Three-dimensional map construction method, sweeping robot and electronic equipment

Abstract

The invention provides a three-dimensional map construction method, a sweeping robot and electronic equipment. The method comprises the following steps: A, determining pose information of the sweepingrobot at a current position through a corresponding point cloud matching algorithm based on acquired laser point cloud data, step B, constructing a three-dimensional sub-map of the environmental space based on the determined pose information of the sweeping robot at the current position and the depth information acquired by the sweeping robot at the current position, and step C, controlling the sweeping robot to move to a next position meeting a preset condition, executing the step A and the step B, performing fusion processing on the constructed three-dimensional sub-maps to obtain a combined three-dimensional map, and circularly executing the step C until the obtained combined three-dimensional map is a global three-dimensional map of the environmental space. Compared with a two-dimensional map constructed according to a laser radar, the three-dimensional map constructed by the invention has the advantages that the richness of information contained in the constructed map and the accuracy of the constructed map are improved.

Description

technical field [0001] The present application relates to the field of robot technology, in particular, the present application relates to a three-dimensional map construction method, a sweeping robot and electronic equipment. Background technique [0002] As a smart appliance that can automatically clean the area to be cleaned, the sweeping robot can replace people to clean the ground, reducing the burden of people's housework, and is more and more recognized by people. The map construction of the application environment space of the sweeping robot is the basis for the sweeping robot to perform the cleaning work. How to construct the map of the application environment space of the sweeping robot has become a key issue. [0003] The problem to be solved by Simultaneous Localization and Mapping (SLAM) technology is: if a robot is placed in an unknown position in an unknown environment, is there a way for the robot to gradually draw a map that is completely consistent with the...

AI Technical Summary

Problems solved by technology

However, in the existing SLAM mapping method based only on lidar, lidar can only detect obstacle information on a 2D plane, and cannot detect information on the vertical direction of obstacles. The map constructed is a two-dimensional map, and the environment provided Space information is limited, and for some special obstacles (such as tables and chairs with hollow structures, etc.), it cannot be effectively detected and processed by lidar

Therefore, the existing SLAM mapping method based only on lidar has the problem that the constructed map provides little information and low mapping accuracy

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