CN117516507A - Indoor robot rapid exploration and mapping method and system - Google Patents
Indoor robot rapid exploration and mapping method and system Download PDFInfo
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- CN117516507A CN117516507A CN202311482072.XA CN202311482072A CN117516507A CN 117516507 A CN117516507 A CN 117516507A CN 202311482072 A CN202311482072 A CN 202311482072A CN 117516507 A CN117516507 A CN 117516507A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000013507 mapping Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 11
- 238000009499 grossing Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 239000011521 glass Substances 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/383—Indoor data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of indoor robots, and discloses a method and a system for quickly exploring and constructing a graph of an indoor robot, which improve the exploring and constructing efficiency of the indoor robot in a new environment. According to the method, an idle point adjacent to an unknown area with an optimal distance is found in a certain range in a local map to serve as a search target point, and then an optimal distance path from the current position to the target point is planned; and after the robot reaches the target point, searching for a new search target point until the exploration and mapping of the home environment are completed. The invention is suitable for indoor robots.
Description
Technical Field
The invention relates to the technical field of indoor robots, in particular to a method and a system for quickly exploring and constructing a graph of an indoor robot.
Background
In recent years, a mapping strategy of an indoor robot in a new environment mainly adopts manual remote control robot mapping and mapping while cleaning which is commonly used in the field of cleaning robots. The manual map building method has the advantages that the professional requirement of manual map building is high, the operation is complex, and the requirements of common consumers on simplicity and easiness in operation when facing massive indoor robots are not met more and more; the strategy of cleaning and mapping at the same time adopted by the cleaning robot also has the problem of low mapping efficiency, and a global map is not used for guiding how to clean more efficiently in the cleaning process.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the indoor robot rapid exploration and mapping method and system are provided, and the exploration and mapping efficiency of the indoor robot in a new environment is improved.
The technical scheme adopted for solving the technical problems is as follows:
in one aspect, the invention provides a method for quickly exploring and constructing a map by an indoor robot, which comprises the following steps:
s1, searching a region with unknown points adjacent to known idle points in a certain range in a plurality of directions in a local map built at the current position of the robot, and selecting the known idle points found in each direction as candidate target points for exploration;
s2, calculating and obtaining an optimal path from the position of the robot to all candidate target points by adopting a path planning method, and selecting the candidate target point with the shortest optimal path length as a target point for the current exploration;
s3, planning an optimal path from the current position of the robot to the target point, and optimizing the path into a smooth path;
s4, controlling the robot to travel towards the target point along the smooth path, and constructing a map in an incremental mode while traveling;
s5, circularly executing the steps S1-S4 until the exploration and mapping of the current environment are completed.
Further, in step S1, the local map is a grid map constructed by the robot using the radar, the camera and the obstacle avoidance sensor, and the status of each grid is marked as free or occupied or unknown, where "free" indicates that the grid is a passable area, "occupied" indicates that the grid is an obstacle area, and "unknown" indicates that the grid status is unidentified.
Further, in step S1, the searching for an area adjacent to the known idle point in a certain range where the unknown point exists in a plurality of directions, and selecting the known idle point found in each direction as a candidate target point for exploration includes:
the robot searches for unknown points in the sector area with preset radius in the current position in the up, down, left and right directions, and when one unknown point is searched, one idle point adjacent to the unknown point is used as a candidate target point in the direction.
Further, step S1 further includes: if candidate target points are not searched in the sector areas in the four directions, the radius of the sector area is increased so as to enlarge the searching range.
Further, in step S1, the search range is within a range limited by the length and width of the local map.
Further, step S4 further includes: in the process of traveling to the target point, if the robot collides or the obstacle avoidance sensor detects that an obstacle exists on the traveling path or the robot travels to reach the target point, the step returns to the step S1, and the exploration target point is redetermined and the path is planned at the latest position.
Further, crashed scenes include, but are not limited to, crashing with glass, mirrors, dynamic obstacles, and newly emerging static obstacles, etc.
Further, in step S5, the current environment is a closed indoor environment.
