Robot mapping method and device, robot and storage medium

A robot and map technology, applied in the field of robots, can solve problems such as unstable positioning and mapping, inaccurate robot positioning data, etc., and achieve the effects of reducing inability to locate, accurate maps, and reducing cumulative errors

Inactive Publication Date: 2020-07-17
北京云迹科技股份有限公司
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Problems solved by technology

[0003] The purpose of the embodiment of the present application is to provide a robot mapping method, device, robot and storage medium to improve "the current mapping method based on laser SLAM, in a strong light environment, the positioning data of the robot obtained is inaccurate, and The mapping method based on laser SLAM needs loop detection, and when there are many dynamic obstacles in the environment, the problem of unstable positioning and mapping”

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

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Embodiment Construction

[0027] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0028] see figure 1 , is a schematic structural block diagram of a robot 100 in a robot mapping method provided in an embodiment of the present application. Structurally, the robot 100 may include a processor 110 and a memory 120 .

[0029] The processor 110 and the memory 120 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these components may be electrically connected to each other through one or more communication buses or signal lines. The robot mapping device includes at least one software module that can be stored in the memory 120 in the form of software or firmware (Firmware) or solidified in the operating system (Robot Operating System, ROS) of the robot 100 . The processor 110 is configured to execute executable modules stored in ...

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Abstract

The invention provides a robot mapping method and device, a robot and a storage medium. The method comprises the steps that point cloud data obtained through laser radar scanning, positioning data, obtained through a positioning module, of a robot and posture data, obtained through an inertia measurement unit, of the robot are obtained; actual coordinates of each laser point in the point cloud data are obtained based on the positioning data and the posture data; and a first map is generated based on the actual coordinates of each laser point in the point cloud data. According to the robot mapping method provided by the embodiment of the invention, loopback detection is not needed. Besides, the position data of the robot and the posture data of the robot are obtained through the positioningmodule and the inertial measurement unit respectively; compared with the robot position data and posture data reversely determined through the point cloud data, so that the constructed map is more accurate, and the laser mapping mode can be suitable for the outdoor strong light environment.

Description

technical field [0001] The present application relates to the technical field of robots, and in particular, relates to a robot mapping method and device, a robot and a storage medium. Background technique [0002] At present, there are many methods for robots to build maps. SLAM (Simultaneous Localization And Mapping, real-time positioning and map construction) is the most commonly used method. The positioning of its own position and attitude and the system of scene map information. At present, the most common SLAM is laser SLAM. The core of laser SLAM is to match and compare two pieces of point cloud data obtained by laser radar scanning at different times, and calculate the relative motion distance and attitude change of laser radar to realize the positioning of the robot itself, and then complete the positioning and map. Construct. However, this method has the following disadvantages: 1. In a strong light environment, the positioning data of the robot obtained through ...

Claims

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Application Information

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IPC IPC(8): G01S17/89G01S17/02G01S19/45G01S19/47G01C21/16G01C21/20
CPCG01C21/165G01C21/20G01C21/206G01S17/89G01S19/45G01S19/47
Inventor 李耀宗支涛
Owner 北京云迹科技股份有限公司
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