CN108007453A - Map updating method, device and electronic equipment based on a cloud - Google Patents
Map updating method, device and electronic equipment based on a cloud Download PDFInfo
- Publication number
- CN108007453A CN108007453A CN201711307139.0A CN201711307139A CN108007453A CN 108007453 A CN108007453 A CN 108007453A CN 201711307139 A CN201711307139 A CN 201711307139A CN 108007453 A CN108007453 A CN 108007453A
- Authority
- CN
- China
- Prior art keywords
- cloud data
- frame cloud
- information
- frame
- environmental map
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The invention discloses a kind of map updating method based on a cloud, device and electronic equipment.Wherein, method includes：After a frame cloud data is obtained, determine when generating frame cloud data object to be positioned estimates azimuth information；Judge environmental map corresponding with object to be positioned whether is stored with default map storage region；If it is not, estimating azimuth information and the frame cloud data according to object to be positioned when generating the frame cloud data, environmental map corresponding with object to be positioned is drawn in default map storage region；If so, estimating azimuth information according to object to be positioned when generating the frame cloud data, frame cloud data environmental map corresponding with object to be positioned matched, according to matching result renewal environmental map corresponding with object to be positioned.Using the present invention program, object to be positioned can be made also to realize the function of positioning in real time, build figure and update map in real time in no satellite positioning signal.
Description
Technical field
The present invention relates to intelligent robot technology field, and in particular to a kind of map updating method based on a cloud, device
And electronic equipment.
Background technology
With the development of science and technology, and requirement of the people to quality of life constantly increase, intelligent robot gradually appears
In daily life, such as the machine to transport goods in sweeping robot, industrial robot, service robot, warehouse
People etc..In order to understand the working condition of robot, it is necessary to be positioned and obtained around its position in real time to robot
Environmental map, so as to obtain track route and the position of robot.
However, inventor has found in the implementation of the present invention, when existing robot works indoors, mostly
Positioned using satellite positioning tech, and map is established according to positioning result.But when robot works in no satellite
When in the working environment of position signal, then it can not achieve its positioning, build the function of figure, can not also realize the renewal of map.Thus may be used
See, lack a kind of map updating method and device that can be suitable for various working environments in the prior art.
The content of the invention
In view of the above problems, it is proposed that the present invention overcomes the above problem in order to provide one kind or solves at least in part
State the map updating method based on a cloud, device and the electronic equipment of problem.
According to an aspect of the invention, there is provided a kind of map updating method based on a cloud, including：
After a frame cloud data is obtained, the side of estimating of the object to be positioned when generating the frame cloud data is determined
Position information；
Judge environmental map corresponding with object to be positioned whether is stored with default map storage region；
If it is not, azimuth information and the frame cloud data are estimated according to object to be positioned when generating the frame cloud data,
Environmental map corresponding with object to be positioned is drawn in default map storage region；
If so, estimate azimuth information according to object to be positioned when generating the frame cloud data, by the frame cloud data with
The corresponding environmental map of object to be positioned is matched, and updates environmental map corresponding with object to be positioned according to matching result.
Alternatively, the azimuth information of estimating further comprises displacement information and angle information, described according to the life
Azimuth information and the frame cloud data are estimated into the object to be positioned during the frame cloud data, in the default map
The step of environmental map corresponding with the object to be positioned is drawn in storage region specifically includes：
The object to be positioned estimates the displacement letter included in azimuth information when obtaining described generation frame cloud data
Breath, the coordinate origin for the coordinate system that the corresponding location point of institute's displacement information is determined as including in the map storage region；
The frame cloud data is loaded at the coordinate origin, is obtained described undetermined during described generation frame cloud data
Position object estimates the angle information included in azimuth information；
Rotated according to the angle information to being loaded into the frame cloud data at the coordinate origin, according to rotation
Rear cloud data draws environmental map corresponding with the object to be positioned.
Alternatively, it is described that azimuth information is estimated according to the object to be positioned during described generation frame cloud data, will
Frame cloud data environmental map corresponding with the object to be positioned is matched, according to matching result renewal with it is described undetermined
The step of position object corresponding environmental map, specifically includes：
The previous frame cloud data of the frame cloud data is determined according to the environmental map；
Azimuth information is estimated according to the object to be positioned during described generation frame cloud data, by the frame cloud data
Matched for the first time with the previous frame cloud data；
Determine to generate the frame point cloud number according to the first matching result of the frame cloud data and the previous frame cloud data
According to when the object to be positioned location fix information；
According to location fix information updating environmental map corresponding with the object to be positioned.
Alternatively, it is described that azimuth information is estimated according to the object to be positioned during described generation frame cloud data, will
The step of frame cloud data is matched for the first time with the previous frame cloud data specifically includes：
First orientation range is determined according to the azimuth information of estimating；Wherein, comprising multiple in the first orientation range
Position location point；
Each position location point is directed to respectively, which is loaded into the position location point, for being loaded into this
The frame cloud data of position location point and the previous frame cloud data carry out matching operation, and energy is determined according to operation result
The position location point for enough making present frame cloud data be mutually matched with the previous frame cloud data；
Then the first matching result according to the frame cloud data and the previous frame cloud data determines to generate the frame
Specifically included during cloud data the step of the location fix information of the object to be positioned：
According to the position location point that can be mutually matched present frame cloud data and the previous frame cloud data,
The location fix information of the object to be positioned when determining to generate the frame cloud data.
Alternatively, the matching operation includes：Square difference operation.
Alternatively, the first matching result according to the frame cloud data and the previous frame cloud data determines to generate
Specifically included during the frame cloud data the step of location fix information of the object to be positioned：
Determine the location fix information of the previous frame cloud data；
Positioning of the object to be positioned relative to the previous frame cloud data is determined according to the first matching result
The displacement variable of azimuth information；
According to the location fix information of the previous frame cloud data and the displacement variable, determine to generate the frame point
The location fix information of the object to be positioned during cloud data.
Alternatively, the first matching result according to the frame cloud data and the previous frame cloud data determines to generate
The location fix information of the object to be positioned during the frame cloud data；According to the location fix information updating with it is described undetermined
The step of position object corresponding environmental map, specifically includes：
According to the location fix information of the object to be positioned during described generation frame cloud data, by the frame cloud data
Secondary Match is carried out with the environmental map；
The location fix information is repaiied according to the Secondary Match result of the frame cloud data and the environmental map
Just, revised location fix information is obtained；
According to revised location fix information updating environmental map corresponding with the object to be positioned.
Alternatively, it is described to determine the step of the estimating azimuth information of the object to be positioned when generating the frame cloud data
Specifically include：
It is described when determining to generate described frame cloud data by the angular transducer being arranged on the object to be positioned
The angle information of object to be positioned；
It is described when determining to generate described frame cloud data by the range sensor being arranged on the object to be positioned
The displacement information of object to be positioned；
The thing to be positioned when generating the frame cloud data is determined according to the angle information and institute's displacement information
Body estimates azimuth information.
