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A mapping method, device, computer-readable storage medium, and robot

A robot and installation position technology, applied in the field of robots, can solve problems such as poor stability of positioning and navigation results, and achieve the effect of improving stability

Active Publication Date: 2022-05-06
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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  • A mapping method, device, computer-readable storage medium, and robot
  • A mapping method, device, computer-readable storage medium, and robot
  • A mapping method, device, computer-readable storage medium, and robot

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Embodiment Construction

[0072] In order to make the purpose, features and advantages of the present application more obvious and understandable, 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 following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0073] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...

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Abstract

The present application belongs to the technical field of robots, and in particular relates to a mapping method, a device, a computer-readable storage medium and a robot. The method is applied to a robot, and the robot includes a first laser radar and a second laser radar, and the installation position of the first laser radar is higher than the installation position of the second laser radar, and the method includes: acquiring the second laser radar A laser key frame; calculate the current pose of the robot according to the first laser key frame; update the first probability map according to the current pose and the first laser key frame, and obtain the updated first probability map ; Obtain a second laser key frame; update a second probability map according to the current pose and the second laser key frame to obtain an updated second probability map; according to the updated first probability map and the The updated second probability map generates a fused grid map for robot navigation, which greatly improves the stability of positioning and navigation.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a mapping method, a device, a computer-readable storage medium and a robot. Background technique [0002] Robot laser mapping and positioning technology (Simultaneous Localization And Mapping, SLAM) is an important method for robots to create laser navigation maps based on lidar data, which plays an important role in the subsequent real-time positioning and navigation planning in laser navigation. However, there are many movable tables, chairs, hospital beds and other objects in offices, libraries, nursing homes, wards and other places. It is easy to change, which may lead to poor stability of the positioning and navigation results of the robot. Contents of the invention [0003] In view of this, embodiments of the present application provide a mapping method, device, computer-readable storage medium, and robot to solve the problem of poor stability of rob...

Claims

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Application Information

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Patent Type & Authority Patents(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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