CN112068552A - Mobile robot autonomous drawing construction method based on CAD drawing - Google Patents
Mobile robot autonomous drawing construction method based on CAD drawing Download PDFInfo
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Abstract
A mobile robot self-drawing construction method based on CAD drawings comprises the following steps: generating a grid map by the CAD vector map according to the marked size in the same proportion, and processing the grid map into a navigation prior map; drawing an expected mapping route on a navigation prior map, and sampling discrete path points on the mapping route to generate a dense final mapping route; the robot carries out positioning and tracking a planned mapping path based on a navigation prior map, autonomously avoids obstacles in the walking process and builds a map in real time; and the robot returns to the end point of the map building path, and the built map is generated and stored. The method utilizes the CAD map as the navigation prior map to plan the mapping path of the robot in advance, can control the movement track of the robot, avoids the influence of non-referential property and randomness of the robot on the mapping quality in the autonomous mapping walking process, improves the controllability and the high efficiency of the autonomous mapping, has strong practicability and is easy to realize.
Description
Technical Field
The invention relates to the technical field of map construction, in particular to a mobile robot autonomous map construction method based on CAD drawings.
Background
In the field of mobile robots, the positioning and navigation of the robot cannot leave a map, so that the robot must scan and detect a working environment in advance to construct the map and provide reference for the subsequent work of the robot. The map building is a process that the robot moves in the environment, environment information is detected through a sensor carried by the robot, contour information of the environment is recorded, and a map is finally generated. Generally, a map is constructed by scanning a manually operated robot in an environment, and then a map is generated, and the method consumes a large amount of labor cost, so that the mobile robot autonomous map construction method becomes a research hotspot in the field of recent mobile robots. The conventional autonomous mapping method is mainly exploration-type mapping, namely, a robot moves in a search-type manner within a specified range and finally generates a map, for example, SLAM technology, which is synchronous positioning and mapping construction, moves in an unknown environment under the condition of no scene prior information, performs self-positioning through multi-feature matching according to sensor detection data and pose estimation and constructs an incremental map.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the mobile robot autonomous drawing construction method based on the CAD drawing, which has strong controllability and high efficiency.
The invention is realized by the following technical scheme:
a mobile robot self-drawing construction method based on CAD drawings comprises the following steps:
s1, converting the CAD drawing into a grid map, and then processing into a navigation prior map;
s2, planning a mapping path of the robot based on the navigation prior map;
s3, positioning and tracking a planned mapping path by the robot based on the navigation prior map, and automatically avoiding obstacles and building a map in real time in the walking process;
and S4, the robot arrives at the end point of the map building path, generates and stores the built map, and completes the self-map building task.
The CAD drawing is a vector map, and the scheme performs navigation positioning based on a 2D grid map, so that the CAD drawing needs to be converted into the 2D grid map. Compared with a vector diagram, the grid map is a rectangular pattern consisting of a series of pixels, has a simple data structure, is convenient for space analysis and surface simulation, has strong appearance and is suitable for robot positioning.
The 2D grid map generated from the CAD drawing can be used primarily for navigation, and due to construction errors and environmental improvement, the map cannot be used for accurate navigation, and it is feasible to use the map as a prior navigation map for drawing. On the premise of a prior map, the motion trail of the robot for automatically constructing the map can be controlled by drawing the mapping path, so that the efficient and controllable automatic map construction is realized.
Further, the specific method of the step S1 is as follows: and generating a grid map in the same proportion according to the marked size of the CAD drawing, and processing the grid map into a navigation prior map by adding partial obstacles or erasing partial obstacles and other processing modes. Since information (including obstacles) in the actual scene may come in and go out of the CAD map, the grid map converted from the CAD map needs to be processed in actual application to better meet the situation in the actual scene.
