Environment modeling method and device

Abstract

The invention discloses an environment modeling method and device. The method comprises images are obtained, a 3D image model of a present environment is established, and image identification is carried out on the 3D image model to obtain object models in the 3D image model; according to sound wave information obtained by a detector, the target distances between the detector and the object models are calculated; and according to the 3D image model and the target distances, a first environment coordinate model is established. The environment modeling device comprises an object model obtaining module, a distance calculating module and a first model establishing module. According to the invention, the object models are obtained by image identification, the sound wave information of the detector determines the distances between the detector and the object models, further, the environment coordinate model is established, the method and device can be suitable for environments of different barriers, the computational complexity in the environment modeling process is reduced, and the environment modeling speed and accuracy are improved.

Description

technical field [0001] Embodiments of the present invention relate to the field of computer technology, and in particular to an environment modeling method and device. Background technique [0002] With the development of computer automation and intelligence, the application fields of intelligent robots are becoming more and more extensive. Intelligent robot is a kind of robot system that can perceive the environment and its own state through sensors, and realize the goal-oriented autonomous navigation movement in the environment with obstacles, so as to complete the predetermined task. In order to realize the autonomous navigation movement of intelligent robots, the problem of environment modeling must be solved. On the other hand, it is an inevitable trend to apply intelligent robots to model unfamiliar environments or environments with safety risks. [0003] Environmental modeling is the premise of subsequent research on the environment and the things in the environment...

AI Technical Summary

Problems solved by technology

[0003] Environmental modeling is the premise of subsequent research on the environment and the things in the environment. The commonly used environmental modeling methods include grid method, link graph method, equipartition coordinate transformation method, etc. However, these methods are difficult for multi-resolution obstacles Lack of flexibility and adaptability in the object environment: the grid method needs to determine the division of the grid according to the smallest obstacle, resulting in a huge waste of computing resources; the link graph method generates a mesh link graph based on the obstacle vertices needs complex processing to define The search space of the population; when the equipartition coordinate transformation method determines the search space of the population by the perpendicular line connecting the beginning and end points, it is difficult to take into account the optimality of the path solution and the balance of computing resources, and the search space is too large in places where obstacles are sparse Waste of computing resources, the discretized search space in dense obstacles is too small to plan the optimal path

[0004] In the process of implementing the embodiments of the present invention, the inventors found that the existing environment modeling methods lack flexibility and adaptability in environments with obstacles, and require a large amount of computing resources to complete the environment modeling

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