On the other hand, the invention also provides a rapid exploration and mapping system of the indoor robot, which comprises the following steps:
the candidate point searching module is used for searching a region adjacent to the known idle point with the unknown point in a certain range in a local map built at the current position of the robot in multiple directions, and selecting the known idle point found in each direction as a candidate target point for exploration;
the optimal exploration point selection module is used for calculating and obtaining an optimal path from the position of the robot to all candidate target points by adopting a path planning method, and selecting the candidate target point with the shortest optimal path length as the target point of the exploration;
the path planning and smoothing module is used for planning an optimal path from the current position of the robot to the target point and optimizing the path into a smooth path;
and the track tracking control module is used for controlling the robot to travel to the target point along the smooth path.
Further, the system further comprises an obstacle sensing module for detecting an obstacle in the process of driving the robot to the target point along the smooth path, wherein the detection mode comprises, but is not limited to, mechanical collision, infrared soft collision, structured light detection, TOF obstacle avoidance radar detection, drop sensor detection or visual detection, and the like.
The beneficial effects of the invention are as follows:
finding an idle point adjacent to an unknown area with optimal distance in a certain range in a local map as a search target point, and planning a distance optimal path from the current position to the target point; and after the robot reaches the target point, searching for a new search target point until the exploration and mapping of the home environment are completed. The scheme is automatically completed by the system algorithm, a user does not need to participate in the map building process, the professional requirement on the user is reduced, and the robot quickly completes the exploration map building of the indoor environment according to the screened search target points and the planning of the optimal path, so that the map building efficiency is high.
Drawings
Fig. 1 is a flowchart of a method for quickly exploring and mapping an indoor robot in embodiment 1 of the present invention;
fig. 2 is a block diagram of a rapid exploration mapping system of an indoor robot in embodiment 2 of the present invention.
Detailed Description
The invention aims to provide a method and a system for quickly exploring and constructing an indoor robot, which improve the efficiency of exploring and constructing the indoor robot in a new environment. According to the scheme provided by the invention, when the robot has no environment map or is in a new environment, the current environment is explored and mapped. Specifically, firstly, searching a region with unknown points adjacent to known idle points in a certain range in a plurality of directions in a local map built at the current position of the robot, and selecting the known idle points found in each direction as candidate target points for exploration; if the candidate target point is not found in the range, automatically updating the search range until the candidate target point is found or the candidate target point meeting the condition cannot be found in the local map; then, an optimal path from the position of the robot to all candidate target points is obtained by using a path planning method, and the candidate target point with the shortest optimal path length is selected as the target point of the current exploration; then, planning an optimal path from the current position of the robot to the target point, and optimizing the path into a smooth path; finally, the robot runs to a path end point along the path, and a map is constructed in an incremental mode while running; when collision occurs in the running process or an obstacle sensor detects that an obstacle exists on a running path or the robot runs to reach a target point, the steps are repeated to obtain new candidate target points, and when the robot cannot search the candidate target points at the latest position, the quick exploration and mapping is completed.
The embodiments of the present invention will be further described with reference to the drawings.
Example 1
The embodiment provides a rapid exploration and mapping method of an indoor robot, the implementation flow of which is shown in fig. 1, and the method specifically comprises the following steps:
step 1, starting a quick graph building:
in this step, when there is no environment map in the indoor robot or in a new environment, a map is explored and built for the current environment. Wherein the environment is a closed indoor environment. The closed indoor environment is a sufficient and necessary condition for ensuring the indoor robot to quickly explore the graph construction method and autonomously judge the end of exploration. When the robot explores an unknown environment, and when an exploration target point cannot be found in the environment, the environment can be judged to be closed; conversely, when the environment is in an open state, the robot can always find an exploration target point and plan a path to the point, so that the quick exploration and mapping cannot be finished smoothly.
Step 2, searching for a candidate target point for exploration:
in the step, in a local map built at the current position of the robot, searching a region with unknown points adjacent to known idle points in a certain range according to a plurality of directions, and selecting the known idle points found in each direction as candidate target points for exploration; if the candidate target point is not found in the range, the search range is automatically updated until the candidate target point is found, or the candidate target point meeting the condition cannot be found in the local map, and when the robot cannot search the candidate target point at the latest position, the rapid exploration and mapping under the indoor environment is completed.
The map is a map constructed by using radar, a camera, an obstacle avoidance sensor and the like, and each map pixel contains three kinds of information, namely free (free), occupied (occupied) and unknown (unknown). In an exemplary embodiment, a grid map constructed by adopting an SLAM algorithm consists of a series of small grids with side length of 5cm, wherein the grid states are occupied by places marked with obstacles such as a laser radar, a camera and an obstacle avoidance sensor; marking a passable area by a laser radar, a camera, an obstacle avoidance sensor and the like, wherein the grid state is idle; areas without marks, such as laser radar, cameras, obstacle avoidance sensors, and the like, have unknown grid states.
