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Grid semantic map generation method and device and storage equipment

A technology of semantic map and grid map, which is applied in the direction of measuring devices, maps/plans/charts, navigation, etc., can solve the problem that the specific situation of the map cannot be accurately reflected, and achieve the effect of effective path planning

Active Publication Date: 2021-02-23
ECOVACS COMML ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Such a grid map can only reflect some obstacle information in the working environment where the mobile device is located, and cannot accurately reflect the specific conditions of the corresponding environment of the map

Method used

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  • Grid semantic map generation method and device and storage equipment
  • Grid semantic map generation method and device and storage equipment
  • Grid semantic map generation method and device and storage equipment

Examples

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no. 2 example

[0086] In the first embodiment above, a method for generating a grid semantic map is provided. Correspondingly, the second embodiment of the present application provides a device for generating a grid semantic map. Since the device embodiment is basically similar to the first embodiment of the method, the description is relatively simple, and for relevant parts, refer to part of the description of the method embodiment. The device embodiments described below are illustrative only.

[0087] Please refer to Figure 4 , which shows a schematic diagram of an apparatus for generating a grid semantic map provided by the second embodiment of the present application.

[0088] The grid semantic map generating device includes:

[0089] A final position determining unit 401, configured to generate a global grid map of the current environment, and determine the final position of each node in the current environment on the global grid map;

[0090] A relative position obtaining unit 402...

no. 3 example

[0120] Corresponding to the grid semantic map generation method provided in the first embodiment of the present application, the third embodiment of the present application provides a storage device storing a program of the grid semantic map generation method, which is run by a processor; as Typical example, Figure 5 The storage device 502 and the processor 501 connected to the storage device 502 are shown; by reading the program stored in the storage device 502, the following steps can be performed:

[0121] Generate a global grid map of the current environment, and determine the final position of each node in the current environment on the global grid map;

[0122] In the process of generating the global grid map, obtain the relative position of the visual semantic information of the current environment and the current node;

[0123] According to the relative position, the visual semantic information is embedded into the global grid map to generate a global grid semantic map...

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Abstract

The invention provides a grid semantic map generation method, which comprises the steps: generating a global grid map of a current environment, and determining a final position of a node in the current environment on the global grid map, in the process of generating the global grid map, obtaining the relative position of the visual semantic information of the current environment and the current node; and according to the relative position, embedding the visual semantic information into the global grid map to generate a global grid semantic map. The map generated by the grid semantic map generation method provided by the invention not only can reflect the position information of the object in the current environment, but also can reflect the image information of the object in the current environment, so that the situation of the environment corresponding to the map can be reflected more accurately.

Description

technical field [0001] The present application relates to the field of map construction, in particular to a method, device and storage device for generating a grid semantic map. Background technique [0002] With the advancement and development of science and technology, more and more self-mobile devices with navigation functions appear in people's daily life to provide people with navigation and other services, such as self-mobile navigation robots. The working principle of the self-mobile navigation robot is as follows: Obtain navigation instructions, display the pre-stored grid map of the environment according to the navigation instructions, obtain the starting point and target point marked on the grid map, according to the starting point and target point in the grid Generate a path plan from the starting point to the target point on the grid map, and further generate a grid-based navigation map based on the path plan, and move automatically according to the selected navi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G09B29/00
CPCG01C21/005G09B29/005
Inventor 钟立扬郑思远邱华旭邵长东
Owner ECOVACS COMML ROBOTICS CO LTD
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