CN104916216A - Map construction method and system thereof - Google Patents
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- CN104916216A CN104916216A CN201510363054.9A CN201510363054A CN104916216A CN 104916216 A CN104916216 A CN 104916216A CN 201510363054 A CN201510363054 A CN 201510363054A CN 104916216 A CN104916216 A CN 104916216A
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Abstract
The present invention provides a map construction method and a system thereof. An ultrasonic signal is used to carry out distance information measurement to object periphery, then the measured distance information is used to carry out SLAM calculation to obtain the map of the object periphery, the problem that glass or a black object can be not identified in laser distance measurement can be solved, the map construction method is simple to operate, and the accuracy of map construction is improved.
Description
Technical field
The present invention relates to instant location and map structuring (SLAM) field, particularly a kind of map constructing method and system.
Background technology
The location of mobile device and map structuring are the hot issues that robot field studies.Mobile device in known environment is independently located and has had with the map building of known machine people position the solution used.But mobile device can not utilize Global localization system to position in a lot of environment, and the map realizing obtaining mobile device working environment is very difficult, even may not, so utilize mobile device to build map in the uncertain environment of self-position, the technology that warrier utilizes map to wake up with a start autonomous location and navigation is arisen at the historic moment.
In existing technological means, people utilize the environmental data (obstacle distance etc.) around laser measurement object, then the data of measurement are carried out SLAM calculating structure map.
But the problems such as present laser radar None-identified black object and glass, make in use instant location be restricted with map structuring, can not meet more occasions.
Summary of the invention
In view of this, a kind of map constructing method and system is embodiments provided.
One object of the present invention provides a kind of map constructing method, comprising:
Obtain the first back information of ultrasonic signal detecting object surrounding environment when primary importance, described first back information comprises described primary importance and the first cartographic information;
Obtain the second back information that ultrasonic signal detects described object surrounding environment when the second place, described second back information comprises the described second place and the second cartographic information;
Obtain the range information between described primary importance and the described second place and according to described range information, the first cartographic information and the second cartographic information carried out the precise position information that mates to determine described object;
According to described precise position information, described second cartographic information is added in described first cartographic information to complete map structuring.
Further, the first cartographic information and the second cartographic information are also carried out the precise position information that mates to determine described object by the range information between the described primary importance of described acquisition and the described second place according to described range information, comprising:
Utilize odometer to calculate the range information of primary importance to the second place, and described first cartographic information and the second cartographic information carried out SLAM according to described range information and calculate and mate, to determine the precise position information of described object.
Further, describedly described second cartographic information to be added in described first cartographic information to complete map structuring according to described precise position information, to comprise:
Described second cartographic information to be added in described first cartographic information and filtering overlapping region cartographic information according to described precise position information, to complete map structuring.
Further, the described ultrasonic signal that obtains when the second place detects the second back information of described object surrounding environment, and described second back information also comprises before comprising the described second place and the second cartographic information:
Continue mobile to arrive the described second place according to predetermined collision strategy when the object of movement collides.
Further, described predetermined collision strategy comprises:
When colliding, described object retreat 5 centimetres to 15 centimetres and to the left or to the right rotate 1 degree after move on.
Another object of the present invention provides a kind of map structuring system, comprising:
First acquiring unit, for obtaining the first back information of ultrasonic signal detecting object surrounding environment when primary importance, described first back information comprises described primary importance and the first cartographic information;
Second acquisition unit, for obtaining the second back information that ultrasonic signal detects described object surrounding environment when the second place, described second back information comprises the described second place and the second cartographic information;
Determining unit, carries out for the range information that obtains between described primary importance and the described second place precise position information that mates to determine described object by the first cartographic information and the second cartographic information according to described range information;
Computing unit, for being added into described second cartographic information in described first cartographic information to complete map structuring according to described precise position information.
Further, described determining unit is also for utilizing odometer to calculate the range information of primary importance to the second place, and described first cartographic information and the second cartographic information carried out SLAM according to described range information and calculate and mate, to determine the precise position information of described object.
Further, described computing unit also for according to described precise position information described second cartographic information being added in described first cartographic information and filtering overlapping region cartographic information, to complete map structuring.
