CN108663041A - A kind of method and device for drawing navigation map - Google Patents
A kind of method and device for drawing navigation map Download PDFInfo
- Publication number
- CN108663041A CN108663041A CN201810133020.4A CN201810133020A CN108663041A CN 108663041 A CN108663041 A CN 108663041A CN 201810133020 A CN201810133020 A CN 201810133020A CN 108663041 A CN108663041 A CN 108663041A
- Authority
- CN
- China
- Prior art keywords
- grid
- test position
- suspicious
- probability
- distance measuring
- 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.)
- Granted
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
-
- 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
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of method and devices for drawing navigation map, are applied to self-propelled robot, and method includes：Initial map is drawn, at least one test position is selected in target area, and determines its corresponding origin grid of institute on initial map；In each test position, the location information of at least one barrier in target area is detected respectively by least two different types of distance measuring sensors；The location information that origin grid, each distance measuring sensor corresponding to test position detect respectively determines the corresponding suspicious probability of each grid institute of initial map；It is directed to each grid of initial map, the obstacle probability corresponding to each suspicious determine the probability grid corresponding to grid；Obstacle probability will be corresponded on initial map be more than to set the grid tag of numerical value be obstacle grid to form navigation map.The accuracy of technical solution through the invention, the navigation map of generation is higher.
Description
Technical field
The present invention relates to technical field of automation, more particularly to a kind of method and device for drawing navigation map.
Background technology
It, can be in target area autonomous and needle with the continuous development and progress of computer and sensor application technology
Clean self-propelled robot is carried out to target area to be widely used.Self-propelled robot's is autonomous in target area
Dependent on the navigation map corresponding to target area when mobile, to avoid the barrier of target area.
In the prior art, it can be detected by a distance measuring sensor being arranged on self-propelled robot each in target area
Then location information of a barrier relative to self-propelled robot is corresponded to according to self-propelled robot on initial map
Origin grid, each location information is corresponded into grid tag on initial map into obstacle grid to generate navigation ground
Figure.
When Pass through above-mentioned technical proposal generates navigation map, on the one hand, the location information of distance measuring sensor detection depends on
The running parameter of distance measuring sensor itself, there are larger measurement errors；On the other hand, the type of distance measuring sensor may lead to it
The location information that each barrier can not be completely detected under specific work condition environment, cause detection location information exist compared with
Big operating mode error, for example, infrared range-measurement system can not accurately detect the location information of glass barrier.Therefore, pass through above-mentioned side
When formula generates navigation map, the accuracy of navigation map is relatively low.
Invention content
An embodiment of the present invention provides a kind of method and device for drawing navigation map, the accuracy of navigation map is higher.
In a first aspect, the present invention provides a kind of method for drawing navigation map, it is applied to self-propelled robot, including：
Initial map is drawn, at least one test position is selected in target area, and determine each detection
Position corresponding origin grid of institute on the initial map；
In each test position, the target is detected respectively by least two different types of distance measuring sensors
The location information of at least one barrier in region；Origin grid, each ranging corresponding to the test position
The location information that sensor detects respectively determines that each grid institute of the initial map is corresponding suspicious general
Rate；
It is directed to each described grid of the initial map, it is each suspicious general corresponding to the grid
Rate determines the obstacle probability corresponding to the grid；
On the initial map, corresponding obstacle probability is more than to each grid tag for setting numerical value as barrier
Hinder grid to form navigation map.
Preferably,
The position that origin grid, each distance measuring sensor corresponding to the test position detects respectively
Information determines the corresponding suspicious probability of each grid institute of the initial map, including：
The current location information that one A1, selection non-selected distance measuring sensor are detected in the test position；
A2, the origin grid corresponding to the test position determine described work as from the initial map
At least one suspicious grid corresponding to the information of front position；
A3, it detects whether there are non-selected distance measuring sensor, if it is, executing A1；Otherwise, A4 is executed；
A4, it records each grid on the initial map and is confirmed as suspicious grid respectively in the test position
Suspicious number, and determine the number of probes of at least two distance measuring sensor；
A5, each grid for being directed to the initial map, by the grid be confirmed as suspicious grid can
The ratio doubted between number and the number of probes is determined as the suspicious probability corresponding to the grid.
