WO2019080681A1 - 用于控制移动机器人建图的方法与系统 - Google Patents
用于控制移动机器人建图的方法与系统Info
- Publication number
- WO2019080681A1 WO2019080681A1 PCT/CN2018/106810 CN2018106810W WO2019080681A1 WO 2019080681 A1 WO2019080681 A1 WO 2019080681A1 CN 2018106810 W CN2018106810 W CN 2018106810W WO 2019080681 A1 WO2019080681 A1 WO 2019080681A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- mobile robot
- mapping
- map
- state
- current
- Prior art date
Links
- 238000013507 mapping Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000010276 construction Methods 0.000 claims description 52
- 238000004891 communication Methods 0.000 claims description 13
- 230000003993 interaction Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 abstract description 14
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000002085 persistent effect Effects 0.000 description 2
- 241001143500 Aceraceae Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
Definitions
- the present application relates to the field of computer technology, and in particular, to a technology for controlling a mobile robot to construct a picture.
- map construction is an important part of it. Most of the current service robots are simply moving or not moving, or relying on simple ultrasound and collision sensor random motion, regardless of the construction of the environment map, this way is often more random, lacking real Awareness maps and overall planning of tasks.
- the mobile robot with map function has a relatively fixed pattern switch mode, and the whole process is completely open or closed. This way of drawing makes the robot not adapt to environmental changes well during the completion of the task, and the flexibility is not enough. .
- a method for controlling a mobile robot to construct a map includes:
- the drawing state information includes a mapable state, automatically opening a master switch to control the mobile robot to open a grid map for the current map block;
- the drawing master switch When the closing condition of the drawing master switch is satisfied, the drawing master switch is turned off to control the mobile robot to close the current map block to establish a grid map.
- the method further includes:
- the determining the state of the mapping state of the current map block where the mobile robot is located includes:
- the closing condition comprises at least one of the following: acquiring an instruction determined by the user to close the drawing; when the current map block is completed.
- automatically opening a drawing master switch to control the mobile robot to open the grid map to the current map block comprises:
- the drawing state information includes the unpaintable state, determining whether the drawing state information can be converted into a mapable state according to the pose of the mobile robot and the current laser data.
- the determining, according to the pose of the mobile robot and the current laser data, whether the mapping state information can be converted into a mapable state comprises:
- the map state information can be converted into a mapable state.
- a system for controlling a mobile robot to construct a map comprising:
- a client configured to acquire a mapping instruction determined by the user, and send the mapping instruction to the system end;
- the system is configured to receive the mapping instruction determined by the user, and start to establish a raster map or close to establish a raster map based on the mapping instruction.
- the client comprises:
- a user interaction module configured to acquire a mapping instruction determined by the user
- the first communication module is configured to send the mapping instruction to the system end.
- system side comprises:
- a second communication module configured to receive a mapping instruction sent by the client, and send the mapping instruction to a map construction module
- a positioning module configured to acquire pose information of the mobile robot
- a data acquisition module acquiring sensor information of the mobile robot
- the map construction module is configured to control the construction master switch to open the grid map or close the grid map based on the drawing instruction, the pose information, the sensor information, and the drawing switch management strategy.
- the present application determines the construction state information of the current map block where the mobile robot is located, and when the construction state information includes the mapable state, automatically opens the construction master switch to control the mobile robot. Opening a grid map for the current map block, and when the closing condition of the total switch of the drawing is met, closing the total switch of the drawing to control the mobile robot to close the current map block to establish a grid map .
- the construction switch can be automatically controlled to realize the construction of the map, so that the process of constructing the mobile robot is more intelligent, and the construction process is not required by excessive human intervention, so that the robot can better adapt to the environmental changes in the process of completing the task.
- the effect of drawing is better, more efficient and accurate, and the system resources for drawing are saved.
- FIG. 1 shows a flow chart of a method of controlling a mobile robot to construct a map according to an aspect of the present application
- FIG. 2 shows a schematic diagram of a system for controlling the construction of a mobile robot in accordance with a preferred embodiment of the present application.
