Multi-robot mapping method and system, computer storage medium and electronic equipment

A multi-robot and robot technology, applied in computing, instrumentation, image data processing, etc., can solve the problems of difficulty in promotion and use, low efficiency of mapping, and large time-consuming, so as to ensure reliability, improve mapping efficiency, and reduce communication The effect of pressure

Pending Publication Date: 2020-07-03
广州高新兴机器人有限公司
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Problems solved by technology

[0003] Existing technical solutions are more suitable when applied to small-scale environment mapping, but when it is necessary to map large-scale scenes, the efficiency of single-robot mapping in large-scale scenes is low, time-consuming, and costly, making it difficult to popularize and use

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  • Multi-robot mapping method and system, computer storage medium and electronic equipment
  • Multi-robot mapping method and system, computer storage medium and electronic equipment
  • Multi-robot mapping method and system, computer storage medium and electronic equipment

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Embodiment Construction

[0039] The specific implementation manner of the present invention will be further described in detail below with reference to the drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0040] Firstly, the multi-robot mapping method according to the embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] Such as figure 1 As shown, the multi-robot mapping method according to the embodiment of the present invention includes the following steps:

[0042] S1. One of the robots constructs a sub-map as an initial map and uploads it to the host.

[0043] S2. The host sends the initial map to each of the robots.

[0044] S3. Each of the robots moves in the initial map until obtaining their respective poses in the initial map.

[0045] S4. Each of the robots constructs a new sub-map with the current pose in t...

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Abstract

The invention provides a multi-robot mapping method and system, a computer storage medium and electronic equipment. The method comprises the following steps: S1, constructing a sub-map by one robot inmultiple robots as an initial map, and uploading the sub-map to a host; s2, the host issues the initial map to each robot; s3, each robot moves in the initial map until the pose of each robot in theinitial map is obtained; s4, each robot constructs a new sub-map by taking the current pose in the initial map as the initial pose of the next sub-map; s5, the host splices the new sub-maps from the robots; s6, adjusting the pose of each new sub-map to minimize the sum of pose errors and matching errors before all the new sub-maps; and S7, mapping the plurality of adjusted new sub-maps to the samemap according to a pose relationship to obtain a new map. According to the method provided by the invention, the mapping efficiency in a large scene can be greatly improved.

Description

technical field [0001] The present invention relates to the technical field of robot mapping, and more specifically, to a multi-robot mapping method, a multi-robot mapping system, a computer storage medium and electronic equipment. Background technique [0002] At present, when constructing a map of an environment, it is usually constructed by a single robot. The specific operation is: a single robot moves in the environment, and constructs an environment map based on the robot's motion information and the environmental information obtained by the sensor. [0003] Existing technical solutions are more suitable for mapping in a small-scale environment, but when it is necessary to map a large scene, the efficiency of a single robot in a large scene is low, time-consuming, and costly, making it difficult to popularize and use . Contents of the invention [0004] In view of this, the present invention provides a multi-robot mapping method, a multi-robot mapping system, a comp...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T11/20
CPCG06T11/206
Inventor 刘彪柏林舒海燕宿凯沈创芸祝涛剑雷宜辉张绍飞刘涛
Owner 广州高新兴机器人有限公司
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