TW201818767A - Map creation method and its architecture of robot which can automatically finish the plane detection in the space and the creation, editing and storage of map in order to avoid human error, improve the accuracy and efficiency, and achieve the goal of full automation - Google Patents

Abstract

The present invention is related to a map creation method and its architecture of robot. The architecture mainly includes a computer and a mobile platform, and wireless communication or data transmission can be performed through one or more communication base stations. Firstly, the computer is used to remotely control the mobile platform to move in a space. The computer includes a remote control unit, a map calculation unit, a map editing unit and a first communication unit, all of which are electrically connected together. The remote control unit provides a remote control for an operator. The map calculation unit calculates the map information. The map editing unit edits the map information. The first communication unit communicates with the communication base station. The mobile platform has a mobile function and includes a detection unit, a map data unit, a positioning unit and a second communication unit, all of which are electrically connected together. The detection unit detects the surrounding environment and obtains data. The map data unit stores map information. The positioning unit obtains the position information of the mobile platform. The second communication unit communicates with the communication base station. The detection unit in the mobile platform scans the environment and transmits the data back to the computer. The computer will calculate and construct a map. After the map is established, the personnel sets the route and edits and stores the data, and then the mobile platform can cooperate with the positioning unit to walk within the space without the need for remote control so that the purpose of automatic movement can be accomplished. Thus, according to the present invention, the map creation method and its architecture of robot can automatically finish the plane detection in the space and the creation, editing and storage of map in order to avoid human error, improve the accuracy and efficiency, and achieve the goal of full automation.

Description

   Map building method and architecture of robot   

The invention relates to a method for constructing a map of a robot and its architecture, and relates to a technical field in which a robot first creates a map in a space to facilitate subsequent automatic movement.

With the rapid development of science and technology, more and more human work is gradually replaced by automated machines. For example, the assembly line, welding and other processes on the production line, even the cooking of food in the kitchen, or the transportation of goods in the factory, can be completed by robots.

Among them, in the general factory area for the automated machine transportation or movement of items, in the past, it may be possible for personnel to first manually measure and draw the factory floor data and other data into the robot database, but in practice, it often occurs due to human error. Finally, the robot may make mistakes and cause dangers such as collision when moving. In addition, manual measurement and setting is quite labor-intensive and extremely inefficient. Obviously, the procedures for measuring and setting the space should also be left to the robot to reduce the possibility of errors.

The inventor has previously proposed a patent application No. 97125644 in the former case "Remote Remote Control Method". This case is derived from this case. It is hoped that this case can be used to improve the measurement of existing artificial space and hope that the robot will be in space. Measurement and movement can achieve full automation, so that the related products can be perfected, ideal and practical, and implement the goal of full automation.

In order to improve the lack of mistakes in the manual measurement space and route setting, the main purpose of the "map building method and structure of the robot" of the present invention is to provide a map building method and structure that can be completely automated. The plane detection and map creation, editing and storage in the space can avoid human error, improve accuracy and efficiency, and achieve the purpose of comprehensive automation.

In order to achieve the above purpose, the specific content of this case is that the architecture mainly includes a computer and a mobile platform, during which wireless communication or data transmission can be performed through one or more communication base stations. The computer is used to remotely control the mobile platform to move in a space. The detection unit in the mobile platform scans the environment and returns data to the computer. The computer will calculate and construct a map. After the map is created, the staff will set a preset travel route. The data is stored in the map data unit of the mobile platform, and then the mobile platform can cooperate with the positioning unit to walk in the space on its own without remote remote control to complete the purpose of automatic movement.

The structure of this case specifically includes a computer and a mobile platform, during which wireless communication or data transmission can be performed through one or more communication base stations.

The computer includes a remote control unit, a map calculation unit, a map editing unit and a communication unit which are electrically connected. The remote control unit provides remote control by the operator; the map calculation unit can perform map calculation on information; the map editing unit can perform map editing on map information; and the communication unit can cooperate with the communication base station for wireless Communication or data transfer.

