A control method, chip and robot for constructing grid map

Abstract

The invention relates to a control method for constructing a grid map. When a coordinate marked with a grid on the grid map reaches a preset scope of a grid map boundary, according to a coordinate offset result of the marked grid with the condition by exceeding the boundary, the practical change amount of the coordinate is calculated. Through displacement of the grid map, the problems of a robot starting point position influenced by the practical map boundary can be solved, the robot fully uses the grid map to move under various landform environments, and the utilization rate of the grid map can be increased.

Description

technical field [0001] The invention relates to the technical field of electronic information and intelligent control, in particular to a control method for building a grid map, a chip and a robot. Background technique [0002] At present, most sweeping robots use the grid method to build maps, and then update the state of the grid map. The grid method uses grids of the same size to divide the working space of the robot, and uses grid arrays to represent the environment, and each grid is either in free space or in obstacle space. The advantage of this method is that it is simple, easy to implement, and has the ability to represent irregular obstacles, which brings a lot of convenience to the realization of path planning; the disadvantage is that the representation efficiency is not high, and there is a contradiction between space-time overhead and accuracy. [0003] The robot creates a grid map in a traversal manner. The starting point of the robot is generally located at t...

AI Technical Summary

Problems solved by technology

The advantage of this method is that it is simple, easy to implement, and has the ability to represent irregular obstacles, which brings a lot of convenience to the realization of path planning; the disadvantage is that the representation efficiency is not high, and there is a contradiction between space-time overhead and accuracy.

[0003] The robot creates a grid map in a traversal manner. The starting point of the robot is generally located at the center of the grid map. The size of the grid map is fixed. If the robot keeps cleaning in one direction, the map will easily exceed the boundary

For example, the right side of the starting point of the robot is close to the wall, and the cleaning area on the left side is relatively large. Then the robot moves to the left of the starting point, which will cause the map it actually uses to exceed the boundary, while the map on the right side of the starting point is empty and unused. , so some space in the statically established grid map is idle and not utilized, resulting in limited cleaning area

The existing Chinese patent with the publication number CN106873601A solves the above problems. According to the situation that the actual map exceeds the boundary, the entire grid map is translated in real time. However, when the map exceeds the boundary, memory needs to be opened to buffer the grid map data that has crossed the boundary. After the map is translated, the buffered data is written into the map. This process complicates the algorithm process and increases the load on the hardware system.

Images