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Mapping method and device, computer readable storage medium and robot

A robot and installation location technology, applied in the field of robotics, can solve problems such as poor stability of positioning and navigation results

Active Publication Date: 2021-03-09
UBTECH ROBOTICS CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiments of the present application provide a mapping method, device, computer-readable storage medium, and robot to solve the problem of poor stability of the positioning and navigation results of the robot in an environment with movable objects

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  • Mapping method and device, computer readable storage medium and robot
  • Mapping method and device, computer readable storage medium and robot
  • Mapping method and device, computer readable storage medium and robot

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Embodiment Construction

[0072] In order to make the invention, the advantages, the advantages of the present application can be more apparent, and the drawings in the present application embodiment will be described in conjunction with the drawings in the present application embodiment, and it will be clearly described. The described embodiments are merely the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained without making creative labor have not made creative labor premises.

[0073] It should be understood that when used in the present specification and the appended claims, the term "includes" indicating the presence of the described features, overall, steps, operations, elements, and / or components, but does not exclude one or more other features. , Overall, steps, operation, presence or addition of elements, components, and / or sets thereof.

[0074] It should also be understood that the terms used...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a mapping method and device, a computer readable storage medium and a robot. The method is applied to the robot, therobot comprises a first laser radar and a second laser radar, and the installation position of the first laser radar is higher than that of the second laser radar. The method comprises the steps of acquiring a first laser key frame; calculating the current pose of the robot according to the first laser key frame; updating a first probability map according to the current pose and the first laser key frame to obtain an updated first probability map; obtaining a second laser key frame; updating a second probability map according to the current pose and the second laser key frame to obtain an updated second probability map; and generating a fusion grid map for robot navigation according to the updated first probability map and the updated second probability map. The stability of positioning and navigation is greatly improved.

Description

Technical field [0001] This application belongs to the technical field of robot, in particular, to a modeling method, device, computer readable storage medium, and robot. Background technique [0002] SIMULTANEOS LOCALIZATION AND MAPPING, SLAM are important methods for creating laser navigation maps based on laser radar data, play an important role in real-time positioning and navigation plan in subsequent laser navigation. However, in the office, library, nursing homes, ward and other places have a lot of movable tables and chairs, the height of these objects is short, generally no more than 1.5 meters, and these movable objects make the environment of the navigation Easy to change, thereby causing poor stability of the robot's positioning navigation results. Inventive content [0003] In view of this, the present application provides an assembled method, apparatus, computer readable storage medium, and robot to solve the problem of poor stability of the locating navigation res...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/0257G05D1/0214G05D1/0221G05D1/0276G05D1/024G05D1/0274G01C21/3837G01C21/383G01C21/206G01S17/89G01S17/931
Inventor 张思民刘志超
Owner UBTECH ROBOTICS CORP LTD
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