- the terminal, the device of the service network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
- processors CPUs
- input/output interfaces network interfaces
- memory volatile and non-volatile memory
- the memory may include non-persistent memory, random access memory (RAM), and/or non-volatile memory in a computer readable medium, such as read only memory (ROM) or flash memory.
- RAM random access memory
- ROM read only memory
- Memory is an example of a computer readable medium.
- Computer readable media includes both permanent and non-persistent, removable and non-removable media.
- Information storage can be implemented by any method or technology.
- the information can be computer readable instructions, data structures, modules of programs, or other data.
- Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory. (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disk read only memory (CD-ROM), digital versatile disk (DVD) or other optical storage,
- computer readable media does not include non-transitory computer readable media, such as modulated data signals and carrier waves.
- FIG. 1 illustrates a method for controlling a mobile robot to construct a map, in accordance with an aspect of the present application, wherein the method includes:
- the construction state information of the current map block where the mobile robot is located is determined.
- the construction includes establishing a raster map.
- the mapping method of the mobile robot is to divide the map block into blocks, that is, the entire environment that needs to be built is divided into a plurality of map blocks, where the plurality of map blocks may be in the process of constructing the map.
- the current map block includes the map block where the mobile robot is currently located, where the current map block may be determined based on the pose information of the mobile robot, for example, including the current pose Within a certain range, it is the current map block, and the range may be preset.
- the drawing state information includes a mapable state and a non-imageable state
- the mapable state indicates that the current map block can be created by using a grid map
- the mapless state indicates that the The current map block is used for raster map creation.
- the manner of determining the mapping state information of the current map block where the mobile robot is located may be completed by querying whether the current map block is built in the record, that is, whether the drawing state information is a mapable state.
- the method further comprises: S14 (not shown) determining whether the current map block has been created, and if the current map block is not created, creating the current map block. That is, in this embodiment, it is detected whether the current map block has been explored. If the current map block has not been created, the current map block is created. And setting the mapping state information of the current map block to a mapable state. That is, in the step S11, it is determined that the construction state information of the current map block where the mobile robot is located is a mapable state.
- the drawing master switch is automatically turned on to control the mobile robot to open the grid for the current map block. map.
- the master switch when the current map block is in a mapable state, the master switch is automatically turned on, and the mobile robot constructs a map of the current map, where the mobile robot is based on the current bit.
- the pose and the surrounding environment information acquired by the sensor map the current map block.
- the step S12 includes: determining, according to the pose of the mobile robot and the current laser data, whether the mapping state information can be converted into a mapable state according to the pose of the mobile robot and the current laser data. .
- the mapping of the current map block may not be completed, but the mapping state information is in a non-image state.
- the mapping state information may be unavailable due to user operations.
- the drawing state therefore, can determine whether the drawing state information can be converted into a mapable state according to the pose of the mobile robot and the current laser data.
- the determining, according to the pose of the mobile robot and the current laser data, whether the mapping state information can be converted into a mapable state comprises: if the current map is penetrated, the current The number of rays corresponding to the laser data exceeds a preset value, and it is determined that the drawing state information can be converted into a mapable state.
- the current laser data is mapped into a corresponding laser beam. If the number of laser rays penetrating the grid map exceeds a preset value, that is, the mapping of the current map block is not completed, then the determination is performed.
- the construction state information can be transformed into a mapable state, so that the current map block can be continuously constructed.
- step S13 when the closing condition of the drawing main switch is satisfied, the drawing main switch is turned off to control the mobile robot to close the current map block to establish a grid. Map.
- the closing condition comprises at least one of: acquiring an instruction determined by the user to close the drawing; when the current map block is completed.
- the closing condition indicates a condition for closing the drawing, for example, when an instruction for closing the drawing determined by the user is acquired, the main switch of the drawing is closed, that is, the user can control the entire drawing process.
- the start and end of the construction and when the user opens the construction instruction, the construction master switch will automatically control the start and end of the construction.
- the master switch when the current map block is completed, that is, the current map block has all been completed, the master switch is closed to control the mobile robot to the current map.