As for the mobile platform, it is a machine equipment with mobile functions, including a detection unit, a map data unit, a positioning unit and a communication unit which are electrically connected. The detection unit is a laser radar that can be used to detect the surrounding environment and obtain data; the map data unit is capable of storing a map and other information; the positioning unit is capable of obtaining the location where the mobile platform is located Data; The communication unit is capable of cooperating with the communication base station for wireless communication or data transmission.

The communication unit includes any one of wireless and wired modes.

1‧‧‧ computer

11‧‧‧Remote remote control unit

12‧‧‧Map calculation unit

13‧‧‧Map editing unit

14‧‧‧Communication Unit

2‧‧‧mobile platform

21‧‧‧ Detection Unit

22‧‧‧Map data unit

23‧‧‧ positioning unit

24‧‧‧ Communication Unit

3‧‧‧ communication base station

The first figure is a block diagram of the architecture of the present invention.

The second figure: is a block diagram of the map construction.

The third figure is a block diagram of the present invention when a plurality of communication base stations are used to construct a map.

The fourth figure is a block diagram of the map construction and editing of the present invention, which is sent to the mobile platform and the map data is stored.

Fifth figure: is a block diagram of the mobile platform of the present invention moving on its own according to its map data.

The structure of the "map building method and structure of a robot" and the effect produced by the present invention are described in detail below with reference to a preferred embodiment of the present case.

First, as shown in the first figure, the hardware architecture of this case includes a computer 1 and a mobile platform 2 during which wireless or wired communication or data transmission can be performed through one or more communication base stations 3. The computer 1 includes a remote control unit 11, a map calculation unit 12, a map editing unit 13 and a communication unit 14 electrically connected; the remote control unit 11 provides operators with remote control; The map calculation unit 12 can perform map calculation on information; the map editing unit 13 can perform map editing on map information; and the communication unit 14 can cooperate with the communication base station 3 for wireless communication or data transmission. As for the mobile platform 2, it is a mobile device and includes a detection unit 21, a map data unit 22, a positioning unit 23, and a communication unit 24 which are electrically connected. The detection unit 21 Is a lidar that can be used to detect the surrounding environment and obtain data; the map data unit 22 is capable of storing information such as map map data; the positioning unit 23 is capable of obtaining positioning data where the mobile platform 2 is located; The communication unit 24 can cooperate with the communication base station 3 to perform communication or data transmission in a wireless manner.

The implementation of this case includes the following steps: Step 1: Use the computer to remotely control the mobile platform to move in a space. The detection unit in the mobile platform scans the environment and returns data to the computer. The computer will calculate and construct Maps (such as the second and third pictures); Step 2: The computer is completed by creating a map, and the staff sets the preset travel route and stores the data in the map data unit of the mobile platform (such as the fourth picture); Step 3: The mobile platform cooperates with the positioning unit to walk in the space by itself according to the instructions of the map data unit, and completes the purpose of automatic movement (see the fifth picture).

Further, in each of the foregoing steps, the computer 1 remotely controls the mobile platform 2 by the remote remote control unit 11 of the computer 1 via the communication unit 14 via the communication base station 3 to issue a command to communicate with the mobile platform 2 The unit 24 receives the instruction, and after detecting by the detecting unit 21, the information is reversely transmitted to the map calculation unit 12 (second picture) of the computer 1. After being edited by the operator using the map editing unit 13, the same is transmitted through the same. The communication unit 14 is transmitted to the mobile platform 2 via the communication base station 3 and stored in the map data unit 22 (fourth picture). Finally, the remote control is temporarily suspended, and the mobile platform 2 coordinates positioning according to the instructions of the map data unit 22 on its own The unit 23 walks in the space and completes the automatic movement (as shown in the fifth figure).