According to another aspect of the present invention, there is provided a kind of map rejuvenation device based on a cloud, including：
Determining module, it is described undetermined when generating the frame cloud data suitable for after a frame cloud data is obtained, determining
Position object estimates azimuth information；
Judgment module, it is corresponding with the object to be positioned suitable for judging whether to be stored with default map storage region
Environmental map；
Drafting module, suitable for when the judging result of judgment module is no, the frame cloud data when institute is generated according to described
That states object to be positioned estimates azimuth information and the frame cloud data, drafting and institute in the default map storage region
State the corresponding environmental map of object to be positioned；
Update module, suitable for when the judging result of judgment module is to be, the frame cloud data when institute is generated according to described
That states object to be positioned estimates azimuth information, and frame cloud data environmental map corresponding with the object to be positioned is carried out
Match somebody with somebody, according to matching result renewal environmental map corresponding with the object to be positioned.
Alternatively, the azimuth information of estimating further comprises displacement information and angle information, the drafting module into
One step is suitable for：
The object to be positioned estimates the displacement letter included in azimuth information when obtaining described generation frame cloud data
Breath, the coordinate origin for the coordinate system that the corresponding location point of institute's displacement information is determined as including in the map storage region；
The frame cloud data is loaded at the coordinate origin, is obtained described undetermined during described generation frame cloud data
Position object estimates the angle information included in azimuth information；
Rotated according to the angle information to being loaded into the frame cloud data at the coordinate origin, according to rotation
Rear cloud data draws environmental map corresponding with the object to be positioned.
Alternatively, wherein update module is further adapted for：
The previous frame cloud data of the frame cloud data is determined according to the environmental map；
Azimuth information is estimated according to the object to be positioned during described generation frame cloud data, by the frame cloud data
Matched for the first time with the previous frame cloud data；
Determine to generate the frame point cloud number according to the first matching result of the frame cloud data and the previous frame cloud data
According to when the object to be positioned location fix information；
According to location fix information updating environmental map corresponding with the object to be positioned.
Alternatively, wherein the update module is further adapted for：
First orientation range is determined according to the azimuth information of estimating；Wherein, comprising multiple in the first orientation range
Position location point；
Each position location point is directed to respectively, which is loaded into the position location point, for being loaded into this
The frame cloud data of position location point and the previous frame cloud data carry out matching operation, and energy is determined according to operation result
The position location point for enough making present frame cloud data be mutually matched with the previous frame cloud data；
Then the first matching result according to the frame cloud data and the previous frame cloud data determines to generate the frame
Specifically included during cloud data the step of the location fix information of the object to be positioned：
According to the position location point that can be mutually matched present frame cloud data and the previous frame cloud data,
The location fix information of the object to be positioned when determining to generate the frame cloud data.
Alternatively, the matching operation includes：Square difference operation.
Alternatively, the update module is further adapted for：
Determine the location fix information of the previous frame cloud data；
Positioning of the object to be positioned relative to the previous frame cloud data is determined according to the first matching result
The displacement variable of azimuth information；
According to the location fix information of the previous frame cloud data and the displacement variable, determine to generate the frame point
The location fix information of the object to be positioned during cloud data.
Alternatively, the update module is further adapted for：
According to the location fix information of the object to be positioned during described generation frame cloud data, by the frame cloud data
Secondary Match is carried out with the environmental map；
The location fix information is repaiied according to the Secondary Match result of the frame cloud data and the environmental map
Just, revised location fix information is obtained；
According to revised location fix information updating environmental map corresponding with the object to be positioned.
Optionally it is determined that module is further adapted for：
It is described when determining to generate described frame cloud data by the angular transducer being arranged on the object to be positioned
The angle information of object to be positioned；
It is described when determining to generate described frame cloud data by the range sensor being arranged on the object to be positioned
The displacement information of object to be positioned；
The thing to be positioned when generating the frame cloud data is determined according to the angle information and institute's displacement information
Body estimates azimuth information.
In accordance with a further aspect of the present invention, there is provided a kind of computer-readable storage medium, be stored with the storage medium to
A few executable instruction, the executable instruction make processor perform such as the corresponding behaviour of the above-mentioned map updating method based on a cloud
Make.
According to the map updating method provided in this embodiment based on a cloud, by after a frame cloud data is obtained,
Determine when generating the frame cloud data object to be positioned estimates azimuth information, and judges default map storage region
Inside whether it is stored with environmental map corresponding with object to be positioned；If it is not, then according to generate the frame cloud data when it is to be positioned
Object estimates azimuth information and the frame cloud data, is drawn in default map storage region corresponding with object to be positioned
Environmental map；If it is, azimuth information is estimated according to object to be positioned when generating the frame cloud data, by the frame point cloud
Data environmental map corresponding with object to be positioned is matched, and updates environment corresponding with object to be positioned according to matching result
Map.According to this method, object to be positioned can be made when not having satellite positioning signal, it is fixed in real time also to realize
Position, the function of building figure and update the environmental map around its position in real time, so as to real under various working environments
Existing map rejuvenation function.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole attached drawing, identical component is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 shows the flow chart of the map updating method provided by one embodiment of the present invention based on a cloud；
Fig. 2 shows the flow chart for the map updating method based on a cloud that another embodiment of the present invention provides；
Fig. 3 shows position view when present frame cloud data is mutually matched with previous frame cloud data；
Fig. 4 shows the functional block diagram of the map rejuvenation device provided by one embodiment of the present invention based on a cloud；
Fig. 5 shows the structure diagram of a kind of electronic equipment that an embodiment provides according to the present invention.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Fig. 1 shows the flow chart of the map updating method provided by one embodiment of the present invention based on a cloud.Such as Fig. 1 institutes
Show, this method comprises the following steps：
Step S101：After a frame cloud data is obtained, the thing to be positioned when generating the frame cloud data is determined
Body estimates azimuth information.
Wherein estimate azimuth information and further comprise displacement information and angle information.It can be determined by following methods
When generating the frame cloud data, object to be positioned estimates azimuth information：Pass through the angle sensor being arranged on object to be positioned
When device determines to generate this frame cloud data, the angle information of object to be positioned；Passed by the distance being arranged on object to be positioned
When sensor determines to generate this frame cloud data, the displacement information of object to be positioned；Determined according to angle information and displacement information
When generating the frame cloud data, above-mentioned object to be positioned estimates azimuth information.Wherein, above-mentioned angular transducer can be top
Spiral shell instrument, can also be that others can be with the sensor of measurement angle；The angle information of above-mentioned object to be positioned can refer to be positioned
Object can represent that the direction of object to be positioned is believed relative to the angle information of the two-dimensional coordinate system for drawing environmental map
Breath.Above-mentioned range sensor can be odometer, can also be it is other can be with the range sensor of measurement distance information.Except can
To estimate azimuth information by the above method come determine when generating frame cloud data object to be positioned, it can also be passed through
Its method estimates azimuth information determine when generating the frame cloud data object to be positioned, is not limited thereto.
Above-mentioned object to be positioned can include robot.
Step S102：Judge environment corresponding with object to be positioned whether is stored with default map storage region
Figure.
Wherein, default map storage region can be located at the inside of object to be positioned, can also be located at and thing to be positioned
Inside the equipment of the mobile terminal of body wireless connection (such as can be located in the memory of mobile terminal), the present invention does not limit default
The specific location of map storage region.The purpose of this step is, can by judge in default map storage region whether
Be stored with the corresponding environmental map of object to be positioned judge acquired present frame cloud data whether headed by frame point cloud
Data, if first frame cloud data, then without storage environment corresponding with object to be positioned in default map storage region
Map, then can perform step S103, and first frame cloud data is loaded directly on environmental map, realize environmental map more
Newly.If it is judged that acquired present frame cloud data is not first frame cloud data, then step S104 can be performed, to realize
The renewal of environmental map.
