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Grid map updating method and device, robot and storage medium

A grid map and update method technology, applied in the field of robots, can solve problems such as the inability to accurately model the surrounding environment of robots, and achieve the effect of improving safety and flexibility, ensuring accuracy, and ensuring accuracy.

Pending Publication Date: 2021-03-19
GUANGZHOU SHIYUAN ELECTRONICS CO LTD +1
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Problems solved by technology

[0006] The embodiment of the present application provides a grid map update method, device, robot and storage medium to solve the technical problem that the surrounding environment of the robot cannot be accurately modeled in the prior art

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  • Grid map updating method and device, robot and storage medium
  • Grid map updating method and device, robot and storage medium
  • Grid map updating method and device, robot and storage medium

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Embodiment Construction

[0071] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are used to explain the present application rather than limit the present application. In addition, it should be noted that, for the convenience of description, only some structures related to the present application are shown in the drawings but not all structures.

[0072] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation or object from another entity or operation or object, and do not necessarily require or imply that these entities or any such actual relationship or order between operations or objects. For example, "first" and "second" of the first 3D point cloud data and the second 3D point cloud data are used to distinguish two different 3D point cloud data.

[0073] The method for updating ...

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Abstract

The embodiment of the invention discloses a grid map updating method and device, a robot and a storage medium, and relates to the technical field of robots. The method comprises the steps: obtaining first three-dimensional point cloud data which is used for representing currently collected surrounding environment information of a robot; obtaining second three-dimensional point cloud data used forrepresenting obstacle information in the surrounding environment information according to the first three-dimensional point cloud data; marking obstacle-free grids in a current grid map according to the first three-dimensional point cloud data and marking an obstacle-free object voxel in a current three-dimensional voxel map; according to the second three-dimensional point cloud data, marking an obstacle grid used for representing a non-low obstacle in the current grid map and marking an obstacle voxel used for representing a low obstacle in a current three-dimensional voxel map; and obtaininga latest grid map for marking the obstacle according to the current grid map and the current three-dimensional voxel map. By adopting the method, the technical problem that the surrounding environment of the robot cannot be accurately modeled in the prior art can be solved.

Description

technical field [0001] The embodiments of the present application relate to the field of robot technology, and in particular to a grid map updating method, device, robot and storage medium. Background technique [0002] A robot is an automated machine that can be programmed and automatically controlled to perform tasks such as work or move. With the deepening of people's intelligent technology of robots, robots have continuously penetrated into various fields of human activities. For example, food delivery robots have appeared in the catering field, and sweeping robots have appeared in the cleaning field. For mobile robots, autonomous navigation is a key technology when the robot moves autonomously. Among them, accurate modeling of the surrounding environment of the robot is an important link to ensure the precise and autonomous navigation of the robot. [0003] In some technologies, 2D lidar is used to obtain environmental information around the robot (ie, the position of...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/32
CPCG05D1/0257G01C21/32
Inventor 吴华勃
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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