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Method and device for determining advancing track, readable medium and electronic equipment

A technology for determining methods and trajectories, which is applied in image data processing, special data processing applications, instruments, etc., and can solve problems such as coordinate drift of intelligent robots and inaccurate display of travel trajectories.

Pending Publication Date: 2020-10-20
XIAOGOU ELECTRIC INTERNET TECH BEIJING CO LTD
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Problems solved by technology

However, due to the accuracy of the spatial map established by SLAM at this stage, sometimes the coordinates of the intelligent robot in the spatial map will drift, resulting in inaccurate display of the trajectory in the spatial map

Method used

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  • Method and device for determining advancing track, readable medium and electronic equipment
  • Method and device for determining advancing track, readable medium and electronic equipment
  • Method and device for determining advancing track, readable medium and electronic equipment

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Embodiment Construction

[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0047] During the travel of the intelligent robot, its travel trajectory can be displayed on the spatial map. However, the current positioning method of intelligent robots in the spatial map is different from direct positioning methods such as GPS positioning, but indirect positioning through the mileage coordinate system or the base coordinate system, so as to calculate its position in t...

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Abstract

The invention discloses a method and a device for determining an advancing track, a readable medium and electronic equipment. The method comprises the following steps: determining a first positioningcoordinate of a positioning point in a world coordinate system, and determining a first reference coordinate of a reference point corresponding to the positioning point in the world coordinate system;determining an offset distance between the positioning point and the reference point according to the first positioning coordinate and the first reference coordinate; when the offset distance is greater than a preset distance threshold, correcting a first positioning coordinate of the positioning point to obtain a first corrected coordinate of the positioning point in the world coordinate system;determining the first correction coordinate as a track coordinate in the advancing track; determining an offset distance between the positioning point and the reference point, and judging whether thepositioning point drifts or not by utilizing a distance threshold value and the offset distance; and carrying out coordinate correction under the condition of positioning point drifting. The problemof inaccurate positioning caused by coordinate drifting is solved, and smooth processing of the advancing track is realized.

Description

technical field [0001] The present invention relates to the technical field of smart devices, in particular to a method, device, readable medium and electronic device for determining a traveling track. Background technique [0002] For a self-propelled intelligent robot (such as a sweeping robot), it is usually necessary to establish a map of its space. In the prior art, a spatial map can be established through SLAM (simultaneous localization and mapping, that is, simultaneous localization and mapping), so that intelligent robots can realize functions such as navigation, route planning, and map display. [0003] During the travel of the intelligent robot, its travel trajectory can be displayed on the spatial map. However, due to the accuracy of the spatial map established by SLAM at this stage, sometimes the coordinates of the intelligent robot in the spatial map will drift, resulting in inaccurate display of the trajectory in the spatial map. Contents of the invention ...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06F16/29
CPCG06T7/73G06F16/29
Inventor 檀冲王磊张书新李贝
Owner XIAOGOU ELECTRIC INTERNET TECH BEIJING CO LTD
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