Method, device and storage medium for constructing global SLAM map

By building local SLAM maps and matching them with CAD drawings, the problems of global SLAM map construction accuracy and calculation amount in the existing technology are solved, and the efficient execution of robot global positioning and multi-robot collaborative tasks in architectural scenarios are achieved.

CN113886903BActive Publication Date: 2025-03-25ROBOTICPLUS AI
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Patent Information

Application Number
CN202010637155.1
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2020-07-03
Publication Date
2025-03-25
Estimated Expiration
2040-07-03

AI Technical Summary

Technical Problem

When building global SLAM maps for building scenarios, the existing technology has large calculation volume, high resource occupancy, and low mapping accuracy, which cannot meet the high-precision requirements of building construction technology, especially in the collaborative cooperation tasks of multi-robots, it is difficult to achieve global positioning and navigation.

Method used

By constructing a local SLAM map and extracting its features, using room information in the CAD drawings to match, determine the location of the local SLAM map, and fill it in the global SLAM map to realize the stitching of multiple local maps.

Benefits of technology

It reduces the calculation amount and resource usage, improves the accuracy of map construction, ensures the robot's global positioning and navigation capabilities in building scenarios, and optimizes the scheduling logic and task efficiency of multi-robot collaborative tasks.

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Abstract

The method for constructing a global SLAM map provided by an embodiment of the present invention includes: S1 constructing a local SLAM map for the current building space; S2 extracting local SLAM map features; S3 matching the local SLAM map with each CAD room map in turn, and selecting a best matching result; S4 filling the current local SLAM map to the corresponding global SLAM map position based on the CAD room map corresponding to the current local SLAM map found by S3 and the position of the CAD room map in the global CAD map; S5 entering the next building space, repeating steps S1-S4 until a global SLAM map that can be used for global positioning and navigation of the robot is generated. The present invention fills the constructed local SLAM map to the corresponding position of the global SLAM map according to the information of the CAD drawing, so that the robot itself can not only obtain its positioning in the local room, but also identify the room it is currently in, and obtain the specific position of the robot in the overall building, thereby optimizing the overall scheduling logic and improving task efficiency.
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