Further, the specific method of the step S2 is as follows: drawing an expected drawing route on a navigation prior map according to a drawing task of the robot, wherein the drawing principle of the drawing route is that a drawing path passes through a scene to be scanned, and the drawing task of the robot can be covered by the drawing route; and sampling the drawn mapping route to generate a final robot mapping path.
The 2D grid map is generated by CAD drawings in the same proportion, each pixel of the 2D grid map can correspond to real world coordinates in the environment, namely the pixel coordinates can be converted to obtain world coordinates, the drawing route is composed of path points, and discrete path points on the drawing route under the world coordinate system can be obtained by capturing the pixel coordinates covered by the path points on the 2D grid map drawing route.
Because the distances between the path points are different in size during drawing, the path points may be too sparse when the path points are directly used, and further, discrete path points on the mapping route need to be sampled to generate a dense final path for accurate control, and the specific sampling method is as follows: connecting two adjacent path points on the mapping route into a straight line, if the distance of the straight line is greater than 5cm, inserting one path point on the straight line, if the distance between the two adjacent path points after the path point is inserted is still less than 5cm, continuing to insert one path point until the distances between all the two adjacent path points are less than or equal to 5cm, and connecting all the path points on the mapping route to obtain the mapping route of the robot.
Further, the step S3 specifically includes the following steps:
s31, positioning the robot in a navigation prior map through a sensor carried by the robot;
s32, navigating the robot to the starting point of the map building path, and starting an automatic map building task mode;
s33, the robot builds a map in real time in the process of tracking the driving according to the positioning and tracking map building path in the navigation prior map, and continues to track the map building path after avoiding obstacles until the robot drives to the end point of the map building path.
Further, the sensor for positioning by the robot is a laser radar or a vision sensor.
The CAD map is used as the navigation prior map of the robot, the mapping path of the robot can be planned in advance through the prior map so as to control the motion trail of the robot for automatically mapping, the influence of no reference and randomness of the robot on the integrity and quality of mapping in the process of automatically mapping and walking can be avoided, the controllability and the efficiency of automatically mapping are improved, and the practicability is strong; the CAD data format map is the most frequently stored and used map by a building department and a surveying and mapping department, and particularly for buildings, the building construction map, the floor distribution map and the like are mostly CAD drawings, and are rich in resources and easy to obtain, so that the technical scheme of the invention has strong practicability and easy realization, is particularly suitable for autonomous robot map building in building construction places, indoor spaces and the like, and greatly reduces the map building cost; by sampling and repairing the mapping route, path points on the mapping route are dense, the mapping route is more accurate and controllable, the path tracking and positioning of the robot are facilitated, and the quality of the self-mapping is further improved.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Fig. 2 is an original CAD drawing in an embodiment of the invention.
FIG. 3 is a schematic diagram of a prior map generated from an original CAD drawing and a mapping path according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a map finally generated by the robot in the embodiment of the present invention.
Reference numerals: 1-construction of a graph route.
Detailed Description
A mobile robot self-drawing construction method based on CAD drawings is disclosed, as shown in FIG. 1, and comprises the following steps:
1. generating navigation prior map from CAD drawing
(1) And generating a 2D grid map according to the dimension marked on the CAD drawing in the same scale. Taking a 2D grid map with a pixel size of 5cm as an example, if the labeled dimension of the CAD drawing is (104.2m × 52.8m), the size of the generated navigation prior map is 2084 × 1056 pixels. The invention can be applied to the invention after a structure diagram, a layout diagram and the like drawn by various software (such as AutoCAD, Solidworks, CeropCt and the like) are converted into a CAD format, and the prior art can be adopted for converting a vector diagram into a grid diagram, for example, the prior art can be adopted for converting a CAD drawing into a gray diagram with a pgm format by using Photoshop software, wherein black represents an obstacle, white represents a feasible region and gray represents an unknown region. Or adopting the following processing method: converting the CAD drawing into drawing data in a DXF format, reading a group code and an associated value in the drawing data in the DXF format, and performing information screening and data extraction according to different segment names in a file, so as to extract image information in the drawing data in the DXF format according to the group code and the associated value; and establishing a coordinate system according to drawing data in the DXF format, and determining the coordinate position of the image in the coordinate system.