Step S103：If it is not, azimuth information and the frame are estimated according to object to be positioned when generating the frame cloud data
Cloud data, draws environmental map corresponding with object to be positioned in default map storage region.
If judge not being stored with default map storage region in step s 102 corresponding with object to be positioned
Environmental map.Then azimuth information and the frame point cloud number can be estimated according to object to be positioned when generating the frame cloud data
According to the drafting environmental map corresponding with object to be positioned in default map storage region.Specifically, can be estimated above-mentioned
The corresponding location point of displacement information is determined as the coordinate origin of the coordinate system included in map storage region in azimuth information, and will
The frame cloud data is loaded at coordinate origin, and the orientation of estimating for then obtaining object to be positioned when generating the frame cloud data is believed
The angle information included in breath, rotates the frame cloud data according to above-mentioned angle information, so that according to postrotational point
Cloud data draw environmental map corresponding with object to be positioned.The purpose of this step is, if acquired present frame point cloud
Data are first frame cloud datas, then directly first frame cloud data can be loaded directly on environmental map, with realizing environment
The renewal of figure.
Step S104：If so, azimuth information is estimated according to object to be positioned when generating the frame cloud data, by the frame point
Cloud data environmental map corresponding with object to be positioned is matched, and updates ring corresponding with object to be positioned according to matching result
Condition figure.
If it is corresponding with object to be positioned to judge that the default map storage region memory of map contains in step s 102
Environmental map.Azimuth information is then estimated according to object to be positioned when generating the frame cloud data, by the frame cloud data with
The corresponding environmental map of object to be positioned is matched, and updates environmental map corresponding with object to be positioned according to matching result.
During matched, object to be positioned when generating the frame cloud data can be estimated azimuth information and the frame cloud data
Previous frame cloud data matched for the first time, it is to be positioned when then determining to generate the frame cloud data according to first matching result
The location fix information of object, then according to above-mentioned location fix information updating environmental map corresponding with object to be positioned.Into
After the first matching of row, in order to improve matching precision, object to be positioned during the above-mentioned generation frame cloud data can also be determined
Position azimuth information and environmental map carry out Secondary Match, according to the Secondary Match result of the frame cloud data and environmental map to upper
State location fix information to be modified, obtain revised location fix information, then according to revised location fix information
Renewal environmental map corresponding with object to be positioned.In the present embodiment, can individually be matched for the first time, can also be first
Secondary Match is carried out again after matching, can also use other matching ways, specific matching way those skilled in the art can root
Specifically set according to actual conditions, be not construed as limiting in the present embodiment.
According to the map updating method provided in this embodiment based on a cloud, by after a frame cloud data is obtained,
Determine when generating the frame cloud data object to be positioned estimates azimuth information, and judges default map storage region
Inside whether it is stored with environmental map corresponding with object to be positioned；If it is not, then according to generate the frame cloud data when it is to be positioned
Object estimates azimuth information and the frame cloud data, is drawn in default map storage region corresponding with object to be positioned
Environmental map；If it is, azimuth information is estimated according to object to be positioned when generating the frame cloud data, by the frame point cloud
Data environmental map corresponding with object to be positioned is matched, and updates environment corresponding with object to be positioned according to matching result
Map.According to this method, object to be positioned can be made when not having satellite positioning signal, can also realize that it is fixed in real time
Position, the function of building figure and update the environmental map around its position in time, so as to real under various working environments
Existing map rejuvenation function.
Fig. 2 shows the flow chart for the map updating method based on a cloud that another embodiment of the present invention provides.Such as Fig. 2
Shown, this method comprises the following steps：
Step S201：After a frame cloud data is obtained, the object to be positioned when generating the frame cloud data is determined
Estimate azimuth information.
Wherein, above-mentioned azimuth information of estimating further comprises displacement information and angle information.Following methods can be passed through
Azimuth information is estimated determine when generating frame cloud data object to be positioned：Pass through the angle being arranged on object to be positioned
When degree sensor determines to generate this frame cloud data, the angle information of object to be positioned；By being arranged on object to be positioned
When range sensor determines to generate this frame cloud data, the displacement information of object to be positioned；Believed according to angle information and displacement
What breath determined when generating the frame cloud data object to be positioned estimates azimuth information.Wherein, above-mentioned angular transducer can
Think gyroscope, can also be that others can be with the sensor of measurement angle；The angle information of above-mentioned object to be positioned can refer to
Object to be positioned can represent the court of object to be positioned relative to the angle information of the two-dimensional coordinate system for drawing environmental map
To information.Above-mentioned range sensor can be odometer, can also be it is other can be with the range sensor of measurement distance information.Remove
Azimuth information can be estimated determine when generating frame cloud data object to be positioned by the above method, can also led to
That crosses other methods to determine when generating the frame cloud data above-mentioned object to be positioned estimates azimuth information, does not limit herein
It is fixed.Wherein, above-mentioned object to be positioned can include robot.
Step S202：Judge environment corresponding with object to be positioned whether is stored with default map storage region
Figure.
If it is judged that then held in default map storage region without environmental map corresponding with object to be positioned is stored
Row step S203~S205.If it is judged that default map storage region memory is with containing environment corresponding with object to be positioned
Figure, then perform step S206~S208.The purpose of this step is, can by judge in default map storage region whether
Storage with the corresponding environmental map of object to be positioned come judge acquired present frame cloud data whether headed by frame point cloud number
According to if first frame cloud data, then without with storing environment corresponding with object to be positioned in default map storage region
First frame cloud data, can be loaded directly on environmental map by figure by performing the content in step S203~S205, with
Realize the renewal of environmental map.If it is judged that acquired present frame cloud data is not first frame cloud data, then can hold
Row step S206~S208, to realize the renewal of environmental map.
Step S203：The displacement included in azimuth information of estimating for obtaining object to be positioned when generating the frame cloud data is believed
Breath, the coordinate origin for the coordinate system that the corresponding location point of displacement information is determined as including in map storage region.
If without storage environmental map corresponding with object to be positioned, no previous frame in default map storage region
Point cloud azimuth information corresponding to cloud data, can will estimate the corresponding position of displacement information included in azimuth information at this time
Point is determined as the coordinate origin of the coordinate system included in map storage region.For example, estimate the displacement letter included in azimuth information
Breath may be zero, and therefore, the position (i.e. initial position) that can be currently located object to be positioned by this step is determined as sitting
Mark the coordinate origin of system.
Step S204：The frame cloud data is loaded at coordinate origin, is obtained to be positioned when generating the frame cloud data
Object estimates the angle information included in azimuth information.
After the frame cloud data is loaded at coordinate origin, due to different angle informations correspond to it is different to be positioned
Environmental map corresponding to environmental map, so the orientation of estimating for needing to obtain object to be positioned when generating the frame cloud data is believed
The angle information included in breath.
Step S205：Rotated according to angle information to being loaded into the frame cloud data at coordinate origin, according to rotation
Cloud data after turning draws environmental map corresponding with object to be positioned.
After the angle information included in azimuth information is estimated in acquisition, according to above-mentioned angle information, coordinate will be loaded into
The frame cloud data at origin is rotated, and rotating angle value can be above-mentioned angle information value, then according to rotation after
Cloud data draw corresponding with object to be positioned environmental map.
Step S206：The previous frame cloud data of the frame cloud data is determined according to environmental map.
