CN110673614A - Mapping system and mapping method of small robot group based on cloud server - Google Patents
Mapping system and mapping method of small robot group based on cloud server Download PDFInfo
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- 238000013507 mapping Methods 0.000 title claims abstract description 68
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- 230000033001 locomotion Effects 0.000 claims abstract description 30
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- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
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- 238000011065 in-situ storage Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a mapping system and a mapping method of a small robot group based on a cloud server, wherein the system comprises: the system comprises a small robot group and a cloud server, wherein the small robot group comprises a plurality of small robots, each small robot receives and moves according to a movement instruction from the cloud server, and acquires surrounding environment data and mileage data to transmit to the cloud server; and the cloud server is used for receiving the ambient environment data and the mileage data of the plurality of small robots, mapping according to the ambient environment data and the mileage data of the small robots, calculating and generating a next task of mapping, planning the moving direction of each small robot according to the next task, and sending a moving instruction moving to the corresponding moving direction to the corresponding small robot. According to the invention, through data processing and real-time communication of the cloud server, the calculated amount of the small robot is reduced, so that the robot can be miniaturized.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a mapping system and a mapping method of a small robot group based on a cloud server.
Background
When the robot faces some unknown environments and dangerous environments, the robot needs to quickly create a map, process and feedback the created map in time and accurately position the position of the robot in the environment. A single robot cannot meet the map creation requirement for a large and complex environment, so that the cooperative use of the robot group can realize map construction more quickly. Due to the real-time property, the rapidity and the accuracy required by map construction, real-time communication and data processing are two main problems to be solved in map construction navigation of a robot group.
The robot group for mapping and positioning used at present is a medium-sized and large-sized robot with a high-performance processor and a plurality of sensors, the size is relatively large, and the action range is limited. The small robot group can reduce the cost, and meanwhile, the multiple robot groups can accelerate the rapidness and the accuracy of map building navigation positioning.
Disclosure of Invention
The invention provides a mapping system and a mapping method of a small robot group based on a cloud server, which are used for solving the technical problem that the robot group for mapping and positioning is high in performance requirement due to complex calculation, so that the large size and the limited action range are achieved.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a mapping system of a small robot group based on a cloud server comprises:
the system comprises a small robot group and a cloud server, wherein the small robot group comprises a plurality of small robots, each small robot receives and moves according to a movement instruction from the cloud server, and acquires surrounding environment data and mileage data to transmit to the cloud server;
and the cloud server is used for receiving the ambient environment data and the mileage data of the plurality of small robots, mapping according to the ambient environment data and the mileage data of the small robots, calculating and generating a next task of mapping, planning the moving direction of each small robot according to the next task, and sending a moving instruction moving to the corresponding moving direction to the corresponding small robot.
Preferably, the small robot is provided with: the device comprises a driving execution module, a sensor module and a communication module;
the sensor module comprises an external sensor and an internal sensor, wherein the external sensor comprises a laser radar for collecting surrounding environment data; the internal sensor comprises a robot odometer for acquiring mileage data;
the driving execution module is used for actively driving the tire to move on the complex terrain according to the movement instruction and driving plates for driving the tire to run;
the communication module is used for carrying out wireless communication with the cloud server so as to send surrounding environment data and mileage data to the cloud server and receive a mobile instruction from the cloud server.
Preferably, the internal sensor further comprises an IMU (Inertial Measurement Unit) Inertial Measurement Unit for acquiring attitude angles and accelerations of the small robot.
Preferably, the cloud server comprises a computing module and a communication module;
the computing module comprises a mapping module and a navigation module, wherein the mapping module is used for mapping the surrounding environment data and the mileage data of each small robot and computing and generating the next step of mapping; the navigation module is used for planning the moving direction of each small robot according to the next task and generating a corresponding moving instruction;
and the communication module is used for carrying out wireless communication with each small robot so as to receive the surrounding environment data and the mileage data of each small robot and send corresponding movement instructions to each small robot.
Preferably, when the navigation module generates the movement instruction corresponding to each small robot, the navigation module firstly positions each small robot in the drawn map, and searches for a task area close to a next task area for each small robot according to a next task plan, and calculates an optimal path of the small robot in the task area, generates a plurality of movement instruction sets according to the optimal path, and sends the corresponding movement instruction to the small robot when the small robot is about to reach the next movement instruction starting area.
