Environment map construction method and device

A technology of environment map and construction method, which is applied in the field of mobile robots and can solve problems such as poor precision and poor accuracy

Active Publication Date: 2018-04-27
BEIJING EVOLVER ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In view of this, the object of the present invention is to provide a method and device for constructing an environmental map, so as to alleviate the technical problems of poor accuracy and poor precision of the environmental map construction method in the prior art

Method used

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  • Environment map construction method and device
  • Environment map construction method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0076] A method for constructing an environment map, refer to figure 1 , the method includes:

[0077] S102. Obtain detection data of the mobile robot during the execution of the environment detection task, wherein the detection data includes: pose data of the mobile robot and ultrasonic data corresponding to the pose data;

[0078] In the embodiment of the present invention, the construction method of the environment map is an offline map construction method, which needs to be carried out after the mobile robot completes the detection task. When a mobile robot performs an environmental detection task, it will collect detection data. The so-called detection data is the pose data of the mobile robot and the ultrasonic data corresponding to the pose data.

[0079] S104. Determine the detection data and ultrasonic sound pressure corresponding to each grid in the first preset grid map;

[0080] After the detection data is obtained, the detection data and ultrasonic sound pressur...

Embodiment 2

[0162] An environment map construction device, refer to Figure 9 , the device consists of:

[0163] The acquisition module 11 is configured to acquire detection data of the mobile robot during the execution of the environment detection task, wherein the detection data includes: pose data of the mobile robot and ultrasonic data corresponding to the pose data;

[0164] The first determination module 12 is used to determine the detection data and ultrasonic sound pressure corresponding to each grid in the first preset grid map;

[0165] The second determination module 13 is configured to determine the grid attributes of each grid based on the detection data corresponding to each grid and the ultrasonic sound pressure, and obtain a sound pressure distribution map;

[0166] The third determination module 14 is used to determine the first detection data and the second detection data based on the detection data and the sound pressure distribution map, wherein the first detection da...

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Abstract

The invention provides an environment map construction method and device. The method comprises steps that detection data is acquired; detection data and ultrasonic sound pressure corresponding to eachgrid in a first preset grid map are determined, and grid attributes of each grid are determined to acquire a sound pressure distribution map; first detection data and sound detection data are determined based on the detection data and the sound pressure distribution map; an environment map is constructed based on the first detection data and the second detection data. The method is advantaged inthat the detection data is separated into the first detection data and the second detection data according to the detection data and the sound pressure distribution map, so the data satisfying ultrasonic sensor physical characteristics and the data not satisfying the ultrasonic sensor physical characteristics are separated, the two types of data are utilized in a distinguishing mode during environment map construction, so the constructed environment map is made to be more accurate, precision of the environment map is improved, and technical problems of poor accuracy and poor precision of an environment map construction method in the prior art are alleviated.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a method and device for constructing an environment map. Background technique [0002] With the improvement of social informatization, mobile robots are gradually playing an important role in social development. The construction of environmental map for mobile robot is the basis for its navigation and service tasks. With the environment map, the robot can realize path planning, obstacle avoidance, and autonomous movement. [0003] At present, mobile robots often use sensors such as lidar, camera, and ultrasonic to construct environmental maps. Among them, lidar is widely used because of its accuracy, but its detection range is limited to two-dimensional planes, and glass cannot be detected; cameras are more sensitive to light; ultrasonic sensors return the distance of the nearest obstacle in its emission cone (ie The physical characteristics of ultrasonic sensors), it is...

Claims

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Application Information

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IPC IPC(8): G01S15/89G01S15/93
CPCG01S15/89G01S15/93
Inventor 李明博
Owner BEIJING EVOLVER ROBOTICS TECH CO LTD
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