Map creation method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention relates to the field of data processing, and discloses a map creation method and device, electronic equipment and a storage medium. In some embodiments of the invention, the map creation method comprises the following steps: acquiring ultrasonic data transmitted by at least one ultrasonic sensor of a robot and laser radar data transmitted by at least one laser radarof the robot; for each grid of the blank obstacle map, carrying out the following operations: according to laser radar data, judging whether an obstacle exists at a position indicated by the grid; ifso, determining that the grid is occupied; if not, determining whether the grids are occupied or not at least according to the ultrasonic data; and obtaining an obstacle grid map according to the occupation condition of each grid. According to the embodiment, the ultrasonic sensor can be used for auxiliary mapping, the requirement for the number of the laser radars installed on the electronic equipment is lowered, the mapping cost is reduced, and a foundation is provided for obstacle avoidance and navigation of the robot.

Description

technical field [0001] The embodiments of the present invention relate to the field of data processing, and in particular to a map creation method, device, electronic equipment, and storage medium. Background technique [0002] The era of robots has come. To achieve safe passage and navigation and obstacle avoidance for robots in complex environments, it is necessary to install a large number of sensors on the robots, just as humans gather multiple senses such as vision, hearing, touch, and smell to accurately perceive the surrounding environment. [0003] However, the inventor found that at least the following problems exist in the prior art: due to the limitation of the installation position of the laser radar and its own angle, a single laser radar can only detect the depth information in the limited direction angle of the robot, mainly in the 180-degree range of the robot's forward direction, but There is a lack of detection equipment on both sides and rear of the robot....

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Problems solved by technology

[0003] However, the inventor found that at least the following problems exist in the prior art: due to the limitation of the installation position of the laser radar and its own angle, a single laser radar can only detect the depth information in the limited direction angle of the robot, mainly in the 180-degree range of the robot's forward direction, but There is a lack of detection equipment on both sides and rear of the robot. If laser radar equipment is installed in all four directions, it will bring about increased costs and bloated systems.

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