Map construction and navigation method, device, and system

A map construction, map technology, applied in the field of data processing

Inactive Publication Date: 2018-07-31
ZTE CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, this method of building maps still has deficiencies in at least one aspect of performance, such as practicality, flexibility, security, and resource utilization.

Method used

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  • Map construction and navigation method, device, and system
  • Map construction and navigation method, device, and system
  • Map construction and navigation method, device, and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] This embodiment relates to a map construction method and system.

[0049] The map construction method of this embodiment is implemented by a map construction system. In the application of mobile robot navigation, the map construction system can be embedded in the navigation chip used by the mobile robot, or integrated with the visual sensor used by the mobile robot, or adopt implemented on a separate chip. In other applications, it is similar.

[0050] The map in this embodiment takes an indoor grid map as an example, but the present application is not limited thereto, and the obstacle classification method can also be extended to outdoor maps, non-grid maps, and the like.

[0051] The map construction method of this embodiment is as follows figure 1 shown, including:

[0052] Step 110, identifying the detected obstacle, and determining the type of the obstacle among the various types classified according to the characteristics of the obstacle according to the identifi...

Embodiment 2

[0150] This embodiment provides a navigation method, such as image 3 As shown, it includes: step 210, identifying the newly added obstacle detected on the travel path, and determining the type of the newly added obstacle among the multiple types classified according to the characteristics of the obstacle according to the recognition result; Step 220, perform obstacle avoidance processing according to the type of the added obstacle.

[0151] In this example,

[0152] The methods of classification according to the characteristics of obstacles include negotiation type and other types, negotiation type obstacles include adults, and other types may be stable type, sudden change type, etc., but in this embodiment, other types are not limited. In this embodiment, obstacle avoidance processing is performed according to the type of the newly added obstacle, including: if the newly added obstacle is a negotiation obstacle, initiate an interaction with the negotiation obstacle, and req...

Embodiment 3

[0169] This embodiment uses an example to describe the grid map construction process based on indoor obstacle feature classification. Before the navigation task starts, the mobile robot walks around the indoor environment and completes the construction of the static map layer according to the information of external sensors. Since this stage occurs before the navigation task of the mobile robot, the obstacles in the static map layer are all stable obstacles;

[0170] Such as Figure 5 As shown, the process includes:

[0171] Step 301, start a navigation task;

[0172] Step 302, finding an obstacle;

[0173] In this step, the map construction system detects the images collected by the sensor and finds that new obstacles appear ahead;

[0174] Step 303, obstacle image recognition,

[0175] In this step, the map construction system performs feature extraction and recognition based on the image information of the obstacle, such as recognizing that the obstacle ahead is a cat o...

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PUM

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Abstract

The invention discloses a map construction and navigation method, a device, and a system. The map construction and navigation method is used for identification of detected barriers, determining the types of the barriers in a plurality of types based on identification results, constructing a map to mark the barriers, and recoding the types of the barriers. In navigation, when new barriers are detected on a current path, obstacle avoidance treatment is carried out based on the types of the new barriers. The invention also provides the corresponding device and the system. According to the map construction and navigation method, constructed maps are provided with type meanings used for describing barrier characteristics, different composition strategies and avoiding strategies can be adopted for barriers of different types, and better practicality and flexibility are achieved.

Description

technical field [0001] The present application relates to but is not limited to the field of data processing, and in particular relates to a map construction and navigation method, device and system. Background technique [0002] In the traditional grid map construction method, a complete two-dimensional grid is used to abstractly represent the entire indoor environment information. There are three types of grids on this grid map, obstacle grids, non-obstacle grids and unknown grids. Among them, the obstacle grid indicates that there is an obstacle at the corresponding position of the grid, the non-obstacle grid indicates that the corresponding position of the grid is free to pass, and the unknown grid indicates that the information at the corresponding position of the grid is unknown. [0003] The shortcomings of the traditional grid map construction method include two aspects: First, all environmental information is tightly coupled on the same grid map, and the map for cu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206G01C21/3807G01C21/387G01C21/3833G01C21/383G01C21/3863G05D1/0088G05D1/0214
Inventor 李从兵董振江甘玉玺
Owner ZTE CORP
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