The invention also provides a mapping method of the small robot group based on the cloud server, wherein each small robot carries out mapping according to the following working modes:
idle mode: the small robot is in an in-situ standby state and collects current surrounding environment data;
a graph establishing mode: the small robot is in a mapping state, acquires current surrounding environment data and transmits the data to a cloud server; receiving a moving instruction sent by the cloud server, and driving the control module to receive the moving instruction to move;
and (3) navigation mode: the small robot is in a navigation state, acquires current surrounding environment data, receives a moving instruction sent by the cloud server, and moves according to the moving instruction;
correspondingly, the cloud server does not send instructions to the small robot in the idle mode; the cloud server builds a map according to data transmitted by the small robot in the map building mode and sends a moving instruction to the corresponding small robot; the cloud server positions the small robots in the navigation mode in the drawn map according to data transmitted by the small robots, a task area close to the next task area is searched for each small robot according to the next task plan, the optimal paths of the small robots in the task areas are calculated, a plurality of moving instruction groups are generated according to the optimal paths, and corresponding moving instructions are sent to the small robots when the small robots are about to reach the next moving instruction starting area.
Preferably, the method further comprises:
the cloud server is used for switching the small robot in the idle mode to a mapping mode, collecting data from the small robot and mapping the data through the mapping module; the working mode of the small robot is switched into a navigation mode through an existing map model, and the small robot is controlled to move by sending a movement instruction.
Preferably, the method further comprises: the cloud server controls the small robot to move by sending a moving instruction, and when meeting a region without a map, the small robot which is closest to the near distance and in an idle mode is selected to be switched to a map building mode, and environmental data are collected in the past to build a map; and if no idle robot exists, switching the small robot currently in the navigation mode into the mapping mode to map.
The invention has the following beneficial effects:
according to the mapping system and the mapping method of the small robot group based on the cloud server, the rapidness and the accuracy of map creation are accelerated through data processing and real-time communication of the cloud server, the calculated amount of the small robot is reduced, the robot can be miniaturized, the small robot group is used for replacing the existing robot with complex design, the use cost is reduced, and the moving range is wider.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a mapping system of a small robot group based on a cloud server in the preferred embodiment of the invention;
FIG. 2 is a schematic structural view of a small robot according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a cloud server according to a preferred embodiment of the present invention;
fig. 4 is a schematic processing flow diagram of the cloud server according to the preferred embodiment of the present invention when the mode of the small robot is switched;
fig. 5 is a schematic diagram of the mode switching process of the small robot according to the preferred embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
Referring to fig. 1, the mapping system of the cloud server-based small robot group of the present invention comprises the small robot group and a cloud server:
the system comprises a small robot group and a cloud server, wherein the small robot group comprises a plurality of small robots, each small robot receives and moves according to a movement instruction from the cloud server, and acquires surrounding environment data and mileage data to transmit to the cloud server;
and the cloud server is used for receiving the ambient environment data and the mileage data of the plurality of small robots, mapping according to the ambient environment data and the mileage data of the small robots, calculating and generating a next task of mapping, planning the moving direction of each small robot according to the next task, and sending a moving instruction moving to the corresponding moving direction to the corresponding small robot.
Above-mentioned structure puts map construction and positioning navigation's complex computation in high in the clouds server, can reduce the equipment requirement of host control, reduces local robot's operational pressure to can choose for use the lower small robot group of price to operate.
In practical implementation, the small robot can be assembled by the demand, the size of the small robot is a light-weight robot which is not more than 20cm by 20cm (length by width by height), and the small robot is internally provided with only a sensor module, a communication module and a driving execution module. A sensor module including an external sensor and an internal sensor, the external sensor including a lidar (binocular camera) for collecting ambient environment data; the internal sensor comprises a robot odometer for acquiring self-mileage data and an attitude angle and acceleration IMU inertial measurement unit for acquiring the small robot. In this embodiment, the driving execution module includes four active driving tires capable of adapting to the movement of complex terrain, a driving plate capable of driving the tires to run, and a power supply. The communication module is used for carrying out wireless communication with the cloud server so as to send surrounding environment data and mileage data to the cloud server and receive a moving instruction from the cloud server.