After present frame cloud data is received, since the current corresponding environmental map of object to be positioned is according to being obtained
Previous frame cloud data and establish, i.e.,：The current corresponding environmental map of object to be positioned includes at least present frame point
Information corresponding to the previous frame cloud data of cloud data.So it can be obtained according to the corresponding environmental map of object to be positioned
Obtain the previous frame cloud data of present frame cloud data.
Step S207：Azimuth information is estimated according to object to be positioned when generating the frame cloud data, by the frame point cloud number
Matched for the first time according to previous frame cloud data.
Specifically, azimuth information is estimated according to object to be positioned when generating the frame cloud data, by the frame cloud data
The step of being matched for the first time with previous frame cloud data can include：First orientation range is determined according to azimuth information is estimated；
Wherein, multiple position location points are included in first orientation range.Each position location point is directed to respectively, which is added
The position location point is downloaded to, for the frame cloud data and previous frame the cloud data progress for being loaded into the position location point
With computing, the position location for being determined to make present frame cloud data be mutually matched with previous frame cloud data according to operation result
Point.
Specifically, can be according to the method for estimating azimuth information and determining first orientation range：Will be with previous frame point cloud number
According to location fix information corresponding to position be the center of circle, to estimate circle of the distance information value in azimuth information as radius
Domain is determined as first orientation range, or by centered on the location point corresponding to the location fix information by previous frame cloud data
Point, and side length is determined as positioning model for the first time equal to twice of square area of the distance information value estimated in azimuth information
Enclose.In addition to the above method, first orientation range can also be determined according to other methods.It is then possible to adopted with default
Control gauge then, multiple position location points is obtained in above-mentioned first orientation range.For example, each position location point can be pre-set
Between spacing, each position location point is then determined according to the spacing.Finally, ought respectively for each position location point
Previous frame cloud data is loaded into the position location point, for the present frame cloud data for being loaded into the position location point and upper one
Frame cloud data carries out matching operation, is determined to make present frame cloud data and previous frame cloud data phase according to operation result
Mutual matched position location point, the location fix of object to be positioned when point determines to generate the frame cloud data according to the position location
Information.Wherein, location fix information refers to that the location point where object to be positioned (or precisely refers on object to be positioned
Location point where the components such as the range laser radar of setting, gyroscope chip).Correspondingly, the positioning of previous frame cloud data
Azimuth information refers to：When generating previous frame cloud data, the location point where object to be positioned.Similarly, the frame point cloud is generated
The location fix information of object to be positioned refers to during data：When generating the frame cloud data, the position where object to be positioned
Point.
Wherein, above-mentioned matching operation includes：Square difference operation, can also include other operation methods.Can be by making
It is minimum with the square distance difference for the present frame cloud data and previous frame cloud data for being loaded into a certain position location point
Point cloud matching algorithm, and be determined to according to operation result to make present frame cloud data and mutual of previous frame cloud data
The position location point matched somebody with somebody.Except the minimum point cloud matching algorithm of above-mentioned square distance difference can be used, others are can also use
Point cloud matching algorithm, does not describe one by one herein.
Step S208：Determine to generate the frame point according to the first matching result of the frame cloud data and previous frame cloud data
The location fix information of object to be positioned during cloud data；According to location fix information updating environment corresponding with object to be positioned
Figure.
Specifically, according to the position location point that can be mutually matched present frame cloud data and previous frame cloud data,
The location fix information of object to be positioned when determining to generate the frame cloud data.Further, it is first determined previous frame point cloud number
According to location fix information；Then positioning of the object to be positioned relative to previous frame cloud data is determined according to first matching result
The displacement variable of azimuth information；Finally according to the location fix information and displacement variable of previous frame cloud data, determine
The location fix information of object to be positioned when generating the frame cloud data.Fig. 3 shows present frame cloud data and previous frame point
Position view when cloud data are mutually matched.As shown in figure 3, point A is illustrated as the location fix information of previous frame cloud data,
Point B is illustrated as the location fix information of present frame cloud data.If distance is L between point A and point B, according to point A and point B it
Between distance L and object to be positioned on the angle information that obtains of the angular transducer that sets, may thereby determine that object to be positioned
Relative to the displacement variable of the location fix information of previous frame cloud data.Since the location fix of previous frame cloud data is believed
Breath is known, and relatively accurate, according to the location fix information of previous frame cloud data and object phase to be positioned
Present frame point cloud number can be quickly and accurately determined for the displacement variable of the location fix information of previous frame cloud data
According to location fix information.
Alternatively, determine to generate the frame point according to the first matching result of the frame cloud data and previous frame cloud data
During cloud data after the location fix information of object to be positioned, according further to object to be positioned when generating the frame cloud data
Location fix information, the frame cloud data and the environmental map are subjected to Secondary Match.It is more accurate so as to obtain
Present frame cloud data location fix information, and overcome the shortcomings that may being absorbed in local optimum, improve matching
Precision.Then, location fix information is modified according to the Secondary Match result of the frame cloud data and environmental map, obtained
Revised location fix information.Specifically, if according to the location fix information of present frame cloud data, by present frame point cloud
Data and environmental map carry out Secondary Match, the location fix information of obtained more accurate present frame cloud data and according to
Had differences between the location fix information for the present frame cloud data that first matching result obtains, then according to Secondary Match result
The location fix information of present frame cloud data is modified to obtain the revised location fix of present frame cloud data
Information.If there is no difference, then the revised location fix information of present frame cloud data is to be tied according to first matching
The location fix information for the present frame cloud data that fruit obtains.
Finally, according to revised location fix information updating environmental map corresponding with object to be positioned.In order to understand
The environmental map of the real-time location information of object to be positioned and surrounding, it is necessary to according to each frame cloud data of acquisition in time more
New map.After the revised location fix information of present frame cloud data is obtained, present frame cloud data is loaded into
On environmental map, to realize the renewal of environmental map.According to this step, the environment around object to be positioned can be determined in real time
Map.Also, object to be positioned is positioned according to the revised location fix information of present frame cloud data.
According to the map updating method provided in this embodiment based on a cloud, by after a frame cloud data is obtained,
Determine when generating frame cloud data object to be positioned estimates azimuth information, then by judging default map memory block
Environmental map corresponding with object to be positioned whether is stored with domain, come judge the cloud data of acquired present frame whether be
First frame cloud data, if first frame cloud data, then the orientation of estimating for obtaining object to be positioned when generating the frame cloud data is believed
The displacement information included in breath, the seat for the coordinate system that the corresponding location point of displacement information is determined as including in map storage region
Mark origin；The frame cloud data is loaded at coordinate origin, object to be positioned estimates when obtaining the generation frame cloud data
The angle information included in azimuth information；And revolved according to angle information to being loaded into the frame cloud data at coordinate origin
Turn, environmental map corresponding with object to be positioned is drawn according to postrotational cloud data, so that first frame cloud data is direct
It is loaded on environmental map to realize the renewal of environmental map.If judge default map storage region memory contain with it is undetermined
The corresponding environmental map of position object, then matched the frame cloud data and previous frame cloud data for the first time, in order to improve
With precision, and overcome the shortcomings that may being absorbed in local optimum, the object to be positioned that will be generated according to first matching result
Location fix information and environmental map carry out Secondary Match so that according to the frame cloud data and the Secondary Match of environmental map
As a result above-mentioned location fix information is modified, revised location fix information is obtained, then according to revised positioning
Azimuth information updates environmental map corresponding with object to be positioned.According to this method, object to be positioned can be made in no satellite
During positioning signal, the work(for positioning in real time, building figure and updating the environmental map around its position in time can be also realized
Can, so as to realize map rejuvenation function under various working environments.
