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Robot for building of dynamic map and method for building dynamic map by robot

A dynamic map and robot technology, applied in the direction of instruments, structured data retrieval, geographic information database, etc., can solve the problems that robots cannot avoid obstacles, complex environment, etc., and achieve the effect of accurate, accurate and scientific dynamic map

Pending Publication Date: 2017-05-31
深圳市佳都实业发展有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, as the application places of mobile robots become more and more diverse, the environment becomes more and more complex, and is often in dynamic changes due to changes in various factors, the existing map construction methods cannot meet the needs of robots to avoid obstacles. Require

Method used

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  • Robot for building of dynamic map and method for building dynamic map by robot
  • Robot for building of dynamic map and method for building dynamic map by robot
  • Robot for building of dynamic map and method for building dynamic map by robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] refer to figure 1, shows a structural block diagram of a robot for building a dynamic map in the present invention, the robot includes: a division module 11, an obstacle scanning module 12, a feature value determination module 13, a feature value change determination module 14, and an attribute determination module 15 And dynamic map generation module 16; Wherein,

[0057] The division module 11 is used to divide the target motion area into a plurality of sub-grids, the plurality of sub-grids constitute a grid area, each sub-grid corresponds to a specific area in the target motion area, and the sub-grids are boundaries subgrid or inner subgrid;

[0058] The obstacle scanning module 12 is configured to perform obstacle scanning on the internal sub-grid;

[0059] The eigenvalue determining module 13 is configured to determine the eigenvalue of the internal subgrid according to the obstacle scanning result;

[0060] The feature value change determination module 14 is co...

Embodiment 2

[0093] refer to Figure 9 , which shows a flow chart of the steps of a method for a robot to generate a dynamic map according to the present invention, the method may specifically include:

[0094] Step 901, dividing the target motion area into multiple sub-grids, the multiple sub-grids constitute a grid area, each sub-grid corresponds to a specific area in the target motion area, and the sub-grids are boundary sub-grids or internal subgrid;

[0095] Specifically, the division of the target motion area into multiple sub-grids includes:

[0096] Take the preset point on the target motion area as the center point;

[0097] Set a square sub-grid with the central point as the vertex, with the east-west direction as the width and the north-south direction as the length;

[0098] Using the square sub-grid as the starting sub-grid, extend a plurality of square sub-grids with the same size as the square sub-grid around until the extended square sub-grids form a covering target motion...

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Abstract

The embodiment of the invention provides a robot for building of a dynamic map, and the robot comprises a dividing module configured to divide a target motion area into boundary sub-grids and inner sub-grids, an obstacle scanning module configured for obstacle scanning on the inner sub-grids, a characteristic value determining module configured to determine characteristic values of the inner sub-grids, a characteristic value change determining module configured to determine characteristic value changes of the inner sub-grids within a preset time period, an attribute determining module configured to determine attributes of the inner sub-grids based on the characteristic value changes, and a dynamic map generating module configured to label the attributes of the inner sub-grids and the boundary sub-grids, thereby generating a dynamic map. The robot provided by the embodiment of the invention is able to dynamically analyze the obstacle scanning result for the inner sub-grids within the preset time period, thereby determining the attributes of the inner sub-grids to generate the dynamic map, allowing for more accuracy of the generated dynamic map. An embodiment of the invention also provides a method for building a dynamic map by a robot.

Description

technical field [0001] The invention relates to the technical field of moving robots, in particular to a robot for constructing a dynamic map and a method for constructing a dynamic map by the robot. Background technique [0002] From the perspective of mobility, robots can be divided into non-mobile robots and mobile robots. In recent years, with the development of artificial intelligence, mobile robots have become more and more widely used in people's daily life, and their application places have become more and more diverse. From commercial buildings, stores and supermarkets, to hospitals, outdoor public places, subway stations, etc., can become areas where mobile robots can move. [0003] Mobile robots usually have the function of autonomous movement. The premise of autonomous movement is autonomous navigation. Autonomous navigation refers to the mobile robot's autonomous planning of moving routes according to specific algorithms and rules to avoid obstacles or move alo...

Claims

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Application Information

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IPC IPC(8): G06F17/30
CPCG06F16/29
Inventor 黄爽
Owner 深圳市佳都实业发展有限公司
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