Map processing method, mobile robot and computer-readable storage medium

A processing method and map technology, applied in image data processing, computer components, calculations, etc., can solve problems such as discontinuous obstacles, thick walls, and unsightly maps, and achieve concise maps, smooth lines, and accurate maps Effect

Active Publication Date: 2020-07-17
SHANGHAI FLYCO ELECTRICAL APPLIANCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] The main purpose of the present invention is to provide a map processing method to solve technical problems such as discontinuous obstacles, excessive wall thickness, and unsightly maps in the existing map construction method

Method used

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  • Map processing method, mobile robot and computer-readable storage medium
  • Map processing method, mobile robot and computer-readable storage medium
  • Map processing method, mobile robot and computer-readable storage medium

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Embodiment Construction

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0051]It should be noted that the terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of this application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes...

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Abstract

The invention discloses a map processing method, an electronic device and a computer-readable storage medium. The method extracts obstacle image information from the map and stores it in the first map image, and extracts non-obstacle image information and stores it in the second map image; iteratively acquires the outline points of each non-obstacle in the second map image in the The closest position point of the obstacle within the preset search distance of the corresponding position in the first map image is used as the obstacle contour position point, and it is added to the output map, which can further perform the second step on the obstacle contour Confirmation makes the map more accurate; in the output map image, the obstacle and non-obstacle areas are close to each other, and the obstacle only retains the obstacle boundary close to the non-obstacle area, making the map more concise and the lines smoother.

Description

technical field [0001] The present invention relates to the field of robot automatic control, in particular to a map processing method, a mobile robot and a computer-readable storage medium. Background technique [0002] At present, in mobile robots, such as sweeping robots, mapping and navigation are the key technologies to realize their mobile functions. The mobile robot mainly builds an obstacle map for navigation based on the environmental information measured by distance sensors, image sensors, etc., and at the same time, the map can be displayed on the terminal to allow users to observe its working status. After the map is constructed, the preliminary map needs to be further processed before it can be displayed. The simple thresholding process makes the obstacles discontinuous and the wall thickness too large. [0003] In addition, when the mobile robot displays the map on the terminal communicating with the mobile robot, the shape of the obstacle will be excessively ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06T7/13G06F16/29
CPCG06T7/13G06F16/29G06V20/56
Inventor 龚凯
Owner SHANGHAI FLYCO ELECTRICAL APPLIANCE
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