Method in above-described embodiment can be applied to SLAM (Simultaneous Localization
AndMapping, positioning is with building figure immediately) in equipment, it is also applied in other devices.Wherein, above-mentioned SLAM equipment can
With including components such as range laser radar, gyroscope chip, gyroscope, computing chip, WIFI modules.Gyroscope and gyroscope core
Piece can provide the initial angle information of range laser radar, can also obtain the object to be positioned that each frame cloud data includes
Angle information (orientation information).The barrier that range laser radar can measure range laser radar according to initial angle information
Thing is hindered to be added on map, hereafter, range laser radar can be according to initial angle information that gyroscope chip provides and existing
Component environment map, barrier is matched to the relevant position of environmental map, obtains the position letter of range laser radar at this time
Breath, outputs it and is used as location information.Then the obstacle object point after matching is added on map, map is updated, as defeated
The cartographic information gone out.Above-mentioned figure and the location information of building is transferred to user's meter by the wireless way of output such as WIFI module or bluetooth
Show and store in calculation machine or mobile phone.
Fig. 4 shows the functional block diagram of the map rejuvenation device provided by one embodiment of the present invention based on a cloud.Such as Fig. 4
Shown, which includes：Determining module 401, judgment module 402, drafting module 403, update module 404.
Wherein it is determined that module 401, suitable for after a frame cloud data is obtained, determining when generating the frame cloud data
The object to be positioned estimates azimuth information；
Judgment module 402, suitable for judging whether be stored with default map storage region and the object pair to be positioned
The environmental map answered；
Drafting module 403, suitable for when the judging result of judgment module 402 is no, the frame point cloud number is generated according to described
According to when the object to be positioned estimate azimuth information and the frame cloud data, paint in the default map storage region
System environmental map corresponding with the object to be positioned；
Update module 404, suitable for when the judging result of judgment module 402 is to be, the frame point cloud number is generated according to described
According to when the object to be positioned estimate azimuth information, by frame cloud data environmental map corresponding with the object to be positioned
Matched, according to matching result renewal environmental map corresponding with the object to be positioned.
In addition, in another embodiment of the present invention：
Wherein, the azimuth information of estimating further comprises displacement information and angle information, the drafting module 403 into
One step is suitable for：The object to be positioned estimates the displacement letter included in azimuth information when obtaining described generation frame cloud data
Breath, the coordinate origin for the coordinate system that the corresponding location point of institute's displacement information is determined as including in the map storage region；
The frame cloud data is loaded at the coordinate origin, is obtained described undetermined during described generation frame cloud data
Position object estimates the angle information included in azimuth information；
Rotated according to the angle information to being loaded into the frame cloud data at the coordinate origin, according to rotation
Rear cloud data draws environmental map corresponding with the object to be positioned.
Alternatively, update module 404 is further adapted for：
The previous frame cloud data of the frame cloud data is determined according to the environmental map；
Azimuth information is estimated according to the object to be positioned during described generation frame cloud data, by the frame cloud data
Matched for the first time with the previous frame cloud data；
Determine to generate the frame point cloud number according to the first matching result of the frame cloud data and the previous frame cloud data
According to when the object to be positioned location fix information；
According to location fix information updating environmental map corresponding with the object to be positioned.
Alternatively, the update module 404 is further adapted for：
First orientation range is determined according to the azimuth information of estimating；Wherein, comprising multiple in the first orientation range
Position location point；
Each position location point is directed to respectively, which is loaded into the position location point, for being loaded into this
The frame cloud data of position location point and the previous frame cloud data carry out matching operation, and energy is determined according to operation result
The position location point for enough making present frame cloud data be mutually matched with the previous frame cloud data；
Then the first matching result according to the frame cloud data and the previous frame cloud data determines to generate the frame
Specifically included during cloud data the step of the location fix information of the object to be positioned：
According to the position location point that can be mutually matched present frame cloud data and the previous frame cloud data,
The location fix information of the object to be positioned when determining to generate the frame cloud data.
Alternatively, the matching operation includes：Square difference operation.
Alternatively, the update module 404 is further adapted for：
Determine the location fix information of the previous frame cloud data；
Positioning of the object to be positioned relative to the previous frame cloud data is determined according to the first matching result
The displacement variable of azimuth information；
According to the location fix information of the previous frame cloud data and the displacement variable, determine to generate the frame point
The location fix information of the object to be positioned during cloud data.
Alternatively, the update module 404 is further adapted for：
According to the location fix information of the object to be positioned during described generation frame cloud data, by the frame cloud data
Secondary Match is carried out with the environmental map；
The location fix information is repaiied according to the Secondary Match result of the frame cloud data and the environmental map
Just, revised location fix information is obtained；
According to revised location fix information updating environmental map corresponding with the object to be positioned.
Optionally it is determined that module 401 is further adapted for：
It is described when determining to generate described frame cloud data by the angular transducer being arranged on the object to be positioned
The angle information of object to be positioned；
It is described when determining to generate described frame cloud data by the range sensor being arranged on the object to be positioned
The displacement information of object to be positioned；
The thing to be positioned when generating the frame cloud data is determined according to the angle information and institute's displacement information
Body estimates azimuth information.
Concrete structure and operation principle on above-mentioned modules can refer to the description of corresponding steps in embodiment of the method,
Details are not described herein again.
Above device can be single SLAM equipment, this SLAM equipment can be individually loaded into all kinds of robots
On, and be connected without miscellaneous equipments such as the odometers with being set in robot, the running environment of direct robot measurement
Figure and real-time location information, solve orientation problem during no satellite positioning signal, and install additional conveniently, existing without changing
System.Above device can also be other devices, differ one kind herein except that can be above-mentioned single SLAM equipment
State.
The embodiment of the present application additionally provides a kind of nonvolatile computer storage media, the computer-readable storage medium storage
There is an at least executable instruction, which can perform the ground based on a cloud in above-mentioned any means embodiment
Figure update method.
Fig. 5 shows the structure diagram of a kind of electronic equipment according to embodiments of the present invention, the specific embodiment of the invention
The specific implementation to electronic equipment does not limit.
As shown in figure 5, the electronic equipment can include：Processor (processor) 502, communication interface
(Communications Interface) 504, memory (memory) 506 and communication bus 508.
Wherein：
Processor 502, communication interface 504 and memory 506 complete mutual communication by communication bus 508.
Communication interface 504, for communicating with the network element of miscellaneous equipment such as client or other servers etc..
Processor 502, for executive program 510, it is real can specifically to perform the above-mentioned map updating method based on a cloud
Apply the correlation step in example.
Specifically, program 510 can include program code, which includes computer-managed instruction.
Processor 502 is probably central processor CPU, or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or be arranged to implement the embodiment of the present invention one or more integrate electricity
Road.The one or more processors that electronic equipment includes, can be same type of processors, such as one or more CPU；Also may be used
To be different types of processor, such as one or more CPU and one or more ASIC.
