed by laser data map, is likely to be at current location
In the map of laser data building, it is also possible to the map of building is deviated from continuous search process, in zone of ignorance.
In this application, further referring to Fig. 3, the label described search point is can be by point or can not the point of arrival
Method includes:
S231, the laser data of the current location is divided into multiple uniform pixels；
The value of the map pixel of laser data building indicates whether the position can pass through, and each pixel represents a side length
The square of 5cm.That is: if the value of one pixel is " barrier ", mean that the square area of this 5cm × 5cm is
Barrier.
S232, it marks in the laser data of the current location and can be passed through a little by the pixel in region；Currently
Laser data in position constructs the map of current location, includes that can pass through region and barrier area in this laser data
Domain, can be by the pixel in region can be obstacle object point by point, the pixel of barrier region.
S233, the label current location laser data in around barrier region distance be less than the mobile device half
The position of diameter is can not the point of arrival.Distance is less than the position of the mobile device radius, the mobile dress around barrier region
Setting can not reach, so labeled as can not the point of arrival.
If S240, Searching point are not in the laser data of current location, judge Searching point whether be can explore it is unknown
Region simultaneously marks.
When Searching point enters in zone of ignorance, then judge whether this Searching point is passable zone of ignorance, if this is searched
Rope point is passable zone of ignorance, then can be labeled as this Searching point that zone of ignorance can be explored.
In this application, Fig. 4 is further regarded to, judges whether Searching point is the method packet that can be explored zone of ignorance and mark
It includes:
If S241, described search point are marked point, skip；
If S242, described search point are unmarked point, continue to judge.
Marked point refers to that be used as Searching point to be analyzed and be marked pinpoints really, and unmarked point is not search for
Point.Search process is carried out using range optimization traversal mode, so Searching point may be marked point or unmarked point, if
Searching point is then directly skipped, and is then further judged if non-Searching point, deterministic process is as follows:
If S2421, described search point are in zone of ignorance, and having in adjacent four points can be by point, then will be described
Arbitrary point is labeled as that zone of ignorance can be explored；
If described search point is in zone of ignorance, and having in adjacent four points can be by point, may adjacent four points
In have one can by point, two can by point, three can by point or four can by point, these all illustrate this Searching point with
Can being in contact by region for map is constructed, in next moving process, this puts certainly not barrier.
If S2422, described search point are in zone of ignorance, and can not be by point, then by institute in adjacent four points
Arbitrary point is stated to be labeled as not reaching.
Because Searching point be radiated out by having constructed map area, if described search point is in zone of ignorance, and
It can not then illustrate in four adjacent points of Searching point at least one certain point in having constructed by point in adjacent four points
In map, that is, at least one consecutive points be unreachable to a little, others may for zone of ignorance point or can not the point of arrival,
As long as have a consecutive points be can not the point of arrival, illustrate that mobile device cannot move into herein, therefore herein should be labeled as not
Reachable point.
S300, the acquisition zone of ignorance can continue with described by the critical path in region, and along the critical path
Movement is to obtain current laser data；
Region is explored by constantly searching in zone of ignorance in the above process, so as to obtain that region can be passed through
With the critical path that can explore region, mobile device is planned advanceable path according to critical path, is led automatically to realize
The process of boat.
S400, remote server is sent to according to the laser data and movement routine of acquisition generation map.
Mobile device first obtains laser data, searches again for that region can be explored, and then generates guidance path and independently completes to lead
The complete procedure of boat and Scaned map, the acquisition of laser data carry out simultaneously with the search that can explore region, until in map
No longer there is non-Searching point, then map structuring is completed.During constructing map, mobile device is sent out to remote server in real time
Send building map.
In this application, after the completion of the map structuring, it is also necessary to confirm whether map can be used, whether is the confirmation map
Available method includes:
S500, continuous collecting laser data building map simultaneously upload the structure to server terminal in every preset time period
Map is built, so that the remote server identifies the confidence level of the map.
In heuristic process, robot uploaded a map to server every several seconds, by the staff of server end
According to the map shape, neatly with mixed and disorderly degree judge whether it can be used.In general, map is cleaner and tidier, the difference with actual environment
It is different smaller.
In this application, the recognition methods of the barrier region includes:
The barrier is detected using camera is felt deeply；Or
The barrier is detected using infrared distance sensor；Or
The barrier is detected using ultrasonic distance sensor.
It for the hanging barrier in higher, bottom (such as desk), is detected using depth camera, the barrier that will be detected
Position, which projects to, carries out the avoidance that detours on map；
For lower barrier (such as step), infrared distance sensor is mounted in robot obliquely, for visiting
The shape on front ground is surveyed, biggish fluctuating occurs in such as discovery front ground, then it is assumed that has barrier on the ground, needs avoidance；
For glass: detecting the invisible barrier such as glass by the way of ultrasonic distance measurement.
On the other hand, further referring to Fig. 5, a kind of mobile device of the present invention, including laser radar 110, feel camera shooting deeply
First 120, infrared distance sensor 130, ultrasonic distance sensor 140 and processor 150, the mobile dress of processor configuration
Set the automatic method for exploring building map, the laser radar 110, feel deeply camera 120, infrared distance sensor 130 and
Ultrasonic distance sensor 140 is electrically connected communication with processor 150.
