MOBILE ROBOT SERVICE NAVIGATION METHOD Russian patent published in 2020 - IPC G06Q10/08 G01C21/00 

FIELD: physics.

SUBSTANCE: invention relates to the field of robotics, namely to systems and methods of navigation of a mobile service robot (MSR), which performs technological functions on commercial objects (CO), in particular, an inventory. Method of MSR navigation, having movable platform, sensors with controller, wheel motors with controller, human-machine interface unit, a communication unit and a service device and equipped with a navigation system comprising a computer arranged on a mobile MSR platform, configured for navigation using cards and goods inventory and using different modules, including a navigation module and a rack identification module, includes: obtaining a static CO map, constructing a global map by scanning using sensors; determining the coordinate system for the CO on the global map. Input data include: a static map, a circuit for partitioning a static map into zones, a sequence of zones, a scanning direction of the zones, a direction of inspection of racks. Navigation method includes the following steps: specifying a first scanning region; detour circuit formation; generation of waypoints; obtaining input data from a rack identification software module; when loop is detected - its analysis for study, at non-detection, checking condition of completion of scanning of current zone (CZ) and presence of following zones for scanning; in case the contour is not surveyed, the transition to the Formation of the Task: Bypass Path step; in case the loop is known, verification of the CZ scanning completion condition and availability of the following scanning areas; in case the scanning of CZ is completed and other zones for scanning are not available, MSR is returned to starting position.

EFFECT: high efficiency of the method of navigating a mobile service robot on commercial facilities, characterized by intermittent change of location and configuration of racks.

3 cl, 5 dwg