In the process of searching the explored candidate target points, searching can be performed in a sector area. In an exemplary embodiment, the robot searches for unknown grids in the map radially in four directions, up, down, left, and right, at the current position, each search sector being 90 °, the search distance resolution being 0.1m, and the angular resolution being 0.5 °. When searching according to the sector area, searching from the middle position of each sector area to two sides, after each sector area searches for an unknown point, finding an idle point adjacent to the unknown point as a candidate target point of the sector, otherwise, searching until the candidate target point is searched or the sector area is traversed.
In order to improve the search efficiency, the radius of each sector area needs to be limited in range, and the search area is ensured to be within the length-width limited range of the local map. Such as: the radius of the sector area is initially limited to 5m, and when candidate target points are not searched in all four directions in the current radius area, the sector radius area is automatically updated, for example, the sector radius is further expanded outwards by 5m. After the sector area expands outwards for many times, when all four areas reach the outside of the local map, the expansion is finished, and if candidate target points are not searched yet, the rapid exploration and mapping under the indoor environment is completed.
Step 3, screening target points of the search:
in the step, after searching candidate target points, an optimal path between the position of the robot and all candidate target points is obtained by using a path planning method, and in order to prevent the robot from rounding off and finding a far path, a point with the smallest distance is selected as a candidate target point for the current exploration.
Step 4, path smoothing optimization:
in this step, an optimal path from the current position of the robot to the target point is planned, and the path is optimized to a smooth path. The smooth path is an energy optimal path on the premise of meeting the optimal distance, and the robot can smoothly run along the path without frequent acceleration and deceleration.
In general, the main flow path planning algorithm comprises a graph searching algorithm and a random point searching algorithm, and the obtained paths are formed by multiple sections of discount and cannot meet the requirements of smooth running of the robot. In order to ensure the smooth running requirement of the robot, the embodiment adopts a model predictive control simulation optimization method to optimize the broken line path into a smooth path with resolution of 0.02m, so as to ensure that the robot runs smoothly to an exploration target point.
Step 5, controlling the robot to run according to the smooth path, and incrementally constructing a map:
in the step, according to the smooth path information and the robot positioning information, the angular speed and the linear speed are issued to the robot, so that the robot can smoothly travel to the target point along the smooth path, acceleration and deceleration are not needed in the process, the setbacks are avoided, and the average error between the travel track of the robot and the smooth path is 0.03m.
Step 6, updating the exploration target point:
in this step, when a collision occurs during traveling or an obstacle sensor detects that an obstacle is present on the traveling path or the robot travels to reach the target point, the search target point is again searched for at the latest position and travels to the point.
Wherein the collision scene includes, but is not limited to, glass, mirrors, dynamic obstacles, and newly emerging static obstacles, etc. The above-mentioned obstacles are not visible and marked on the map by the radar when planning the path, and are not taken into account when planning the path. It is required to detect in real time by the obstacle detection sensor during traveling.
The obstacle sensor detects the obstacle in a mode including, but not limited to, mechanical collision, infrared soft collision, structured light detection, TOF obstacle avoidance radar detection, drop sensor detection, visual detection and the like. When the sensor detects that an obstacle or an unperctable area is encountered in the running process of the robot, the robot needs to stop immediately, marks the obstacle or the unperctable area in a map through the information of the obstacle detection sensor, explores a target point again, and repeats the flow.
Example 2
The embodiment provides a rapid exploration and mapping system of an indoor robot, as shown in fig. 2, the system comprises:
the candidate point searching module is used for searching a region adjacent to the known idle point with the unknown point in a certain range in a local map built at the current position of the robot in multiple directions, and selecting the known idle point found in each direction as a candidate target point for exploration;
the optimal exploration point selection module is used for calculating and obtaining an optimal path from the position of the robot to all candidate target points by adopting a path planning method, and selecting the candidate target point with the shortest optimal path length as the target point of the exploration;
the path planning and smoothing module is used for planning an optimal path from the current position of the robot to the target point and optimizing the path into a smooth path;
the track tracking control module is used for controlling the robot to travel to the target point along the smooth path;
the obstacle sensing module is used for detecting an obstacle in the process of driving the robot to the target point along the smooth path, and the detection mode comprises, but is not limited to, mechanical collision, infrared soft collision, structured light detection, TOF obstacle avoidance radar detection, drop sensor detection or visual detection and the like.