Further, collision avoidance unit, for continuing mobile described object to arrive the described second place when the object of movement collides according to predetermined collision strategy.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages:
A kind of map constructing method provided by the invention and system, the range information utilizing ultrasonic signal to carry out around object is measured, recycle the range information that records to carry out SLAM and calculate map around object, the problem of glass or black object can not be identified when not only can solve laser ranging, the method building map can also be made simple to operate, improve the accuracy building map.
Term " first ", " second ", " the 3rd " " 4th " etc. in instructions of the present invention and claims and above-mentioned accompanying drawing are for distinguishing similar object, and need not be used for describing specific order or precedence.The embodiments described herein should be appreciated that the data used like this can be exchanged in the appropriate case, so that can be implemented with the order except the content except here diagram or description.In addition, term " comprises " and " having " and their any distortion, intention is to cover not exclusive comprising, such as, contain those steps or unit that the process of series of steps or unit, method, system, product or equipment is not necessarily limited to clearly list, but can comprise clearly do not list or for intrinsic other step of these processes, method, product or equipment or unit.
Shown in composition graphs 1, map constructing method of the present invention provides a kind of embodiment, comprising:
S101, obtain the first back information of ultrasonic signal detecting object surrounding environment when primary importance, described first back information comprises described primary importance and the first cartographic information.
Ultrasonic sensor is arranged on measured object, ultrasonic sensor realizes horizontal scanning by whirligig, ultrasonic signal measures the distance between object and barrier with the certain frequency sampling period, range information is returned as the first back information, utilize range information can carry out map structuring to the barrier profile around object, the first cartographic information comprises the distance value of primary importance distance peripheral obstacle.
Employing ultrasonic signal carries out the deficiency that range observation can overcome laser None-identified when measuring black object or glass, can depict the elementary contour of barrier, realize object localization, make measurement environment more extensive.
SLAM is (English: simultaneous localization and mapping, Chinese: instant location and map structuring), first back information comprises the range information of object and barrier, range information is utilized to build the SLAM method of map, those of ordinary skill in the art should understand, and do not repeat herein.
S102, obtain ultrasonic signal detect the second back information of described object surrounding environment when the second place, described second back information comprises the described second place and the second cartographic information.
Object carries out the range sweep of barrier when primary importance, obtain the first back information, according to the first back information, first cartographic information of object when primary importance is obtained by calculating, object moves to the second place, obtain the second back information, the second back information comprises the second place and the second cartographic information, and the second cartographic information comprises the distance value of the second place and peripheral obstacle.
Method of operating is identical with S101, utilizes the range information around whirligig measurement object, specifically see step S101, can not repeat herein.
Utilize object to calculate the second cartographic information of the second place at the range information of the second place and barrier, undertaken mating the positional information can determining object more accurately by twice cartographic information, be convenient to subsequent builds map and use.
S103, obtain the range information between described primary importance and the described second place and according to described range information, the first cartographic information and the second cartographic information carried out the precise position information that mates to determine described object.
Particularly, odometer can be utilized to calculate the range information of primary importance to the second place, and described first cartographic information and the second cartographic information carried out SLAM according to described range information and calculate and mate, to determine the precise position information of described object, this is not limited.
Odometer can be utilized to measure for the distance between primary importance and the second place, odometer can adopt scrambler, odometer not only can measure the displacement of object, also the travel angle of object can be measured, off-set value between the first cartographic information utilizing range information corresponding and the second cartographic information is mated, accurately can draw the precise position information of described object, can correct the position of object, for subsequent builds map provides accurate foundation, improve the accuracy building map.
S104, according to described precise position information, described second cartographic information to be added in described first cartographic information to complete map structuring.
Through correcting the position of object, make when building map, more accurate as the object space with reference to amount, range information when second back information comprises the second place between barrier and object, utilize through the precise position information of the object of overcorrect as reference point, the range information recycling the second back information carries out the map calculated around the object of needs.
Alternatively, the operation of filtering overlapping region cartographic information is also carried out when being added in described first cartographic information by described second cartographic information according to described precise position information in step S104, the intersection of the cartographic information calculated twice is removed, the method of filtering overlapping region can adopt probability model, by the process of map rasterizing, to complete map structuring, it should be noted that and should understand method those of ordinary skill in the art of two pictures filtering overlapping regions, do not repeat at this.
