Robot, and mapping method and device thereof

A robot and map technology, applied in the field of robotics, can solve problems such as unfavorable robot mapping efficiency, and achieve the effect of improving efficiency

Pending Publication Date: 2021-04-02
UBTECH ROBOTICS CORP LTD
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  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a robot and its mapping method and device to solve the need to complete the mapping of the robot in the prior art at one time. If it is interrupted, the mapping needs to be restarted, which is not conducive to improving the robot. The problem of mapping efficiency

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  • Robot, and mapping method and device thereof
  • Robot, and mapping method and device thereof
  • Robot, and mapping method and device thereof

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Embodiment Construction

[0044] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0045] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.

[0046] At present, in the simultaneous positioning and mapping operation of the robot, it is usually necessary to complete the map construction in the scene at one time. After completing the map construction in the scene, a map including sufficient s...

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Abstract

The invention belongs to the field of robots, and provides a robot mapping method. The method comprises the following steps: obtaining an initial value position of a robot; searching a first preset number of key frames in a pre-stored key frame library according to the initial value position of the robot, and determining a reference point cloud corresponding to the searched key frames; matching the feature point cloud corresponding to the current frame acquired by the robot with the reference point cloud, and determining a target key frame corresponding to the current frame; and perfecting a pre-stored built map corresponding to a key frame library according to the target key frame corresponding to the current frame. Therefore, when the robot carries out positioning and mapping at the sametime, incremental mapping can be effectively carried out on a completed map without one-time completion or restarting, and the mapping efficiency of the robot can be improved.

Description

technical field [0001] The present application belongs to the field of robots, and in particular relates to a robot and its mapping method and device. Background technique [0002] With the advancement of technology, commercial server robots are becoming more and more popular. Moreover, the cost of multi-line lidar sensors that perceive the external environment is gradually decreasing, and more and more multi-line lidar sensors appear in the configuration of commercial service robots. Therefore, real-time positioning and mapping of robots (English full name is simultaneous Localization and mapping (SLAM for short) technology has also made rapid progress and development. [0003] At present, when building a map through SLAM technology, it usually needs to be completed at one time. If the robot encounters an abnormal situation during the mapping process and stops, or needs to expand the mapping later, it needs to start the mapping from the beginning, which is not conducive t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 毕占甲刘志超赵勇胜郭睿
Owner UBTECH ROBOTICS CORP LTD
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