Sweeping mechanism diagram method and device, computer equipment and readable storage medium

Abstract

The invention discloses a sweeping mechanism diagram method, a plurality of ultrasonic sensors are uniformly arranged on a sweeper, an infrared sensor is arranged between every two adjacent ultrasonicsensors, and the method comprises the following steps: acquiring a first probability value of existence of an obstacle at each test point in an ultrasonic scanning range corresponding to each ultrasonic sensor at the current moment, obtaining a second probability value of existence of an obstacle at each test point in the infrared scanning range corresponding to each infrared sensor at the current moment; calculating a first cost value corresponding to the first test point according to the first probability value, and calculating a second cost value corresponding to the second test point according to the second probability value; forming an ultrasonic map of a to-be-tested area according to the ultrasonic cost values of all the test points, and forming an infrared map of the to-be-testedarea according to the infrared cost values of all the test points; and superposing the ultrasonic map of the to-be-measured area and the infrared map of the to-be-measured area according to a one-to-one correspondence relationship of the geographic positions to obtain a map corresponding to the to-be-detected area.

Description

technical field [0001] The present application relates to the field of sweeping machines, in particular to a method, a device, a computer device and a readable storage medium for sweeping mechanism diagrams. Background technique [0002] At present, there are mainly three types of household sweeping mechanism mapping technologies on the market, collision-based composition, camera-based visual slam composition, and laser composition. Based on the collision composition, the composition is tested while walking. The position that can be walked is considered as an idle area, and the position that has been collided is considered as an obstacle area. The cost is the lowest, but the composition takes a long time, and the area that the robot cannot reach cannot be composed, and the obtained map information is incomplete. . Based on the composition of the camera, the collected visual information is processed into map annotation information. The data volume is large and the calculatio...

AI Technical Summary

Problems solved by technology

[0003] The main purpose of this application is to provide a method for sweeping mechanism maps, aiming to solve the technical problems of limited use and high cost of existing composition technologies

Images