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Robot map construction method and system

A construction method and robot technology, applied in geographic information databases, structured data retrieval, special data processing applications, etc., can solve the problems of poor mapping accuracy and low mapping efficiency, reduce performance limitations, and make mapping easier effect, improve the effect of real-time mapping

Active Publication Date: 2020-03-24
SHANGHAI YOGO ROBOTICS CO LTD
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Problems solved by technology

[0004] In view of the technical problems of low mapping efficiency and poor mapping accuracy in the above prior art, the purpose of the present invention is to provide a method and system for constructing a robot map to solve the problems of low mapping efficiency and poor mapping accuracy in the prior art. poor technical issues

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  • Robot map construction method and system
  • Robot map construction method and system
  • Robot map construction method and system

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Embodiment Construction

[0057] The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0058] see Figure 1 to Figure 10 It should be noted that the structures shown in the drawings attached to this specification are only used to cooperate with the content disclosed in the specification for the understanding and reading of those who are familiar with this technology, and are not used to limit the conditions for the implementation of the present invention. Without technical substantive significance, any modification of structure, change of proportional relationship or adjustment of size shall still fall within the technology disclosed in the present invention without affecting the effect and purpose of the present invention. within the scope of the content. At the same time, terms such as "upper", "lo...

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Abstract

The invention discloses a robot map construction method and system. The robot map construction method comprises the steps: initializing particle poses and map data, and collecting the laser data of arobot, so as to obtain first-generation particles, and obtain a first-generation sampled particle map according to the first-generation particles; obtaining weighted particle information in the first-generation particles, sampling the first-generation particles according to the weighted particle information, and inheriting the first-generation sampled particle map to obtain second-generation particles and a second-generation sampled particle map; obtaining weighted particle information in the second-generation particles, sampling the second-generation particles according to the weighted particle information, and inheriting the second-generation sampled particle map to obtain third-generation particles and a third-generation particle map; emptying the first-generation particles and updatingthe second-generation particles and the third-generation particles to obtain mapping data; judging whether mapping is completed or not; if so, generating a complete grid map according to the mappingdata; and if not, circularly executing the previous steps until the mapping is completed. According to the robot map construction method, the efficiency and precision of robot mapping are improved.

Description

technical field [0001] The invention relates to the technical field of robot laser scanning image processing, in particular to a method and system for constructing a robot map. Background technique [0002] With the continuous development of electronic control and artificial intelligence technology, intelligent robots are widely used in smart home, industrial manufacturing, electric power, petroleum and petrochemical and other fields. Various types of intelligent robots are widely used in various scenes of production and life. Robots in the prior art use simultaneous positioning and mapping technology to perform environment perception operations. In the resampling stage of map particles, the sampling particles are redistributed according to the proportion of weights. When the number of particles is large, a large number of particles need to be copied Information, especially the map carried by each particle, needs to be completely copied from particles with larger weights, w...

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Application Information

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IPC IPC(8): G06F16/29
CPCG06F16/29
Inventor 李国飞
Owner SHANGHAI YOGO ROBOTICS CO LTD
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