The cloud server is a convenient, fast, safe, practical and high-processing-performance computing service, and preferably comprises a computing module and a communication module in actual implementation. The calculation module comprises a mapping module and a navigation module, wherein the mapping module is used for mapping surrounding environment data and mileage data of each small robot (laser data and mileage count data are adopted to generate a two-dimensional map), and calculating the next task of mapping; and the navigation module is used for planning the moving direction of each small robot according to the next task and generating a corresponding moving instruction. And the communication module is used for carrying out wireless communication with each small robot so as to receive the surrounding environment data and the mileage data of each small robot and send corresponding movement instructions to each small robot.
In practical implementation, the following preferred embodiment may also be adopted, where the small robot further acquires IMU information, sends the IMU information together with the mileage data to the cloud server, and obtains depth data of a scene (external sensor of the small robot) by matching with the three-dimensional laser point cloud obtaining device as a third input of the mapping module of the cloud server, thereby constructing a three-dimensional map.
In practical implementation, when the navigation module generates the movement instruction corresponding to each small robot, each small robot is positioned in the drawn map, a task area close to the next task area is searched for each small robot according to the next task plan, the optimal path of the small robot in the task area is calculated, a plurality of movement instruction sets are generated according to the optimal path, and the corresponding movement instruction is sent to the small robot when the small robot is about to reach the next movement instruction starting area.
As shown in fig. 2 and 3, the small robot collects surrounding environment information through an external sensor, collects current odometer information of the small robot through an internal sensor, and then transmits the sensor pattern collection information to the cloud server through the communication module. The cloud server inputs the sensor information received by the communication module and sent by the robot into the map building module, and the current map information is calculated and drawn through the map building module. The cloud server uses the navigation module to position the location of the robot, calculates the direction, distance and speed of the robot to be moved, plans a path, and sends the planned movement instruction to the robot through the communication module. After receiving the motion instruction, the robot sends the motion instruction to the driving execution module, so that the robot moves according to the cloud planning path.
The embodiment also provides a mapping method of the cloud server-based small robot group, as shown in fig. 4 and 5, each small robot is mapped according to the following working modes:
idle mode: the small robot is in an in-situ standby state and collects current surrounding environment data;
a graph establishing mode: the small robot is in a mapping state, acquires current surrounding environment data and transmits the data to a cloud server; receiving a moving instruction sent by the cloud server, and driving the control module to receive the moving instruction to move;
and (3) navigation mode: the small robot is in a navigation state, acquires current surrounding environment data, receives a moving instruction sent by the cloud server, and moves according to the moving instruction;
correspondingly, the mode switching of the small robot is switched by the cloud server according to the requirement, if the map is required to be built, the mode is switched to the map building mode, if the robot needs to travel to a specific target point, the navigation mode is started, and if the robot needs to stop, the idle mode is started. Generally, the cloud server does not send instructions to the small robot in the idle mode; the cloud server builds a map according to data transmitted by the small robot in the map building mode and sends a moving instruction to the corresponding small robot; the cloud server positions the small robots in the navigation mode in the drawn map according to data transmitted by the small robots, a task area close to the next task area is searched for each small robot according to the next task plan, the optimal paths of the small robots in the task areas are calculated, a plurality of moving instruction groups are generated according to the optimal paths, and corresponding moving instructions are sent to the small robots when the small robots are about to reach the next moving instruction starting area.
During implementation, the cloud server switches the small robot to the mapping mode, waits for the environmental data sent by the small robot, and transmits the received data to the mapping module for processing. If the environment data of the small robot is not received, a moving instruction is sent to the small robot through the communication module, the small robot is made to move in a small range, and the small robot waits for data transmission again. After the map is built and the small robot is switched to a navigation mode, a target point which needs to be moved by the small robot is set, whether the map is in a known state or not is judged, if the map is known, data information of the small robot is received, the current position of the small robot is judged through a navigation module, path planning of a motion trail is carried out, the moving direction and the moving speed of the small robot which needs to be moved to the target point are determined, and a moving instruction is converted and sent to the small robot through a communication module.
In practice, the following preferred embodiments may also be adopted: the cloud server is used for switching the small robot in the idle mode to a mapping mode, collecting data from the small robot and mapping the data through the mapping module; switching the working mode of the small robot into a navigation mode through an existing map model, controlling the small robot to move by sending a moving instruction, checking and selecting the small robot which is closest to the nearby distance and in an idle mode to switch into a map building mode when meeting an area without a map building, and building a map by collecting environmental data in the previous direction; and if no idle robot exists, switching the current nearest small robot in the navigation mode into a mapping mode for mapping.
