Three-dimensional mapping method, three-dimensional mapping device and robot

Abstract

The invention discloses a three-dimensional mapping method and device, a robot and a computer readable storage medium. The method is applied to the robot, the robot comprises a first camera, a second camera and a line laser, a laser beam projected by the line laser is perpendicular to the ground, the laser beam is invisible light, the laser beam is imaged on a sensor surface of the first camera after being projected on an object, and a grayscale image is obtained; the visible light in the environment is projected on the object and then is imaged on the sensor surface of the second camera to obtain a color image. According to the method, the characteristics of a first camera and a second camera are utilized, the three-dimensional coordinate information of each point of a laser beam is obtained through the first camera, and the color information of the surface of an object corresponding to each point of the laser beam is obtained through the second camera, so that point cloud data comprise the three-dimensional coordinate information and the color information; the construction of the color global three-dimensional map is realized, the position of the obstacle can be reflected, and the color of the obstacle can also be reflected.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a three-dimensional mapping method, a three-dimensional mapping device, a robot and a computer-readable storage medium. Background technique [0002] With the development of science and technology, people increasingly use highly intelligent smart devices (such as robots) to assist in various affairs in life. Among them, housework robots are the most popular and popular robots, which can liberate the hands of users and greatly improve the quality of life of users. At present, map construction is the basis for housework robots to perform various housework tasks, so how to construct a map of the application environment space of housework robots has become a key issue. [0003] In the existing 3D mapping methods, only the obstacles in the environment space are often paid attention to, but the real surface texture of the obstacles is not paid attention to, which ...

AI Technical Summary

Problems solved by technology

[0003] In the existing 3D mapping methods, only the obstacles in the environment space are often paid attention to, but the real surface texture of the obstacles is not paid attention to, which leads to the fact that the robot can only roughly locate the location of the obstacles, but cannot accurately know the obstacles What kind of object causes its obstacle avoidance strategy to solidify, and the obstacle avoidance effect is affected

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