Preferably,
Obstacle probability corresponding to grid described in each suspicious determine the probability corresponding to the grid, packet
It includes：
Detect whether each suspicious probability corresponding to the grid is not 0, if it is, executing B1；Otherwise, it executes
B2；
B1, the obstacle that the average value of each suspicious probability corresponding to the grid is determined as corresponding to the grid are general
Rate；
B2, the maximum value in each suspicious probability corresponding to the grid is determined as the obstacle corresponding to the grid
Probability.
Preferably,
At least two different types of distance measuring sensor includes ultrasonic range finder and infrared range-measurement system；
When described at least two different types of distance measuring sensors include ultrasonic range finder,
It is described detected respectively by least two different types of distance measuring sensors it is at least one in the target area
Before location information of the barrier relative to the test position, further comprise：
On the initial map, by a row or column grid where the origin grid corresponding to the test position
Lattice are determined as reference grid, and reference grid described in determining a row or column is defined as in the target area one and waits sweeping
Retouch the central axes corresponding to sector region；
Then,
It is described to detect at least one barrier in the target area respectively by least two different types of distance measuring sensors
Hinder object relative to the location information of the test position, including：
Scanning sound wave is sent out to the sector region to be scanned by ultrasonic range finder, receives the anti-of the scanning sound wave
Ejected wave determines spacing distance of at least one barrier relative to the test position according to the waveform of the back wave；According to
Origin grid corresponding to the test position, reference grid described in a row or column of determination, the sector region to be scanned
Central angle and the spacing distance, determine the region to be scanned at least one barrier correspond in the initial
Location information on map.
Preferably,
The waveform according to the back wave determines interval distance of at least one barrier relative to the test position
From, including：
Determine that corresponding reflection wave strength is more than each primary peak of preset strength threshold value from the waveform of the back wave；
For primary peak described in each, the multipath reflection removed in the primary peak interferes wave crest to obtain second
Wave crest；
For secondary peak described in each, determine that the barrier corresponding to the secondary peak is opposite by following formula
In the spacing distance of the test position：
Wherein, LiCharacterize spacing distance of the barrier relative to the test position corresponding to i-th of secondary peak, v
The spread speed speed of characterization scanning sound wave, when t characterizes the arrival corresponding to i-th of secondary peak in the waveform of the back wave
Between.
Second aspect, an embodiment of the present invention provides a kind of devices for drawing navigation map, are applied to self-propelled robot,
Including：
Preprocessing module selects at least one test position, and really for drawing initial map in target area
Fixed each test position corresponding origin grid of institute on the initial map；
At least two different types of distance measuring sensors, in each test position, detecting the mesh respectively
Mark the location information of at least one barrier in region；
Suspicious probability determination module is used in each test position, according to the original corresponding to the test position
The location information that point grid, each distance measuring sensor detect respectively, determines each grid of the initial map
The corresponding suspicious probability of institute；
Obstacle probability determination module, each described grid for being directed to the initial map, according to described
Obstacle probability corresponding to grid described in each suspicious determine the probability corresponding to grid；
Processing module is marked, in the initial map, corresponding obstacle probability to be more than each of setting numerical value
A grid tag is obstacle grid to form navigation map.
Preferably,
The suspicious probability determination module is specifically used for, in each test position, executing：
The current location information that one A1, selection non-selected distance measuring sensor are detected in the test position；
A2, the origin grid corresponding to the test position determine described work as from the initial map
At least one suspicious grid corresponding to the information of front position；
A3, it detects whether there are non-selected distance measuring sensor, if it is, executing A1；Otherwise, A4 is executed；
A4, it records each grid on the initial map and is confirmed as suspicious grid respectively in the test position
Suspicious number, and determine the number of probes of at least two distance measuring sensor；
A5, each grid for being directed to the initial map, by the grid be confirmed as suspicious grid can
The ratio doubted between number and the number of probes is determined as the suspicious probability corresponding to the grid.
Preferably,
The obstacle probability determination module is specifically used for each described grid for the initial map, holds
Row：
Detect whether each suspicious probability corresponding to the grid is not 0, if it is, executing B1；Otherwise, it executes
B2；
B1, the obstacle that the average value of each suspicious probability corresponding to the grid is determined as corresponding to the grid are general
Rate；
B2, the maximum value in each suspicious probability corresponding to the grid is determined as the obstacle corresponding to the grid
Probability.