Memory 506, for storing program 510.Memory 506 may include high-speed RAM memory, it is also possible to further include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Program 510 specifically can be used for so that processor 502 performs following operation：
After a frame cloud data is obtained, the side of estimating of the object to be positioned when generating the frame cloud data is determined
Position information；
Judge environmental map corresponding with object to be positioned whether is stored with default map storage region；
If it is not, azimuth information and the frame cloud data are estimated according to object to be positioned when generating the frame cloud data,
Environmental map corresponding with object to be positioned is drawn in default map storage region；
If so, estimate azimuth information according to object to be positioned when generating the frame cloud data, by the frame cloud data with
The corresponding environmental map of object to be positioned is matched, and updates environmental map corresponding with object to be positioned according to matching result.
In a kind of optional mode, the azimuth information of estimating further comprises displacement information and angle information, then
Program 510 can specifically be further used for so that processor 502 performs following operation：When obtaining described generation frame cloud data
The object to be positioned estimates the displacement information included in azimuth information, and the corresponding location point of institute's displacement information is determined as
The coordinate origin of the coordinate system included in the map storage region；
The frame cloud data is loaded at the coordinate origin, is obtained described undetermined during described generation frame cloud data
Position object estimates the angle information included in azimuth information；
Rotated according to the angle information to being loaded into the frame cloud data at the coordinate origin, according to rotation
Rear cloud data draws environmental map corresponding with the object to be positioned.
In a kind of optional mode, program 510 can specifically be further used for so that processor 502 performs following behaviour
Make：
The previous frame cloud data of the frame cloud data is determined according to the environmental map；
Azimuth information is estimated according to the object to be positioned during described generation frame cloud data, by the frame cloud data
Matched for the first time with the previous frame cloud data；
Determine to generate the frame point cloud number according to the first matching result of the frame cloud data and the previous frame cloud data
According to when the object to be positioned location fix information；
According to location fix information updating environmental map corresponding with the object to be positioned.
In a kind of optional mode, program 510 can specifically be further used for so that processor 502 performs following behaviour
Make：
First orientation range is determined according to the azimuth information of estimating；Wherein, comprising multiple in the first orientation range
Position location point；
Each position location point is directed to respectively, which is loaded into the position location point, for being loaded into this
The frame cloud data of position location point and the previous frame cloud data carry out matching operation, and energy is determined according to operation result
The position location point for enough making present frame cloud data be mutually matched with the previous frame cloud data；
Then the first matching result according to the frame cloud data and the previous frame cloud data determines to generate the frame
Specifically included during cloud data the step of the location fix information of the object to be positioned：
According to the position location point that can be mutually matched present frame cloud data and the previous frame cloud data,
The location fix information of the object to be positioned when determining to generate the frame cloud data.
In a kind of optional mode, program 510 can specifically be further used for so that processor 502 performs following behaviour
Make：The matching operation includes：Square difference operation.
In a kind of optional mode, program 510 can specifically be further used for so that processor 502 performs following behaviour
Make：Determine the location fix information of the previous frame cloud data；
Positioning of the object to be positioned relative to the previous frame cloud data is determined according to the first matching result
The displacement variable of azimuth information；
According to the location fix information of the previous frame cloud data and the displacement variable, determine to generate the frame point
The location fix information of the object to be positioned during cloud data.
In a kind of optional mode, program 510 can specifically be further used for so that processor 502 performs following behaviour
Make：
According to the location fix information of the object to be positioned during described generation frame cloud data, by the frame cloud data
Secondary Match is carried out with the environmental map；
The location fix information is repaiied according to the Secondary Match result of the frame cloud data and the environmental map
Just, revised location fix information is obtained；
According to revised location fix information updating environmental map corresponding with the object to be positioned.
In a kind of optional mode, program 510 can specifically be further used for so that processor 502 performs following behaviour
Make：
It is described when determining to generate described frame cloud data by the angular transducer being arranged on the object to be positioned
The angle information of object to be positioned；
It is described when determining to generate described frame cloud data by the range sensor being arranged on the object to be positioned
The displacement information of object to be positioned；
The thing to be positioned when generating the frame cloud data is determined according to the angle information and institute's displacement information
Body estimates azimuth information.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with teaching based on this.As described above, required by constructing this kind of system
Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that it can utilize various
Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description to the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The application claims of shield features more more than the feature being expressly recited in each claim.It is more precisely, such as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
Separate embodiments all as the present invention.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and attached drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, summary and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
Replace.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
One of meaning mode can use in any combination.
The all parts embodiment of the present invention can be with hardware realization, or to be run on one or more processor
Software module realize, or realized with combinations thereof.It will be understood by those of skill in the art that it can use in practice
Microprocessor or digital signal processor (DSP) realize the map rejuvenation device according to embodiments of the present invention based on a cloud
In some or all components some or all functions.The present invention is also implemented as being used to perform as described herein
The some or all equipment or program of device (for example, computer program and computer program product) of method.So
Realization the present invention program can store on a computer-readable medium, or can have one or more signal shape
Formula.Such signal can be downloaded from internet website and obtained, and either be provided or with any other shape on carrier signal
Formula provides.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and being come by means of properly programmed computer real
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
Claims (10)
1. a kind of map updating method based on a cloud, including：
After a frame cloud data is obtained, determine that the orientation of estimating of the object to be positioned is believed when generating the frame cloud data
Breath；
Judge whether to be stored with environmental map corresponding with the object to be positioned in default map storage region；
If it is not, azimuth information and the frame point cloud number are estimated according to the object to be positioned during described generation frame cloud data
According to drawing environmental map corresponding with the object to be positioned in the default map storage region；
If so, azimuth information is estimated according to the object to be positioned during described generation frame cloud data, by the frame point cloud number
Matched, updated according to matching result corresponding with the object to be positioned according to environmental map corresponding with the object to be positioned
Environmental map.
2. according to the method described in claim 1, wherein, the azimuth information of estimating further comprises displacement information and angle
Information, it is described that azimuth information and the frame point cloud number are estimated according to the object to be positioned during described generation frame cloud data
According to the step of environmental map corresponding with the object to be positioned is drawn in the default map storage region specifically wraps
Include：
The object to be positioned estimates the displacement information included in azimuth information, general when obtaining described generation frame cloud data
The corresponding location point of institute's displacement information is determined as the coordinate origin of the coordinate system included in the map storage region；
The frame cloud data is loaded at the coordinate origin, the thing to be positioned when obtaining described generation frame cloud data
Body estimates the angle information included in azimuth information；
Rotated according to the angle information to being loaded into the frame cloud data at the coordinate origin, according to postrotational
Cloud data draws environmental map corresponding with the object to be positioned.
3. method according to claim 1 or 2, wherein, it is described according to described generation frame cloud data when it is described undetermined
Position object estimates azimuth information, frame cloud data environmental map corresponding with the object to be positioned is matched, root
The step of environmental map corresponding with the object to be positioned according to matching result renewal, specifically includes：
The previous frame cloud data of the frame cloud data is determined according to the environmental map；
Azimuth information is estimated according to the object to be positioned during described generation frame cloud data, by the frame cloud data and institute
Previous frame cloud data is stated to be matched for the first time；
When determining to generate the frame cloud data according to the first matching result of the frame cloud data and the previous frame cloud data
The location fix information of the object to be positioned；
According to location fix information updating environmental map corresponding with the object to be positioned.