A kind of map constructing method provided by the invention, the range information utilizing ultrasonic signal to carry out around object is measured, recycle the range information that records to carry out SLAM and calculate map around object, the problem of glass or black object can not be identified when not only can solve laser ranging, the method building map can also be made simple to operate, improve the accuracy building map.
Further, in order to better complete barrier range operation smoothly in map structuring process, the invention provides the embodiment that a kind of barrier is evaded, object can be made not to be obscured by an obstacle in moving process, complete map structuring operation smoothly, be specifically introduced below:
Before step S102, described method also comprises:
Mobile described object is continued to arrive the described second place according to predetermined collision strategy when the object of movement collides.
Described predetermined collision strategy comprises:
When colliding, described object retreat 5 centimetres to 15 centimetres and to the left or to the right rotate 1 degree after move on.
In the present embodiment, object retreats 10 centimetres and advances to carry out obstacle avoidance to right rotation 1 degree, if evade unsuccessful, can repeat barrier evade, until successfully get around barrier according to this step.
Shown in composition graphs 2, a kind of map constructing method presented hereinabove, corresponding, present invention also offers a kind of map structuring system, comprising:
First acquiring unit 201, for obtaining the first back information of ultrasonic signal detecting object surrounding environment when primary importance, described first back information comprises described primary importance and the first cartographic information;
Second acquisition unit 202, for obtaining the second back information that ultrasonic signal detects described object surrounding environment when the second place, described second back information comprises the described second place and the second cartographic information;
Determining unit 203, carries out for the range information that obtains between described primary importance and the described second place precise position information that mates to determine described object by the first cartographic information and the second cartographic information according to described range information;
Computing unit 204, for being added into described second cartographic information in described first cartographic information to complete map structuring according to described precise position information.
Further, described determining unit 203 is also for utilizing odometer to calculate the range information of primary importance to the second place, and described first cartographic information and the second cartographic information carried out SLAM according to described range information and calculate and mate, to determine the precise position information of described object.
Further, described computing unit 204 also for according to described precise position information described second cartographic information being added in described first cartographic information and filtering overlapping region cartographic information, to complete map structuring.
Further, collision avoidance unit 205 is for continuing mobile described object to arrive the described second place when the object of movement collides according to predetermined collision strategy.
A kind of map structuring system provided by the invention, by the range finding utilizing ultrasonic signal to carry out object peripheral obstacle, the deficiency of black object and glass can not be identified when solving laser ranging, determined the precise position information of object simultaneously by the coupling of the first cartographic information and the second cartographic information, improve the accuracy of map structuring.
Those skilled in the art can be well understood to, and for convenience and simplicity of description, the system of foregoing description, the specific works process of device and unit, with reference to the corresponding process in preceding method embodiment, can not repeat them here.
In several embodiments that the application provides, should be understood that, disclosed system, apparatus and method, can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is that the hardware that can carry out instruction relevant by program has come, this program can be stored in a computer-readable recording medium, storage medium can comprise: ROM (read-only memory) (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc.
One of ordinary skill in the art will appreciate that all or part of step realized in above-described embodiment method is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.
Above a kind of map structuring system and method provided by the present invention is described in detail, for one of ordinary skill in the art, according to the thought of the embodiment of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of a kind of embodiment that the invention provides map constructing method;
Fig. 2 is the structural representation of a kind of embodiment that the invention provides map structuring system.
Embodiment
Embodiments providing a kind of map constructing method and system, for depicting the elementary contour of barrier, realizing object localization.
The present invention program is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the embodiment of a part of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, should belong to the scope of protection of the invention.
Claims (9)
1. a map constructing method, is characterized in that, comprising:
Obtain the first back information of ultrasonic signal detecting object surrounding environment when primary importance, described first back information comprises described primary importance and the first cartographic information;
Obtain the second back information that ultrasonic signal detects described object surrounding environment when the second place, described second back information comprises the described second place and the second cartographic information;
Obtain the range information between described primary importance and the described second place and according to described range information, the first cartographic information and the second cartographic information carried out the precise position information that mates to determine described object;
According to described precise position information, described second cartographic information is added in described first cartographic information to complete map structuring.