A kind of preferred scheme is that mobile device is a kind of mobile robot, and laser radar 110 is mounted on removable motivation
The body front of device people, feels the top that camera 120 is mounted on mobile robot deeply, infrared distance sensor 130 is mounted on
The bottom of mobile robot, ultrasonic distance sensor 140 are mounted on the body front of mobile robot.
On the other hand, a kind of computer readable storage medium of the present invention is stored on the computer readable storage medium
The remote control program of mobile device, the remote control program of the mobile device are executed by processor mobile device and explore automatically
The method for constructing map.
It should be understood that although each step in the flow chart of Fig. 1 is successively shown according to the instruction of arrow, this
A little steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly state otherwise herein, these steps
It executes there is no the limitation of stringent sequence, can execute in the other order.Moreover, at least part step in Fig. 1 can
To include that perhaps these sub-steps of multiple stages or stage are not necessarily to execute completion in synchronization to multiple sub-steps,
But can execute at different times, execution sequence is also not necessarily and successively carries out, but can with other steps or
The sub-step or at least part in stage of other steps execute in turn or alternately.
The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of method that mobile device explores building map automatically characterized by comprising
Obtain the laser data of current location, wherein the laser data includes that can pass through region and barrier region；
It can be moved by region along described, while using current location as origin, using pre-determined distance as radius, explore unknown area
Domain, wherein the zone of ignorance is the region that the laser data has not been obtained；
Obtaining the zone of ignorance can continue to move to described by the critical path in region, and along the critical path to obtain
Current laser data；
Map, which is generated, according to the laser data of acquisition and movement routine is sent to remote server.
2. the method that mobile device according to claim 1 explores building map automatically, which is characterized in that described with current
Position is origin, and using pre-determined distance as radius, the method for exploring zone of ignorance includes:
Using current location as origin, using pre-determined distance as radius, search range is formed, is searched in described search range
Suo Dian；
Centered on described search point, respectively to adjacent four point search around described search point；
If Searching point is in the laser data of current location, mark described search point be can by point or can not the point of arrival；
If Searching point is not in the laser data of current location, judge whether Searching point is that can explore zone of ignorance and mark
Note.
3. the method that mobile device according to claim 2 explores building map automatically, which is characterized in that the label institute
State Searching point be can by point or can not the method for the point of arrival include:
The laser data of the current location is divided into multiple uniform pixels；
Marking in the laser data of the current location can be that can pass through a little by the pixel in region；
Distance around barrier region is marked in the laser data of the current location to be less than the position of the mobile device radius
For can not the point of arrival.
4. the method that mobile device according to claim 3 explores building map automatically, which is characterized in that judge Searching point
Whether be can explore zone of ignorance and mark method include:
If described search point is marked point, skip；
If described search point is unmarked point, continue to judge.
5. the method that mobile device according to claim 4 explores building map automatically, which is characterized in that described search point
For non-Searching point, and the method for continuing judgement includes:
If described search point is in zone of ignorance, and has and then can be marked the arbitrary point by point in adjacent four points
For zone of ignorance can be explored；
If described search point is in zone of ignorance, and then can not be marked the arbitrary point by point in adjacent four points
It is denoted as and does not reach.
6. the method that mobile device according to claim 1 explores building map automatically, which is characterized in that the barrier
The recognition methods in region includes:
The barrier is detected using camera is felt deeply；Or
The barrier is detected using infrared distance sensor；Or
The barrier is detected using ultrasonic distance sensor.
7. the method that mobile device according to claim 1 explores building map automatically, which is characterized in that the map structure
After the completion of building, it is also necessary to confirm whether map can be used, the whether available method of the confirmation map includes:
Continuous collecting laser data constructs map and uploads the building map to server terminal in every preset time period, with
The remote server is set to identify the confidence level of the map.
8. a kind of mobile device, which is characterized in that including laser radar, feel deeply camera, infrared distance sensor, ultrasonic wave away from
From sensor and processor, mobile device described in the processor configuration the claims 1-7 any one is visited automatically
The method that rope constructs map, the laser radar, to feel camera, infrared distance sensor and ultrasonic distance sensor deeply equal
Communication is electrically connected with processor.
9. a kind of computer readable storage medium, which is characterized in that be stored with mobile dress on the computer readable storage medium
The remote control program set, the remote control program of the mobile device, which is executed by processor in Shi Xianru claim 1-7, appoints
The method that mobile device described in meaning one explores building map automatically.
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| CN110673599A (en) * | 2019-09-29 | 2020-01-10 | 北京邮电大学 | Sensor network-based environment sensing system for automatic driving vehicle |
| CN111035930A (en) * | 2019-12-06 | 2020-04-21 | 珠海海鸟科技有限公司 | Map data processing method and device |
| CN111505652A (en) * | 2020-04-08 | 2020-08-07 | 惠州拓邦电气技术有限公司 | Map establishing method, device and operation equipment |
| CN112426095A (en) * | 2020-11-24 | 2021-03-02 | 尚科宁家(中国)科技有限公司 | Partitioned cleaning method of cleaning robot and cleaning robot |
| CN113848912A (en) * | 2021-09-28 | 2021-12-28 | 北京理工大学重庆创新中心 | Indoor map establishing method and device based on autonomous exploration |
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