Preferably,
At least two different types of distance measuring sensor includes ultrasonic range finder and infrared range-measurement system；
When described at least two different types of distance measuring sensors include ultrasonic range finder,
Further comprise：Definition process module, in each test position, executing：In the grating map
On, a row or column grid where the origin grid corresponding to the test position is determined as reference grid, and will determine
A row or column described in reference grid be defined as the central axes in the target area corresponding to a sector region to be scanned；
The ultrasonic range finder receives the scanning sound for sending out scanning sound wave to the sector region to be scanned
The back wave of wave determines interval distance of at least one barrier relative to the test position according to the waveform of the back wave
From；Origin grid corresponding to the test position, reference grid described in a row or column of determination, the fan to be scanned
The central angle in shape region and the spacing distance determine that at least one barrier in the region to be scanned is corresponded to described first
Location information on beginning grating map.
Preferably,
The ultrasonic range finder is specifically used for executing：
Determine that corresponding reflection wave strength is more than each primary peak of preset strength threshold value from the waveform of the back wave；
For primary peak described in each, the multipath reflection removed in the primary peak interferes wave crest to obtain second
Wave crest；
For secondary peak described in each, determine that the barrier corresponding to the secondary peak is opposite by following formula
In the spacing distance of the test position：
Wherein, LiCharacterize spacing distance of the barrier relative to the test position corresponding to i-th of secondary peak, v
The spread speed speed of characterization scanning sound wave, when t characterizes the arrival corresponding to i-th of secondary peak in the waveform of the back wave
Between.
An embodiment of the present invention provides a kind of method and device for drawing navigation map, this method application and self propelled machines
People, by selecting at least one test position in target area, and determine each test position drafting initial
On figure after the corresponding origin grid of institute, then it can pass through at least two different types in each test position of selection
Distance measuring sensor detect the location information of at least one barrier in target area respectively, and combine corresponding to test position
The location information that origin grid and each distance measuring sensor detect respectively determines that each grid of initial map is right respectively
The suspicious probability answered, so it is right respectively according to corresponding each each grid of suspicious determine the probability institute of each grid institute
The obstacle probability answered, the size of obstacle probability can react the possibility that corresponding grid is obstacle grid, by initial map
Upper corresponding obstacle probability can form navigation map more than each grid tag for setting numerical value as obstacle grid；It avoids single
Distance measuring sensor influences the accuracy of navigation map because the location information of detection is there are detection error, while avoiding single biography
The location information of sensor detection influences the accuracy of navigation map due to there are operating mode error, so that navigation map is accurate
Property is higher.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart of the method for drafting navigation map that one embodiment of the invention provides；
Fig. 2 is the flow chart for another method for drawing navigation map that one embodiment of the invention provides；
Fig. 3 is a kind of schematic diagram for grating map that one embodiment of the invention provides；
Fig. 4 is a kind of structural schematic diagram of the device for drafting navigation map that one embodiment of the invention provides；
Fig. 5 is the structural schematic diagram for another device for drawing navigation map that one embodiment of the invention provides.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, an embodiment of the present invention provides a kind of method for drawing navigation map, it is applied to self propelled machines
People, including：
Step 101, initial map is drawn, at least one test position is selected in target area, and determination is each
The test position corresponding origin grid of institute on the initial map；
Step 102, it in each test position, is detected respectively by least two different types of distance measuring sensors
The location information of at least one barrier in the target area；It is origin grid corresponding to the test position, each
The location information that the distance measuring sensor detects respectively determines that each grid institute of the initial map is corresponding
Suspicious probability；
Step 103, it is directed to each described grid of the initial map, it is each corresponding to the grid
Obstacle probability corresponding to grid described in a suspicious determine the probability；
Step 104, on the initial map, corresponding obstacle probability is more than to each grid of setting numerical value
Labeled as obstacle grid to form navigation map.
Embodiment as shown in Figure 1, this method application and self-propelled robot, by selecting at least one in target area
A test position, and each test position is determined on the initial map of drafting after the corresponding origin grid of institute,
It can then be detected in target area respectively by least two different types of distance measuring sensors in each test position of selection
The location information of at least one barrier, and origin grid and each distance measuring sensor corresponding to test position is combined to examine respectively
The location information of survey determines the corresponding suspicious probability of each grid of initial map, and then according to each grid
The corresponding obstacle probability of corresponding each each grid of suspicious determine the probability institute of lattice institute, the size of obstacle probability can
To react corresponding grid as the possibility of obstacle grid, obstacle probability will be corresponded on initial map and is more than each of setting numerical value
A grid tag, which is obstacle grid, can form navigation map；Single distance measuring sensor is avoided because the location information of detection exists
Detection error and the accuracy for influencing navigation map, while the location information of single sensor detection is avoided because there are operating mode mistakes
Accuracy that is poor and influencing navigation map, so that the accuracy of navigation map is higher.