In conclusion, the method and the system have the advantages that the cloud server is adopted for communication, the convenience and the simplicity are realized, the real-time performance of map building and navigation can be improved by using wireless communication, and the requirements can be realized more quickly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A mapping system of a small robot group based on a cloud server is characterized by comprising:
the system comprises a small robot group and a cloud server, wherein the small robot group comprises a plurality of small robots, each small robot receives and moves according to a movement instruction from the cloud server, and acquires surrounding environment data and mileage data to transmit to the cloud server;
and the cloud server is used for receiving the ambient environment data and the mileage data of the plurality of small robots, mapping according to the ambient environment data and the mileage data of the small robots, calculating and generating a next step task of mapping, planning the moving direction of each small robot according to the next step task, and sending a moving instruction moving to the corresponding moving direction to the corresponding small robot.
2. The mapping system of the cloud server-based small robot group according to claim 1, wherein: the device comprises a driving execution module, a sensor module and a communication module;
the sensor module comprises an external sensor and an internal sensor, wherein the external sensor comprises a laser radar for collecting surrounding environment data; the internal sensor comprises a robot odometer for acquiring mileage data of the robot;
the driving execution module is used for actively driving the tire to move on the complex terrain according to the movement instruction and driving plates for driving the tire to run;
the communication module is used for carrying out wireless communication with the cloud server so as to send surrounding environment data and mileage data to the cloud server and receive a moving instruction from the cloud server.
3. The mapping system of the cloud server-based small robot group as claimed in claim 2, wherein the internal sensors further comprise an IMU inertial measurement unit for acquiring attitude angle and acceleration of the small robot.
4. The mapping system of the cloud server-based small robot group of claim 1, wherein the cloud server comprises a computing module and a communication module;
the calculation module comprises a mapping module and a navigation module, wherein the mapping module is used for mapping surrounding environment data and mileage data of each small robot and calculating and generating the next step of mapping; the navigation module is used for planning the moving direction of each small robot according to the next task and generating a corresponding moving instruction;
and the communication module is used for carrying out wireless communication with each small robot so as to receive the surrounding environment data and the mileage data of each small robot and send corresponding moving instructions to each small robot.
5. The system of claim 1, wherein the navigation module is configured to locate each of the small robots in the mapped map when generating the movement command corresponding to each of the small robots, search for a task area close to a next task area for each of the small robots according to a next task plan, calculate an optimal path of the small robots in the task area, generate a plurality of movement command sets according to the optimal path, and transmit the corresponding movement command to the small robots when the small robots are about to reach a next movement command start area.
6. A mapping method of a mapping system of a cloud server-based small robot group according to any one of claims 1 to 5, wherein each small robot performs mapping according to the following working modes:
idle mode: the small robot is in an in-situ standby state and collects current surrounding environment data;
a graph establishing mode: the small robot is in a mapping state, acquires current surrounding environment data and transmits the data to a cloud server; receiving a moving instruction sent by the cloud server, and driving the control module to receive the moving instruction to move;
and (3) navigation mode: the small robot is in a navigation state, acquires current surrounding environment data, receives a moving instruction sent by the cloud server, and moves according to the moving instruction;
correspondingly, the cloud server does not send instructions to the small robot in the idle mode; the cloud server builds a map according to data transmitted by the small robot in the map building mode and sends a moving instruction to the corresponding small robot; the cloud server positions the small robots in the navigation mode in a drawn map according to data transmitted by the small robots, plans a task area close to a next task area for each small robot according to the next task, calculates an optimal path of the small robot in the task area, generates a plurality of movement instruction groups according to the optimal path, and transmits a corresponding movement instruction to the small robot when the small robot is about to reach the next movement instruction starting area.
7. The mapping method according to claim 6, further comprising:
the cloud server is used for switching the small robot in the idle mode to a mapping mode, collecting data from the small robot and mapping the data through the mapping module; the working mode of the small robot is switched into a navigation mode through an existing map model, and the small robot is controlled to move by sending a movement instruction.
8. The mapping method according to claim 7, further comprising: when the cloud server sends a moving instruction to control the small robot to move and meets a region without a map, the small robot which is closest to the near distance and in an idle mode is selected to be switched to a map building mode, and environmental data are collected in the past to build a map; and if no idle robot exists, switching the small robot currently in the navigation mode into the mapping mode to map.
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