2. map constructing method according to claim 1, it is characterized in that, first cartographic information and the second cartographic information are also carried out the precise position information that mates to determine described object by the range information between the described primary importance of described acquisition and the described second place according to described range information, comprising:
Utilize odometer to calculate the range information of primary importance to the second place, and described first cartographic information and the second cartographic information carried out SLAM according to described range information and calculate and mate, to determine the precise position information of described object.
3. map constructing method according to claim 1, is characterized in that, to be describedly added into by described second cartographic information in described first cartographic information to complete map structuring according to described precise position information, comprising:
Described second cartographic information to be added in described first cartographic information and filtering overlapping region cartographic information according to described precise position information, to complete map structuring.
4. map constructing method according to claim 1, it is characterized in that, the described ultrasonic signal that obtains when the second place detects the second back information of described object surrounding environment, and described second back information also comprises before comprising the described second place and the second cartographic information:
Continue mobile to arrive the described second place according to predetermined collision strategy when the object of movement collides.
5. map constructing method according to claim 4, is characterized in that, described predetermined collision strategy comprises:
When colliding, described object retreat 5 centimetres to 15 centimetres and to the left or to the right rotate 1 degree after move on.
6. a map structuring system, is characterized in that, comprising:
First acquiring unit, for obtaining the first back information of ultrasonic signal detecting object surrounding environment when primary importance, described first back information comprises described primary importance and the first cartographic information;
Second acquisition unit, for obtaining the second back information that ultrasonic signal detects described object surrounding environment when the second place, described second back information comprises the described second place and the second cartographic information;
Determining unit, carries out for the range information that obtains between described primary importance and the described second place precise position information that mates to determine described object by the first cartographic information and the second cartographic information according to described range information;
Computing unit, for being added into described second cartographic information in described first cartographic information to complete map structuring according to described precise position information.
7. map structuring system according to claim 5, it is characterized in that, described determining unit is also for utilizing odometer to calculate the range information of primary importance to the second place, and described first cartographic information and the second cartographic information carried out SLAM according to described range information and calculate and mate, to determine the precise position information of described object.
8. map structuring system according to claim 5, it is characterized in that, described computing unit also for according to described precise position information described second cartographic information being added in described first cartographic information and filtering overlapping region cartographic information, to complete map structuring.
9. map structuring system according to claim 5, is characterized in that, also comprise:
Collision avoidance unit, for continuing mobile described object to arrive the described second place when the object of movement collides according to predetermined collision strategy.
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| CN108089203A (en) * | 2018-02-05 | 2018-05-29 | 弗徕威智能机器人科技（上海）有限公司 | A kind of special obstacle object detecting method |
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| CN109959935A (en) * | 2017-12-14 | 2019-07-02 | 北京欣奕华科技有限公司 | A kind of map method for building up, map establish device and robot |
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| CN113670296A (en) * | 2021-08-18 | 2021-11-19 | 北京经纬恒润科技股份有限公司 | Environment map generation method and device based on ultrasonic waves |
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| CN108089203A (en) * | 2018-02-05 | 2018-05-29 | 弗徕威智能机器人科技（上海）有限公司 | A kind of special obstacle object detecting method |
| US11315264B2 (en) | 2018-04-09 | 2022-04-26 | Beijing Sankuai Online Technology Co., Ltd | Laser sensor-based map generation |
| WO2020019221A1 (en) * | 2018-07-26 | 2020-01-30 | 深圳前海达闼云端智能科技有限公司 | Method, apparatus and robot for autonomous positioning and map creation |
| CN110376605A (en) * | 2018-09-18 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Map constructing method, air navigation aid and device |
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| CN109709546A (en) * | 2019-01-14 | 2019-05-03 | 珠海格力电器股份有限公司 | Pet state monitoring method and device |
| CN112129295A (en) * | 2020-09-24 | 2020-12-25 | 深圳市云鼠科技开发有限公司 | Chain type grid map construction method with low memory occupation |
| CN113670296A (en) * | 2021-08-18 | 2021-11-19 | 北京经纬恒润科技股份有限公司 | Environment map generation method and device based on ultrasonic waves |
| CN113670296B (en) * | 2021-08-18 | 2023-11-24 | 北京经纬恒润科技股份有限公司 | Method and device for generating environment map based on ultrasonic waves |
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