- the block closes to create a raster map.
- the manner of determining whether the current map block has been completed may be based on historical entropy information stored in the current map block. If the current entropy value reaches a certain threshold and the change of the previous entropy is within a certain range, The condition for closing the drawing is met, and here, the entropy value is an amount describing the degree of completion of the drawing.
- the present application determines the construction state information of the current map block where the mobile robot is located, and when the construction state information includes the mapable state, automatically opens the construction master switch to control the mobile robot. Opening a grid map for the current map block, and when the closing condition of the total switch of the drawing is met, closing the total switch of the drawing to control the mobile robot to close the current map block to establish a grid map .
- the construction switch can be automatically controlled to realize the construction of the map, so that the process of constructing the mobile robot is more intelligent, and the construction process is not required by excessive human intervention, so that the robot can better adapt to the environmental changes in the process of completing the task.
- the effect of drawing is better, more efficient and accurate, and the system resources for drawing are saved.
- a system for controlling a mobile robot to construct a map includes:
- a client configured to acquire a mapping instruction determined by the user, and send the mapping instruction to the system end;
- the system is configured to receive the mapping instruction determined by the user, and start to establish a raster map or close to establish a raster map based on the mapping instruction.
- the client user can determine the mapping instruction through the interface presented by the client, for example, opening the drawing or closing the drawing instruction, etc., and then the client obtains the drawing instruction and sends it to the system.
- the system may establish a raster map according to the specific instruction information, or if the system is drawing a map, when the user closes the mapping instruction, the grid map is closed. .
- the client includes: a user interaction module, configured to acquire a mapping instruction determined by the user; and a first communication module, configured to send the mapping instruction to the system end.
- a user interaction module configured to acquire a mapping instruction determined by the user
- a first communication module configured to send the mapping instruction to the system end.
- system end comprises:
- a second communication module configured to receive a mapping instruction sent by the client, and send the mapping instruction to a map construction module
- a positioning module configured to acquire pose information of the mobile robot
- a data acquisition module acquiring sensor information of the mobile robot
- the map construction module is configured to control the construction master switch to open the grid map or close the grid map based on the drawing instruction, the pose information, the sensor information, and the drawing switch management strategy.
- the system includes an interaction portion and an algorithm processing portion, where the interaction portion is equivalent to a client, and the algorithm processing portion is equivalent to System side.
- the communication module of the interaction part is the first communication module, and the communication module of the algorithm processing part is equivalent to the second communication module.
- the user opens or closes the mapping through the user interaction module, and the communication module of the interaction part sends the corresponding instruction to open or close the configuration to the algorithm processing part, and the communication module of the algorithm processing part receives the instruction, and the instruction is received.
- the information is sent to the map construction module, wherein the communication module of the algorithm processing part further sends the status information of the mapping instruction corresponding to the current device to the interface of the user interaction module for display to be presented to the user.
- the data acquisition module sends the collected sensor information and the positioning module to the map construction module of the robot, and then the map construction module analyzes and determines whether the current environment is based on the acquired mapping instruction, pose information, and sensor information. Need to build a picture, the corresponding control of the construction of the main switch. If you need to build a map, you can use the algorithm of synchronous positioning and charting to build a grid map.
- the present application determines the construction state information of the current map block where the mobile robot is located, and when the construction state information includes the mapable state, automatically opens the construction master switch to control the mobile robot. Opening a grid map for the current map block, and when the closing condition of the total switch of the drawing is met, closing the total switch of the drawing to control the mobile robot to close the current map block to establish a grid map .
- the construction switch can be automatically controlled to realize the construction of the map, so that the process of constructing the mobile robot is more intelligent, and the construction process is not required by excessive human intervention, so that the robot can better adapt to the environmental changes in the process of completing the task.