It is 4. described according to the thing to be positioned during described generation frame cloud data according to the method described in claim 3, wherein
Body estimates azimuth information, and the step of which is matched for the first time with the previous frame cloud data specifically wraps
Include：
First orientation range is determined according to the azimuth information of estimating；Wherein, multiple positioning are included in the first orientation range
Location point；
Each position location point is directed to respectively, which is loaded into the position location point, for being loaded into the positioning
The frame cloud data of location point and the previous frame cloud data carry out matching operation, are determined to make according to operation result
The position location point that present frame cloud data is mutually matched with the previous frame cloud data；
Then the first matching result according to the frame cloud data and the previous frame cloud data determines to generate the frame point cloud
Specifically included during data the step of the location fix information of the object to be positioned：
According to the position location point that present frame cloud data can be made to be mutually matched with the previous frame cloud data, determine
Generate the location fix information of the object to be positioned during the frame cloud data.
5. according to the method described in claim 4, wherein, the matching operation includes：Square difference operation.
6. according to any methods of claim 3-5, wherein, it is described according to the frame cloud data and the previous frame point cloud
The first matching result of data has when determining to generate the frame cloud data the step of location fix information of the object to be positioned
Body includes：
Determine the location fix information of the previous frame cloud data；
Location fix of the object to be positioned relative to the previous frame cloud data is determined according to the first matching result
The displacement variable of information；
According to the location fix information of the previous frame cloud data and the displacement variable, determine to generate the frame point cloud number
According to when the object to be positioned location fix information.
7. the method according to claim 5 or 6, wherein, it is described according to the frame cloud data and the previous frame point cloud number
According to first matching result determine to generate the frame cloud data when object to be positioned location fix information；According to described fixed
The step of position azimuth information renewal corresponding with the object to be positioned environmental map, specifically includes：
According to the location fix information of the object to be positioned during described generation frame cloud data, by the frame cloud data and institute
State environmental map and carry out Secondary Match；
The location fix information is modified according to the Secondary Match result of the frame cloud data and the environmental map, is obtained
To revised location fix information；
According to revised location fix information updating environmental map corresponding with the object to be positioned.
8. a kind of map rejuvenation device based on a cloud, including：
Determining module, suitable for after a frame cloud data is obtained, determining the thing to be positioned when generating the frame cloud data
Body estimates azimuth information；
Judgment module, suitable for judging whether to be stored with environment corresponding with the object to be positioned in default map storage region
Map；
Drafting module, suitable for when the judging result of judgment module is no, being treated according to during described generation frame cloud data
Positioning object estimates azimuth information and the frame cloud data, draws in the default map storage region and is treated with described
Position the corresponding environmental map of object；
Update module, suitable for when the judging result of judgment module is to be, being treated according to during described generation frame cloud data
Positioning object estimates azimuth information, and frame cloud data environmental map corresponding with the object to be positioned is matched,
According to matching result renewal environmental map corresponding with the object to be positioned.
9. a kind of electronic equipment, including：Processor, memory, communication interface and communication bus, the processor, the storage
Device and the communication interface complete mutual communication by the communication bus；
The memory is used to store an at least executable instruction, and the executable instruction makes the processor perform right such as will
Ask the corresponding operation of the map updating method based on a cloud any one of 1-7.
10. a kind of computer-readable storage medium, an at least executable instruction, the executable instruction are stored with the storage medium
Processor is set to perform the corresponding operation of the map updating method based on a cloud as any one of claim 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711307139.0A CN108007453A (en) | 2017-12-11 | 2017-12-11 | Map updating method, device and electronic equipment based on a cloud |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711307139.0A CN108007453A (en) | 2017-12-11 | 2017-12-11 | Map updating method, device and electronic equipment based on a cloud |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108007453A true CN108007453A (en) | 2018-05-08 |
Family
ID=62057823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711307139.0A Pending CN108007453A (en) | 2017-12-11 | 2017-12-11 | Map updating method, device and electronic equipment based on a cloud |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108007453A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109253731A (en) * | 2018-08-06 | 2019-01-22 | 百度在线网络技术（北京）有限公司 | Parking space drawing generating method, device, equipment and readable storage medium storing program for executing |
| CN109270545A (en) * | 2018-10-23 | 2019-01-25 | 百度在线网络技术（北京）有限公司 | A kind of positioning true value method of calibration, device, equipment and storage medium |
| WO2019237307A1 (en) * | 2018-06-14 | 2019-12-19 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for updating a high-resolution map based on binocular images |
| CN110763243A (en) * | 2018-07-27 | 2020-02-07 | 杭州海康威视数字技术股份有限公司 | Sliding map updating method and device |
| CN110825832A (en) * | 2019-11-07 | 2020-02-21 | 深圳创维数字技术有限公司 | SLAM map updating method, device and computer readable storage medium |
| CN110827340A (en) * | 2018-08-08 | 2020-02-21 | 北京嘀嘀无限科技发展有限公司 | Map updating method, device and storage medium |
| CN111735463A (en) * | 2020-07-28 | 2020-10-02 | 北京云迹科技有限公司 | Picture construction method and device |
| CN111797103A (en) * | 2019-04-08 | 2020-10-20 | 合肥四维图新科技有限公司 | Map updating method, device and storage medium |
| CN111854748A (en) * | 2019-04-09 | 2020-10-30 | 北京航迹科技有限公司 | Positioning system and method |
| CN112082565A (en) * | 2020-07-30 | 2020-12-15 | 西安交通大学 | Method, device and storage medium for location and navigation without support |
| CN112154303A (en) * | 2019-07-29 | 2020-12-29 | 深圳市大疆创新科技有限公司 | High-precision map positioning method, system, platform and computer readable storage medium |
| CN112241414A (en) * | 2019-07-18 | 2021-01-19 | 武汉四维图新科技有限公司 | High-precision map updating method and device |
| WO2021068701A1 (en) * | 2019-10-09 | 2021-04-15 | 炬星科技（深圳）有限公司 | Laser map update method, robot, and swarm robotics system |
| CN112732313A (en) * | 2020-12-21 | 2021-04-30 | 南方电网电力科技股份有限公司 | Method and system for updating map increment of substation inspection robot |
| WO2021114764A1 (en) * | 2019-12-10 | 2021-06-17 | 亿嘉和科技股份有限公司 | Map correction method and system based on local map |
