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Robot mapping method, device and storage medium

A robot and map technology, applied in the field of robotics, can solve the problems of large labor cost, time cost, time waste, errors, etc., and achieve the effect of saving labor cost and time cost, and reducing the error rate

Active Publication Date: 2020-08-04
JUXING TECH SHENZHEN CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method consumes a lot of labor and time costs, and manual entry is likely to cause errors to a certain extent; in addition, because the establishment of this topological map depends on the existing laser point cloud map, therefore, the topological map This establishment method must first establish a laser point cloud map, which also causes a certain waste of time

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  • Robot mapping method, device and storage medium
  • Robot mapping method, device and storage medium
  • Robot mapping method, device and storage medium

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Embodiment Construction

[0033] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0034] The invention provides a robot mapping method, equipment and storage medium, by recording the trajectory of the robot driving and mapping, and then performing graphic optimization processing to obtain a topological map, realizing automatic and batch entry of waypoints and routes, and Simultaneous drawing with the laser point cloud map greatly saves the labor cost and time cost of topological map entry, and reduces the error rate.

[0035] Such as figure 1 as shown, figure 1 It is a schematic flow chart of an embodiment of the robot mapping method of the present invention; a robot mapping method of the present invention can be implemented as steps S10-S30 as ...

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Abstract

The invention discloses a robot mapping method, equipment and storage medium. The robot management system receives the waypoints recorded by the robot itself during the driving and mapping process, and the waypoints entered by the robot are followed by the robot driving. Numbering in sequence; when the robot runs all the drivable passages, it will connect the adjacent waypoints according to the order of the corresponding numbers of the waypoints to obtain the preliminary path corresponding to the topological map; according to the preset waypoint distance and the minimum Path angle, merge the waypoints and preliminary paths that meet the optimization rules, and obtain the corresponding topological map; realize the purpose of automatic and batch entry of waypoints and paths, save the labor cost and time cost of topological map entry, and reduce errors Rate.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot mapping method, device and storage medium. Background technique [0002] The navigation layer of the autonomous mobile robot based on laser slam (simultaneous localization and mapping, positioning and map construction) navigation is divided into two layers, namely the routing planning layer (also called path planning layer) and the motion planning layer (also called free navigation layer) . Among them, the route planning layer solves the route problem. For example, there are three paths from left, middle and right to reach the target point, and the route planning layer decides which path to take; while the motion planning layer deals with obstacle avoidance and How to take the shortest travel distance, etc. During robot deployment, the operator needs to enter the topology map into the robot management system. The traditional method of topological map input is that after...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0259G05D1/0214G05D1/0285
Inventor 杨志钦钟扬
Owner JUXING TECH SHENZHEN CO LTD