Method and device for optimizing the map of a sweeping robot
A technology for sweeping robots and maps, applied in the field of image processing, can solve the problems of noise or uneven map edges, two-dimensional grid maps are easily affected by the environment, poor display effect, etc., and achieve the effect of denoising
Active Publication Date: 2020-12-22
浙江欣奕华智能科技有限公司 +1
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[0005] In the exemplary embodiment of the present invention, a method and device for optimizing the map of the sweeping robot are provided to solve the problem that in the prior art, because the two-dimensional grid map generated by the laser radar is easily affected by the environment, there will be some noise points or the edge of the map is not correct. smoothness, resulting in poor display
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[0080] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.
[0081] The term "and / or" in the embodiments of the present invention describes the association relationship of associated objects, indicating that there may be three relationships, for example, A and / or B, which may mean: A exists alone, A and B exist simultaneously, and B exists alone These three situations. The character " / " generally indicates that the co...
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The invention provides a method and a device for optimizing a map of a sweeping robot. The method comprises the following steps: acquiring an original map detected by the sweeping robot and a currentposition coordinate of the sweeping robot; carrying out connected domain analysis on the original map, and determining each connected domain in the original map; according to the current position coordinates of the sweeping robot, searching for a connected region where the sweeping robot is located as a target region, and setting the region identifier of each pixel point in each connected region outside the target region as a region identifier the same as that of the unknown region; and performing corrosion processing on the obstacle area in the target area to obtain an optimized map. Therefore, the problem that the display effect is poor due to the fact that a two-dimensional grid map generated by a laser radar is easily affected by the environment and some noisy points or map edges are not smooth in the prior art is solved.
Description
technical field [0001] The invention relates to the technical field of image processing, in particular to a method and device for optimizing a map of a sweeping robot. Background technique [0002] At present, sweeping robots occupy a major part of the sales volume of personal and household service robots, which shows that sweeping robots are developing rapidly. LiDAR, as an indispensable sensor for sweeping robots, is becoming more and more widely used. For the convenience of users, almost all sweeping robots are equipped with computer applications (Application, App), so that users can visually and remotely control the sweeping robots. [0003] The sweeping robot can create a visual real-time map with the help of lidar, but because the two-dimensional grid map generated by the lidar is affected by the environment, there will be some noise or the edge of the map is not smooth, resulting in poor display effect. [0004] In the prior art, by counting the ratio of white pixel...
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IPC IPC(8): G06T7/13G06T7/187A47L11/24A47L11/40G06T5/00G06T5/30
CPCA47L11/24A47L11/4061A47L2201/04G06T5/002G06T5/30G06T2207/30168G06T7/13G06T7/187
Inventor 李洪文彭浩张弥
Owner 浙江欣奕华智能科技有限公司