| CN113255600A (en) * | 2021-06-29 | 2021-08-13 | 上海影创信息科技有限公司 | Point cloud map updating optimization method, system, medium and equipment based on client |
| CN115661189A (en) * | 2022-12-27 | 2023-01-31 | 上海仙工智能科技有限公司 | Scene dynamic information detection method and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103123727A (en) * | 2011-11-21 | 2013-05-29 | 联想(北京)有限公司 | Method and device for simultaneous positioning and map building |
| CN103247225A (en) * | 2012-02-13 | 2013-08-14 | 联想(北京)有限公司 | Instant positioning and map building method and equipment |
| CN105607071A (en) * | 2015-12-24 | 2016-05-25 | 百度在线网络技术（北京）有限公司 | Indoor positioning method and device |
| CN105865449A (en) * | 2016-04-01 | 2016-08-17 | 深圳杉川科技有限公司 | Laser and vision-based hybrid location method for mobile robot |
| EP3064899A1 (en) * | 2015-03-06 | 2016-09-07 | Airbus DS GmbH | Tracking in an indoor environment |
| CN107179086A (en) * | 2017-05-24 | 2017-09-19 | 北京数字绿土科技有限公司 | A kind of drafting method based on laser radar, apparatus and system |
-
2017
- 2017-12-11 CN CN201711307139.0A patent/CN108007453A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103123727A (en) * | 2011-11-21 | 2013-05-29 | 联想(北京)有限公司 | Method and device for simultaneous positioning and map building |
| CN103247225A (en) * | 2012-02-13 | 2013-08-14 | 联想(北京)有限公司 | Instant positioning and map building method and equipment |
| EP3064899A1 (en) * | 2015-03-06 | 2016-09-07 | Airbus DS GmbH | Tracking in an indoor environment |
| CN105607071A (en) * | 2015-12-24 | 2016-05-25 | 百度在线网络技术（北京）有限公司 | Indoor positioning method and device |
| CN105865449A (en) * | 2016-04-01 | 2016-08-17 | 深圳杉川科技有限公司 | Laser and vision-based hybrid location method for mobile robot |
| CN107179086A (en) * | 2017-05-24 | 2017-09-19 | 北京数字绿土科技有限公司 | A kind of drafting method based on laser radar, apparatus and system |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110832275A (en) * | 2018-06-14 | 2020-02-21 | 北京嘀嘀无限科技发展有限公司 | System and method for updating high-resolution map based on binocular image |
| US10937231B2 (en) | 2018-06-14 | 2021-03-02 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for updating a high-resolution map based on binocular images |
| WO2019237307A1 (en) * | 2018-06-14 | 2019-12-19 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for updating a high-resolution map based on binocular images |
| CN110832275B (en) * | 2018-06-14 | 2021-05-18 | 北京嘀嘀无限科技发展有限公司 | System and method for updating high-resolution map based on binocular image |
| CN110763243A (en) * | 2018-07-27 | 2020-02-07 | 杭州海康威视数字技术股份有限公司 | Sliding map updating method and device |
| CN110763243B (en) * | 2018-07-27 | 2021-08-24 | 杭州海康威视数字技术股份有限公司 | Sliding map updating method and device |
| CN109253731A (en) * | 2018-08-06 | 2019-01-22 | 百度在线网络技术（北京）有限公司 | Parking space drawing generating method, device, equipment and readable storage medium storing program for executing |
| CN110827340A (en) * | 2018-08-08 | 2020-02-21 | 北京嘀嘀无限科技发展有限公司 | Map updating method, device and storage medium |
| CN110827340B (en) * | 2018-08-08 | 2022-08-12 | 北京嘀嘀无限科技发展有限公司 | Map updating method, device and storage medium |
| CN109270545B (en) * | 2018-10-23 | 2020-08-11 | 百度在线网络技术（北京）有限公司 | Positioning true value verification method, device, equipment and storage medium |
| CN109270545A (en) * | 2018-10-23 | 2019-01-25 | 百度在线网络技术（北京）有限公司 | A kind of positioning true value method of calibration, device, equipment and storage medium |
| CN111797103A (en) * | 2019-04-08 | 2020-10-20 | 合肥四维图新科技有限公司 | Map updating method, device and storage medium |
| CN111854748A (en) * | 2019-04-09 | 2020-10-30 | 北京航迹科技有限公司 | Positioning system and method |
| CN112241414B (en) * | 2019-07-18 | 2022-10-21 | 武汉四维图新科技有限公司 | High-precision map updating method and device |
| CN112241414A (en) * | 2019-07-18 | 2021-01-19 | 武汉四维图新科技有限公司 | High-precision map updating method and device |
| CN112154303A (en) * | 2019-07-29 | 2020-12-29 | 深圳市大疆创新科技有限公司 | High-precision map positioning method, system, platform and computer readable storage medium |
| CN112154303B (en) * | 2019-07-29 | 2024-04-05 | 深圳市大疆创新科技有限公司 | High-precision map positioning method, system, platform and computer readable storage medium |
| WO2021068701A1 (en) * | 2019-10-09 | 2021-04-15 | 炬星科技（深圳）有限公司 | Laser map update method, robot, and swarm robotics system |
| CN110825832A (en) * | 2019-11-07 | 2020-02-21 | 深圳创维数字技术有限公司 | SLAM map updating method, device and computer readable storage medium |
| WO2021114764A1 (en) * | 2019-12-10 | 2021-06-17 | 亿嘉和科技股份有限公司 | Map correction method and system based on local map |
| CN111735463A (en) * | 2020-07-28 | 2020-10-02 | 北京云迹科技有限公司 | Picture construction method and device |
| CN112082565A (en) * | 2020-07-30 | 2020-12-15 | 西安交通大学 | Method, device and storage medium for location and navigation without support |
| CN112732313A (en) * | 2020-12-21 | 2021-04-30 | 南方电网电力科技股份有限公司 | Method and system for updating map increment of substation inspection robot |
| CN112732313B (en) * | 2020-12-21 | 2021-12-21 | 南方电网电力科技股份有限公司 | Method and system for updating map increment of substation inspection robot |
| CN113255600A (en) * | 2021-06-29 | 2021-08-13 | 上海影创信息科技有限公司 | Point cloud map updating optimization method, system, medium and equipment based on client |
| CN113255600B (en) * | 2021-06-29 | 2021-10-01 | 上海影创信息科技有限公司 | Point cloud map updating optimization method, system, medium and equipment based on client |
| CN115661189A (en) * | 2022-12-27 | 2023-01-31 | 上海仙工智能科技有限公司 | Scene dynamic information detection method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108007453A (en) | Map updating method, device and electronic equipment based on a cloud | |
| CN108036793A (en) | Localization method, device and electronic equipment based on a cloud | |
| CN108053446A (en) | Localization method, device and electronic equipment based on cloud | |
| CN109540142A (en) | A kind of method, apparatus of robot localization navigation calculates equipment | |
| US9709990B2 (en) | Autonomous navigation through obstacles | |
| CN107438752A (en) | Localization method, terminal and server | |
| CN109976324A (en) | Control method, robot and the computer readable storage medium of robot charging | |
| CN102322858B (en) | Geomagnetic matching navigation method for geomagnetic-strapdown inertial navigation integrated navigation system | |
| US10386497B2 (en) | Automated localization for GNSS device | |
| CN107837044A (en) | Subregion clean method, device and the robot of clean robot | |
| US11713980B2 (en) | Method and apparatus for generating map | |
| CN110887493B (en) | Track calculation method, medium, terminal and device based on local map matching | |
| CN110567491B (en) | Initial alignment method and device of inertial navigation system and electronic equipment | |
| CN107782311A (en) | The mobile route method and device for planning of movable termination | |
| CN111360808A (en) | Method and device for controlling robot to move and robot | |
| CN108052101A (en) | The method for relocating and device of robot | |
| Demim et al. | Cooperative SLAM for multiple UGVs navigation using SVSF filter | |
| CN107525516B (en) | Lane line display methods and device for navigation | |
| CN103826299A (en) | Wireless signal sensation based indoor augmented reality realizing method | |
| CN108982116A (en) | Transport vehicle and its chassis parameter calibration method, device and computer-readable medium | |
| CN108036774B (en) | Surveying and mapping method, system and terminal equipment | |
| CN109407706A (en) | Unmanned aerial vehicle (UAV) control method and apparatus | |
| CN103644921B (en) | It is a kind of to realize the method and apparatus that streetscape is shown | |
| CN108168572A (en) | For the map-indication method and device of digital map navigation | |
| CN105526930A (en) | Environmental path planning system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180508 |