Automatic mapping method and device, mobile robot and readable storage medium
A mobile robot, automatic technology, applied in the field of robotics, can solve the problems of manual control, trouble, etc.
Active Publication Date: 2021-06-15
杭州荷尖科技合伙企业(有限合伙)
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This method requires manual control during the entire mapping process, which is cumbersome
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[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.
[0054] Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art withou...
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The invention provides an automatic mapping method and device, a mobile robot and a readable storage medium, and belongs to the technical field of robots. The method comprises the following steps that: a current aerial view according to a three-dimensional point cloud set of a current detection point and each historical detection point is generated; according to a local point cloud set, a local aerial view and a target point corresponding to the current sensing range of the current detection point, maximum likelihood path searching is carried out under the condition of avoiding collision, so that a target path reaching the target point can be obtained, wherein the target path comprises a first middle point located on an arc of the current sensing range, and a second middle point located on the bottom edge of the local aerial view and belonging to an undetected area; if the target path reaching the target point is obtained, a mobile robot is controlled to move to the first middle point, and update the first middle point as the current detection point; otherwise, the mobile robot rotates by an angle so as to search the target path again; and if the target path is not searched after rotation for one circle, the current aerial view is taken as a target scene map. Therefore, autonomous navigation and mapping can be performed.
Description
technical field [0001] The present application relates to the field of robot technology, in particular, to an automatic mapping method, device, mobile robot and readable storage medium. Background technique [0002] With the new round of industrial 4.0 technological changes, industrial scenarios (such as warehousing and logistics, smart factories, smart power stations, etc.) are rapidly developing in the direction of intelligence, large-scale, and informatization. More and more mobile robots are being introduced into industrial environments for various tasks such as homework, detection, transportation, etc. [0003] The current solution needs to store a pre-built two-dimensional planar map in the mobile robot, and the mobile robot performs job navigation according to the two-dimensional planar map. However, when the actual scene changes (for example, the industrial assembly line is restructured or transformed), the map stored in the mobile robot will become invalid. In thi...
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IPC IPC(8): G01C21/32G06T17/00
CPCG01C21/32G06T17/00
Inventor 欧阳真超谷宁波任涛牛建伟马群李青锋
Owner 杭州荷尖科技合伙企业(有限合伙)