Navigation map construction method and device

Abstract

The present invention provides a navigation map construction method and device. The method includes the following steps that: at least two scanning positions within a target area are determined; ultrasonic waves are emitted to at least one scanning region in the target area from any one scanning position in the at least two scanning positions, reflection waveforms corresponding to each scanning area are respectively obtained according to the reflected waves of the ultrasonic waves; as for each reflection waveform, distance relations between obstacles in the scanning areas corresponding to thereflection waveforms and the scanning positions corresponding to the reflection waveforms are determined according to the information of wave peaks contained in the reflection waveforms; as for each obstacle, direction relations between each obstacle and the scanning positions are determined according to the distance relations between the obstacles and the at least two scanning positions; and thenavigation map of the target area is constructed according to the distance relations between the obstacles and the scanning positions and the direction relations between the obstacles and the scanningpositions. With the navigation map construction method and device of the invention adopted, the construction efficiency of the navigation map can be improved.

Description

technical field [0001] The invention relates to the technical field of automation, in particular to a navigation map construction method and device. Background technique [0002] With the continuous development and progress of computer technology and sensor technology, self-propelled robots that can move by themselves in the target area are widely used in various fields, such as sweeping robots used in the field of household cleaning. The self-propelled robot needs to move by itself according to the navigation map corresponding to the target area in order to avoid obstacles and move along a reasonable route. [0003] Currently, a self-propelled robot can generate a navigation map corresponding to the target area during the process of moving in the target area. [0004] For the current method of generating a navigation map, when a self-propelled robot uses ultrasonic sensors, infrared sensors or cameras to determine obstacles in the target area, each scan only determines the...

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Problems solved by technology

[0004] For the current method of generating a navigation map, when a self-propelled robot uses ultrasonic sensors, infrared sensors or cameras to determine obstacles in the target area, each scan only determines the obstacle closest to the self-propelled robot, and generating a navigation map requires multiple operations. Scanning, due to the long time required for multiple scans, the efficiency of navigation map generation is low

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