(2) And processing the generated 2D grid map, for example, adding partial obstacles or erasing partial obstacles, and processing the grid map into a navigation prior map. Since information (including obstacles) in the actual scene may come in and go out of the CAD map, the grid map converted from the CAD map needs to be processed in actual application to better meet the situation in the actual scene. The obstacle adding means that obstacles existing in the actual environment are reflected on the map, the obstacle erasing means that obstacles which do not exist in the actual environment are erased from the map, and the obstacle adding and erasing means that the generated map is more matched with the actual environment so as to be more beneficial to navigation based on the map. The obstacles herein refer to objects in the actual environment, such as walls, pillars, doors, seats, etc.
Taking the original CAD plane distribution map of a certain building floor in fig. 2 as an example, firstly, labels which do not exist in the CAD map are deleted, only building outlines and the like are reserved, the labels can be introduced into Photoshop software and converted into a 2D grid map according to the steps, then, the grid map is subjected to obstacle measurement erasing and increasing, so that the grid map is more in line with the actual environment, and the processed navigation prior map is shown in fig. 3.
2. Planning and drawing path on prior map
(1) According to a mapping task of the robot, drawing an expected mapping route 1 on a navigation prior map, wherein the principle of drawing the mapping route 1 is that a mapping path passes through a scene needing to be scanned, and the mapping route 1 can cover the mapping task of the robot.
(2) Connecting two adjacent path points on the mapping route 1 into a straight line, if the distance of the straight line is greater than 5cm, inserting one path point on the straight line, if the distance between the two adjacent path points after the path point is inserted is still less than 5cm, continuing to insert one path point until the distances between all the two adjacent path points are less than or equal to 5cm, and connecting all the path points on the mapping route to form a dense final path, namely the mapping route 1 of the robot.
3. Robot carries out location and trails the mapping route of drawing based on priori map
(1) The robot carries out positioning in a navigation priori map through a laser radar, a vision sensor and the like which are carried by the robot. The robot positioning technology is the most basic link for the robot to realize autonomous positioning navigation, is the position of the robot relative to a global coordinate and the posture of the robot per se in a two-dimensional working environment, has more research and application in this respect, and is not described herein any more. The robot positioning based on the prior map can adopt the existing robot positioning technology, for example, the laser SLAM technology with relatively mature theory and product can be adopted, the point cloud information of an object is collected by means of a laser radar, and the change of the relative movement distance and the posture of the laser radar is calculated by matching and comparing two pieces of point clouds at different moments, so that the robot is positioned.
(2) And the robot navigates to the starting point of the mapping path and starts an autonomous mapping mode.
(3) The robot tracks the mapping path in real time in the driving process according to the positioning track mapping path in the navigation prior map, and continues to track the mapping path after avoiding obstacles until the robot drives to the end point of the mapping path. The method for real-time map construction has more prior arts, such as mapping-based map construction technology, cartographer-based map construction technology and the like can be used in the invention, or other researches on the real-time map construction method can be carried out on the basis of the technical scheme of the invention, so that the steps of real-time map construction are simplified, and the quality of real-time map construction is improved.
4. The robot returns to the end point of the mapping path and generates a map
(1) The robot walks to the end of the map building path and saves the built map as shown in fig. 4.
(2) The robot completes the task of self-drawing construction.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A mobile robot self-drawing construction method based on CAD drawings is characterized by comprising the following steps:
s1, converting the CAD drawing into a grid map, and then processing into a navigation prior map;
s2, planning a mapping path of the robot based on the navigation prior map;
s3, positioning and tracking a planned mapping path by the robot based on the navigation prior map, and automatically avoiding obstacles and building a map in real time in the walking process;
and S4, the robot arrives at the end point of the map building path, generates and stores the built map, and completes the self-map building task.
