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A method and system for generating a map for calculating the probability of pedestrian appearance

A technology of occurrence probability and pedestrians, which is applied in the field of robot navigation, can solve problems such as robot bumping into obstacles, robot damage, and failure to avoid obstacles in time and effectively in advance

Active Publication Date: 2020-12-15
诺亚机器人科技(上海)有限公司
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  • Description
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Problems solved by technology

[0003] For the above situation (1), the moving route of the robot is fixed, so when an obstacle temporarily appears on the predetermined route, the robot will not avoid it, and will directly hit the obstacle to a large extent, causing damage to the robot
For the above situation (2), since the robot judges based on the information received by the sensor, when an obstacle (such as a person) that moves in an unpredictable way temporarily appears, it may not be able to avoid the obstacle in time and effectively in advance, resulting in the robot hit an obstacle

Method used

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  • A method and system for generating a map for calculating the probability of pedestrian appearance
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  • A method and system for generating a map for calculating the probability of pedestrian appearance

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Embodiment Construction

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other accompanying drawings based on these drawings and obtain other implementations.

[0040] In order to make the drawing concise, each drawing only schematically shows the parts related to the present invention, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked. Herein, "a" not only means "only one", but also means "more than one".

[0041] The first ...

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Abstract

The present invention provides a method and system for generating a map for calculating the probability of pedestrian appearance. The method includes: acquiring a preset map area and generating a grid map; when monitoring pedestrians in the preset map area, acquiring the position of the pedestrian and the position of the monitoring point; Obtain the grid coordinates according to the position of the monitoring point; obtain the occurrence probability of the second pedestrian and the number of observations of the second pedestrian; compare the grid coordinates with the position coordinates to obtain the comparison result, generate and update the number of observations of the second pedestrian according to the number of observations of the second pedestrian, and according to the comparison The result, the probability of the second pedestrian appearance, the number of second pedestrian observations and the updated second pedestrian observation times generate and update the second pedestrian appearance probability; update the grid map. The present invention constructs a grid map corresponding to the preset map area, and calculates and updates the pedestrian appearance probability and the number of pedestrian observations at each grid position in the grid map according to the positions and times of pedestrians appearing in the preset map area.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to a method and system for generating a map for calculating the probability of pedestrian appearance. Background technique [0002] The point-to-point navigation of the robot needs to search for a reasonable, complete, optimal path in its activity space that can be calculated in real time and adapt to environmental changes according to certain optimization criteria (shortest time or travel). The degree of obtaining environmental information from the robot can be divided into two situations: (1) The environmental information within the robot’s activity range is completely known, and the robot moves according to a pre-planned fixed route; (2) The environmental information within the robot’s activity range Completely unknown or partially known, the robot adjusts its route by judging obstacles (such as people) based on sensor information. [0003] For the above situation (1), ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F16/29G06F17/18G06K9/00G06K9/62
CPCG06F17/18G06V40/10G06F18/24
Inventor 张干
Owner 诺亚机器人科技(上海)有限公司
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