- the effect of drawing is better, more efficient and accurate, and the system resources for drawing are saved.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
- 一种用于控制移动机器人建图的方法,其中,该方法包括:确定移动机器人所在的当前地图块的建图状态信息;当所述建图状态信息包括可建图状态,自动开启建图总开关,以控制所述移动机器人对所述当前地图块开启建立栅格地图;当满足所述建图总开关的关闭条件,则关闭所述建图总开关,以控制所述移动机器人对所述当前地图块关闭建立栅格地图。
- 根据权利要求1所述的方法,其中,所述方法还包括:确定所述当前地图块是否已创建;若所述当前地图块未创建,则创建所述当前地图块;其中,所述确定移动机器人所在的当前地图块的建图状态信息包括:确定移动机器人所在的当前地图块的建图状态信息,其中,所述建图状态信息包括可建图状态。
- 根据权利要求1所述的方法,其中,所述关闭条件包括以下至少任一项:获取到用户确定的关闭建图的指令;当所述当前地图块建图完成当所述当前地图块建图完成。
- 根据权利要求1所述的方法,其中,所述当所述建图状态信息包括可建图状态,自动开启建图总开关,以控制所述移动机器人对所述当前地图块开启建立栅格地图包括:当所述建图状态信息包括不可建图状态,根据所述移动机器人的位姿及当前激光数据,确定所述建图状态信息是否可变换为可建图状态。
- 根据权利要求4所述的方法,其中,所述根据所述移动机器人的位姿及当前激光数据,确定所述建图状态信息是否可变换为可建图状态包括:若穿透所述栅格地图的、所述当前激光数据对应的射线数目超过预设值,确定所述建图状态信息可变换为可建图状态。
- 一种用于控制移动机器人建图的系统,其中,该系统包括:客户端,用于获取用户确定的建图指令,并将所述建图指令发送至系统端;系统端,用于接收所述用户确定的建图指令,并基于所述建图指令开启 建立栅格地图或关闭建立栅格地图。
- 根据权利要求6所述的系统,其中,所述客户端包括:用户交互模块,用于获取用户确定的建图指令;第一通信模块,用于将所述建图指令发送至所述系统端。
- 根据权利要求6所述的系统,其中,所述系统端包括:第二通信模块,用于接收所述客户端发送的建图指令,并将所述建图指令发送至地图构建模块;定位模块,用于获取所述移动机器人的位姿信息;数据采集模块,获取所述移动机器人的传感器信息;地图构建模块,用于基于所述建图指令、位姿信息、传感器信息以及建图开关管理策略,控制建图总开关开启建立栅格地图或者关闭建立栅格地图。
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Application Number | Priority Date | Filing Date | Title |
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CN201711006124.0A CN107817795B (zh) | 2017-10-25 | 2017-10-25 | 用于控制移动机器人建图的方法与系统 |
CN201711006124.0 | 2017-10-25 |
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CN107817795B (zh) * | 2017-10-25 | 2019-11-19 | 上海思岚科技有限公司 | 用于控制移动机器人建图的方法与系统 |
CN107807641B (zh) * | 2017-10-25 | 2019-11-19 | 上海思岚科技有限公司 | 用于移动机器人避障的方法 |
CN113674351B (zh) * | 2021-07-27 | 2023-08-08 | 追觅创新科技(苏州)有限公司 | 一种机器人的建图方法及机器人 |
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CN106679661A (zh) * | 2017-03-24 | 2017-05-17 | 山东大学 | 搜救机器人手臂辅助同时定位及构建环境地图系统及方法 |
CN106919174A (zh) * | 2017-04-10 | 2017-07-04 | 江苏东方金钰智能机器人有限公司 | 一种智能引导机器人的引导方法 |
CN107817795A (zh) * | 2017-10-25 | 2018-03-20 | 上海思岚科技有限公司 | 用于控制移动机器人建图的方法与系统 |
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2017
- 2017-10-25 CN CN201711006124.0A patent/CN107817795B/zh active Active
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2018
- 2018-09-20 WO PCT/CN2018/106810 patent/WO2019080681A1/zh active Application Filing
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CN101551250A (zh) * | 2008-04-02 | 2009-10-07 | 南开大学 | 面向未知环境探索的移动机器人陆标动态配置方法及装置 |
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CN107817795B (zh) | 2019-11-19 |
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