Method and device for costmap updating, robot and storage medium

A map update and robot technology, applied in the field of robots, can solve the problems of not considering the impact of robot driving and low accuracy of generating cost maps.

Active Publication Date: 2020-07-31
JD DIGITS HAIYI INFORMATION TECHNOLOGY CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] This application provides a cost map updating method, device, robot and storage medium to solve the problem that the existing technology does not consider the impact of obstacles on the robot's driving, resulting in low accuracy in generating cost maps

Method used

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  • Method and device for costmap updating, robot and storage medium
  • Method and device for costmap updating, robot and storage medium
  • Method and device for costmap updating, robot and storage medium

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Embodiment Construction

[0040]In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in this application. Obviously, the described embodiments are part of the embodiments of this application , but not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0041] figure 1 The architecture diagram of the robot system provided for this application, such as figure 1 As shown, the robot system is composed of a mechanical part, a sensing part and a control part. The sensing part is used to perceive the environment. The task of the control system is to control the robot's mechanical part to perform prescribed movements and functions.

[0042] According to functional cla...

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Abstract

The invention provides a method and device for costmap updating, a robot and a storage medium. The method comprises the steps that an obstacle position and obstacle passing data are obtained, whetherthe robot can pass through an obstacle or not is determined according to the obstacle passing data and passing capability parameters of the robot, and a costmap is updated according to a judgment result and the obstacle position. According to the method, when the costmap is updated, the influence of the obstacle on the passage of the robot is considered, so that the generated costmap is more accurate, and the robot plans a better path.

Description

technical field [0001] The present application relates to the field of robot technology, and in particular to a cost map updating method, device, robot and storage medium. Background technique [0002] The robot's sensors are used to perceive the external environment and provide navigation data for the robot. However, the map obtained directly by processing the information collected by the sensor cannot be used for robot navigation, and the map needs to be converted into a cost map (CostMap). [0003] The cost map is composed of multiple map layers. The common map layers are: static map layer (StaticLayer), obstacle layer (ObstacleLayer) and inflation layer (InflationLayer). Among them, the mapping relationship between the static map layer, obstacle layer and expansion layer. The sensor scans the area to be collected to obtain the collected data, and builds a static map layer based on the collected data. The obstacle layer is used to store the obstacle information in the c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 郭新然王超桂晨光蔡禹丞蔡小龙马福强李振崔丽华姚秀军
Owner JD DIGITS HAIYI INFORMATION TECHNOLOGY CO LTD
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