Title:
MAP CREATION METHOD FOR MOBILE ROBOT AND PATH PLANNING METHOD BASED ON MAP
Document Type and Number:
WIPO Patent Application WO/2019/033712
Kind Code:
A1
Abstract:
Provided are a map creation method for a mobile robot and a path planning method based on the map, wherein the map creation method comprises: S1: Establishing a rectangular coordinate system in a work area of a mobile robot; S2: The mobile robot traveling orthogonally in a rectangular "S" shaped route in the work area; S3: Acquiring a key frame image of the mobile robot at a point Pi and saving the image and coordinates of the point Pi; S4: Acquiring an image of the mobile robot at a point P'i, wherein a horizontal coordinate or vertical coordinate of the point P'i is the same as that of the point Pi; S5: Performing, according to an ORB algorithm, feature extraction and matching on the images acquired at the point Pi and the point P'i; S6: Correcting, according to a matching result, the coordinates of the mobile robot at the point P'i and data of an odometer and/or a gyroscope and saving the same; S7: Repeating steps S3 to S6 until a map of the work area has been successfully created. The method uses an ORB algorithm to correct map coordinates of a mobile robot and data of an odometer and/or a gyroscope, thereby reducing cumulative errors of coordinates and angles, and improving the precision of a map.
Inventors:
WU LIANGRU (CN)
YANG KAI (CN)
ZHENG ZHUOBIN (CN)
DING HUANG (CN)
YANG KAI (CN)
ZHENG ZHUOBIN (CN)
DING HUANG (CN)
Application Number:
PCT/CN2018/073930
Publication Date:
February 21, 2019
Filing Date:
January 24, 2018
Export Citation:
Assignee:
GUANGDONG BONA ROBOT CORP LTD (CN)
International Classes:
G05D1/02; G01C21/20; G06V10/80
Foreign References:
| CN106020207A | 2016-10-12 | |||
| CN107314773A | 2017-11-03 | |||
| CN102138769A | 2011-08-03 | |||
| CN104390643A | 2015-03-04 | |||
| CN106355197A | 2017-01-25 | |||
| CN106708048A | 2017-05-24 | |||
| CN106767833A | 2017-05-31 | |||
| US9126338B2 | 2015-09-08 |
Other References:
See also references of EP 3671121A4
Attorney, Agent or Firm:
YOGO PATENT & TRADEMARK AGENCY LIMITED COMPANY (CN)
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