To sum up, the mobile platform in this case was constructed and drawn first, and then set and stored, it can complete the purpose of moving automatically, which is quite ideal and practical. This case was indeed used in industry, and it was not a technology known to the public before being applied in publications or publicly available. Furthermore, this case effectively solves the long-standing problems in the prior art and meets the long-term needs of relevant users and consumers, which proves that the present invention cannot be easily completed. This case fully complies with the "industrial availability", "newness", and "progressiveness" requirements of the Patent Law. The patent was filed in accordance with the law, and the Bureau is urged to examine it in detail and to approve the patent as soon as possible to protect the applicant's wisdom Property rights to encourage innovation.

Although the present invention is described by the foregoing embodiments, its form and details can still be changed without departing from the spirit of the present invention, and can be understood by those skilled in the art. The foregoing preferred embodiment of the present case is only one of the ways that can be implemented concretely by virtue of the principles of the case, but it is not limited thereto, and shall be defined by the scope of the attached patent application.

Claims (7)

    A map building structure for a robot includes a computer and a mobile platform, during which communication can be performed through one or more communication base stations, wherein the computer includes a remote control unit and a map calculation unit electrically connected. A map editing unit and a communication unit; the remote control unit provides remote control by the operator; the map calculation unit performs map calculation on information; the map editing unit performs map editing on map information; the communication unit is Cooperate with the communication base station for communication; the mobile platform is a mobile device and equipment, including a detection unit, a map data unit, a positioning unit and a communication unit that are electrically connected; The unit is used to detect the surrounding environment and obtain data; the map data unit is capable of storing map information; the positioning unit is capable of obtaining positioning data where the mobile platform is located; the communication unit is capable of cooperating with the communication base Station for communication.         The map building structure of a robot according to item 1 of the scope of patent application, wherein the detection unit is a laser radar.         As described in item 1 of the scope of the patent application, a robot map building framework is adopted, in which each communication unit communicates with the communication base station in any of wireless or wired manners.         A method for establishing a map of a robot is to perform any of the following steps by applying any of the structures in the scope of patent applications No. 1 to 3: Step 1: Use the computer to remotely control the mobile platform to move in a space, and use the mobile platform to The detection unit scans the environment and returns data to the computer, and the computer will calculate and construct a map. Step 2: The computer completes the map creation, and the staff sets a preset travel route and stores the data in the map on the mobile platform In the data unit; step three: The mobile platform cooperates with the positioning unit to walk on its own according to the instructions of the map data unit to complete the automatic movement.         A method for establishing a map of a robot as described in item 4 of the scope of patent application, wherein in this step, the computer remotely controls the mobile platform by the remote control unit of the computer via the communication unit through the communication base station Reach the instruction to the communication unit of the mobile platform to receive the instruction, after detecting by the detection unit, and then return the information back to the map calculation unit of the computer, edit it by the operator using the map editing unit, and then Through the communication unit via its communication base station, it is transmitted to the mobile platform and stored in the map data unit; finally, the mobile platform cooperates with the positioning unit to walk according to the map data unit instruction.         A method for establishing a map of a robot includes the following steps: Step 1: Use a computer to remotely control a mobile platform to move, scan an environment with a detection unit in the mobile platform, and return data to the computer. The computer The map will be calculated and constructed; Step 2: The computer is created after the map is created, and the staff sets a preset travel route and stores the data in a map data unit of the mobile platform; Step 3: The mobile platform follows the map data unit's instructions Cooperate with a positioning unit to walk on its own to complete the automatic movement.         A method for establishing a map of a robot as described in item 6 of the scope of patent application, wherein in this step, the computer remotely controls the mobile platform by a remote control unit of the computer via one or more than one through a communication unit. The communication base station has reached an order to receive a command from a communication unit of the mobile platform. After detecting by its detection unit, it returns the information back to a map calculation unit of the computer. The operator uses a map editing unit. After editing, it is then transmitted to the mobile platform through its communication base station via the communication unit and stored in its map data unit.