It should be noted that, in the present embodiment, the implementation functions of each functional module in the indoor robot rapid exploration mapping system have a corresponding relationship with the steps in embodiment 1, and based on the step description in embodiment 1, specific implementation of each functional module is not repeated in this section.
Finally, while embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that numerous changes, modifications, substitutions and alterations can be made hereto without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The method for quickly exploring and constructing the graph of the indoor robot is characterized by comprising the following steps of:
s1, searching a region with unknown points adjacent to known idle points in a certain range in a plurality of directions in a local map built at the current position of the robot, and selecting the known idle points found in each direction as candidate target points for exploration;
s2, calculating and obtaining an optimal path from the position of the robot to all candidate target points by adopting a path planning method, and selecting the candidate target point with the shortest optimal path length as a target point for the current exploration;
s3, planning an optimal path from the current position of the robot to the target point, and optimizing the path into a smooth path;
s4, controlling the robot to travel towards the target point along the smooth path, and constructing a map in an incremental mode while traveling;
s5, circularly executing the steps S1-S4 until the exploration and mapping of the current environment are completed.
2. The rapid exploration mapping method of indoor robot of claim 1, wherein,
in step S1, the local map is a grid map constructed by a robot using a radar, a camera and an obstacle avoidance sensor, and the status of each grid is marked as idle or occupied or unknown, where "idle" indicates that the grid is a passable area, "occupied" indicates that the grid is an obstacle area, and "unknown" indicates that the grid status is unidentified.
3. The method for quickly exploring and mapping an indoor robot according to claim 1 or 2, wherein,
in step S1, searching for a region in which an unknown point is adjacent to a known idle point in a certain range in multiple directions, and selecting the known idle point found in each direction as a candidate target point for exploration, including:
the robot searches for unknown points in the sector area with preset radius in the current position in the up, down, left and right directions, and when one unknown point is searched, one idle point adjacent to the unknown point is used as a candidate target point in the direction.
4. The rapid exploration and mapping method of indoor robot of claim 3, wherein,
step S1 further includes: if candidate target points are not searched in the sector areas in the four directions, the radius of the sector area is increased so as to enlarge the searching range.
5. The rapid exploration mapping method of indoor robot of claim 4, wherein,
in step S1, the search range is within a range limited by the length and width of the local map.
6. The method for quickly exploring and mapping an indoor robot according to claim 1 or 2, wherein,
step S4 further includes: in the process of traveling to the target point, if the robot collides or the obstacle avoidance sensor detects that an obstacle exists on the traveling path or the robot travels to reach the target point, the step returns to the step S1, and the exploration target point is redetermined and the path is planned at the latest position.
7. The rapid exploration mapping method of indoor robot of claim 6, wherein,
the scene of the collision comprises: collision with glass, mirrors, dynamic obstacles or newly emerging static obstacles.
8. The method for quickly exploring and mapping an indoor robot according to claim 1 or 2, wherein,
the current environment is a closed indoor environment.
9. The utility model provides an indoor robot explores fast and builds a drawing system which characterized in that includes:
the candidate point searching module is used for searching a region adjacent to the known idle point with the unknown point in a certain range in a local map built at the current position of the robot in multiple directions, and selecting the known idle point found in each direction as a candidate target point for exploration;
the optimal exploration point selection module is used for calculating and obtaining an optimal path from the position of the robot to all candidate target points by adopting a path planning method, and selecting the candidate target point with the shortest optimal path length as the target point of the exploration;
the path planning and smoothing module is used for planning an optimal path from the current position of the robot to the target point and optimizing the path into a smooth path;
and the track tracking control module is used for controlling the robot to travel to the target point along the smooth path.
10. The rapid exploration mapping system of claim 9, wherein,
the system also comprises an obstacle sensing module for detecting an obstacle in the process of the robot traveling along the smooth path to the target point, wherein the detection mode comprises: mechanical collision, infrared soft collision, structured light detection, TOF obstacle avoidance radar detection, fall sensor detection, or visual detection.
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| CN202311482072.XA CN117516507A (en) | 2023-11-07 | 2023-11-07 | Indoor robot rapid exploration and mapping method and system |
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