2. The mobile robot self-drawing construction method based on CAD drawing paper of claim 1, wherein the concrete method of step S1 is: and generating a grid map in the same scale according to the marked size of the CAD drawing, and processing the grid map into a navigation prior map by adding partial obstacles or erasing partial obstacles.
3. The mobile robot self-drawing construction method based on CAD drawing paper of claim 1, wherein the concrete method of step S2 is: drawing an expected mapping route on a navigation prior map according to the mapping task of the robot, wherein the mapping route can cover the mapping task of the robot; and sampling the drawn mapping route to generate a final robot mapping path.
4. The mobile robot self-drawing method based on the CAD drawing as recited in claim 3, wherein the method for sampling the drawing route is as follows: connecting two adjacent path points on the mapping route into a straight line, if the distance of the straight line is greater than 5cm, inserting one path point in the straight line, if the distance between the two adjacent path points after the path point is inserted is still less than 5cm, continuing to insert one path point until the distances between all the two adjacent path points are less than or equal to 5cm, and connecting all the path points on the mapping route to obtain the mapping route of the robot.
5. The mobile robot self-drawing construction method based on the CAD drawing as recited in claim 1, wherein the step S3 specifically comprises the steps of:
s31, positioning the robot in a navigation prior map through a sensor carried by the robot;
s32, navigating the robot to the starting point of the map building path, and starting an automatic map building task mode;
s33, the robot builds a map in real time in the process of tracking the driving according to the positioning and tracking map building path in the navigation prior map, and continues to track the map building path after avoiding obstacles until the robot drives to the end point of the map building path.
6. The mobile robot autonomous construction method based on CAD drawing paper of claim 5, characterized in that, the sensor for robot positioning is laser radar or vision sensor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113793379A (en) * | 2021-08-12 | 2021-12-14 | 视辰信息科技(上海)有限公司 | Camera pose solving method, system, equipment and computer readable storage medium |
| CN114608549A (en) * | 2022-05-10 | 2022-06-10 | 武汉智会创新科技有限公司 | Building measurement method based on intelligent robot |
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| CN107992964A (en) * | 2017-11-24 | 2018-05-04 | 北京金风科创风电设备有限公司 | Map path generation method, device, system and storage medium |
| CN110132291A (en) * | 2019-05-16 | 2019-08-16 | 深圳数翔科技有限公司 | Grating map generation method, system, equipment and storage medium for harbour |
| CN110268354A (en) * | 2019-05-09 | 2019-09-20 | 珊口（深圳）智能科技有限公司 | Update the method and mobile robot of map |
| CN111459166A (en) * | 2020-04-22 | 2020-07-28 | 北京工业大学 | Scene map construction method containing position information of trapped people in post-disaster rescue environment |
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2020
- 2020-08-18 CN CN202010831869.6A patent/CN112068552A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107992964A (en) * | 2017-11-24 | 2018-05-04 | 北京金风科创风电设备有限公司 | Map path generation method, device, system and storage medium |
| CN110268354A (en) * | 2019-05-09 | 2019-09-20 | 珊口（深圳）智能科技有限公司 | Update the method and mobile robot of map |
| CN110132291A (en) * | 2019-05-16 | 2019-08-16 | 深圳数翔科技有限公司 | Grating map generation method, system, equipment and storage medium for harbour |
| CN111459166A (en) * | 2020-04-22 | 2020-07-28 | 北京工业大学 | Scene map construction method containing position information of trapped people in post-disaster rescue environment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113793379A (en) * | 2021-08-12 | 2021-12-14 | 视辰信息科技(上海)有限公司 | Camera pose solving method, system, equipment and computer readable storage medium |
| CN114608549A (en) * | 2022-05-10 | 2022-06-10 | 武汉智会创新科技有限公司 | Building measurement method based on intelligent robot |
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