Framing method of passable area, area calculation method, chip and robot

Abstract

The invention discloses a framing method of a passable area, an area calculation method, a chip and a robot. The framing method comprises the steps: controlling a mobile robot to traverse a global working area according to a preset path, and constructing a global grid map according to information recorded in a traversal process; and after the traversal of the global working area is completed, controlling the mobile robot to walk along the edge from a preset edge starting point in the global working area, and framing and establishing a passable area of an edge walking path of the mobile robot in each global coordinate axis direction of the global grid map. According to the technical scheme, only the position area traversed by the robot in the walking process along the edge is utilized; thepassable area in each global coordinate axis direction can be constructed and framed, the acquired obstacle environment information amount is relatively small, the computing power and the storage space are saved, the computing burden of navigation and positioning of the mobile robot is reduced, and the navigation and mapping speed of the robot is increased.

Description

technical field [0001] The present invention relates to the technical field of regional planning of mobile robots, in particular to a method for determining a passable area of ​​a mobile robot based on a global grid map, a method for calculating the area of ​​the area, a chip and a robot. Background technique [0002] A mobile robot refers to a self-moving device that performs preset tasks autonomously in a set closed indoor space. Currently, mobile robots include but are not limited to mobile robots (such as intelligent sweepers, intelligent sweeping and mopping integrated robots, window cleaning robots), accompanying Type mobile robots (such as smart electronic pets, nanny robots), service mobile robots (such as reception robots in hotels, hotels, and meeting places), industrial inspection smart devices (such as power inspection robots, smart forklifts, etc.), security robots ( Such as household or commercial intelligent security robot). [0003] The mobile robot obtains ...

AI Technical Summary

Problems solved by technology

The current mobile robot plans and determines the passable area in the established map based on the acquisition and recording of the location information of obstacles. Therefore, the amount of environmental information that needs to be acquired is large, and greater computing power and storage are required. Space increases the computational burden of mobile robot navigation and positioning, which in turn prolongs the mapping time

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