It should be understood by those skilled in the art that, the quantity of test position and position can be with the practical industry in combining target region
Business scene is rationally arranged, as long as can ensure by the way that when multiple test positions are detected, distance measuring sensor is each
The corresponding detection range of test position institute being capable of coverage goal region after being overlapped mutually.Certainly, in the cards
In the case of, can also be self-propelled robot in the traveling process of target area, the mode based on particle filter selects to detect
Position and determine each test position correspond to respectively the origin in initial map this.
In one embodiment of the invention, the origin grid corresponding to the test position, each ranging pass
The location information that sensor detects respectively determines the corresponding suspicious probability of each grid institute of the initial map,
Including：
The current location information that one A1, selection non-selected distance measuring sensor are detected in the test position；
A2, the origin grid corresponding to the test position determine described work as from the initial map
At least one suspicious grid corresponding to the information of front position；
A3, it detects whether there are non-selected distance measuring sensor, if it is, executing A1；Otherwise, A4 is executed；
A4, it records each grid on the initial map and is confirmed as suspicious grid respectively in the test position
Suspicious number, and determine the number of probes of at least two distance measuring sensor；
A5, each grid for being directed to the initial map, by the grid be confirmed as suspicious grid can
The ratio doubted between number and the number of probes is determined as the suspicious probability corresponding to the grid.
In above-described embodiment, it is directed to the current location that each distance measuring sensor detects respectively in current detection position
Information can be determined according to current detection position origin grid corresponding in initial map from initial map
Go out at least one suspicious grid corresponding to the current location information, when be confirmed as in current detection position can for the same grid
The number for doubting grid is more, then illustrates the distance measuring sensors of the multiple and different types obstacle in current detection position is to target area
When the location information of object is detected, position corresponding with the grid there is a possibility that barrier is higher in target area,
I.e. the grid be obstacle this possibility it is higher；Here, specific to be confirmed as suspicious grid in current location using a grid
Ratio (that is, suspicious probability) of the number (that is, suspicious number) of lattice between number of probes, to passing through multiple and different types
For sensor when the location information of barrier during current detection position is to target area is detected, which may be obstacle grid
The possibility of lattice is measured.
In one embodiment of the invention, grid institute described in each suspicious determine the probability corresponding to the grid is right
The obstacle probability answered, including：
Detect whether each suspicious probability corresponding to the grid is not 0, if it is, executing B1；Otherwise, it executes
B2；
B1, the obstacle that the average value of each suspicious probability corresponding to the grid is determined as corresponding to the grid are general
Rate；
B2, the maximum value in each suspicious probability corresponding to the grid is determined as the obstacle corresponding to the grid
Probability.
In above-described embodiment, when each suspicious probability corresponding to the grid is not 0, then explanation is in each detection
When position is detected the location information of barrier in target area, detect corresponding with the grid in target area
There may be barriers for position, therefore, using the average value (i.e. obstacle probability) of each suspicious probability corresponding to the grid
The possibility that the grid is obstacle grid is accurately measured.
In above-described embodiment, when in each suspicious probability corresponding to a grid there are one be 0 suspicious grid when,
Then there are following situations A and situation B：
Situation A：Each distance measuring sensor is in a wherein test position to the location information of the barrier in target area
When being detected, in target area position corresponding with the grid at this time and be not located at each distance measuring sensor detection range it
Interior, so as to cause a test position wherein, which is not determined to suspicious grid, so that corresponding to the grid
One suspicious probability is 0.
Situation B：Each distance measuring sensor is in a wherein test position to the location information of the barrier in target area
When being detected, position corresponding with the grid is now placed within each distance measuring sensor detection range in target area,
But each distance measuring sensor is simultaneously not detected in target area position corresponding with the grid there are barriers.
Therefore, when in each suspicious probability corresponding to a grid there are one be 0 suspicious probability when, be 0 can
Doubtful probability does not have higher referential, and the maximum value in each suspicious probability corresponding to the grid is only determined as the grid
Obstacle probability corresponding to lattice, obtained obstacle probability more can accurately measure the possibility that the grid is suspicious grid,
Follow-up then available more accurate navigation map.
In one embodiment of the invention, at least two different types of distance measuring sensor includes but not limited to ultrasonic wave
Rangefinder and infrared range-measurement system, for example can also include laser range finder and gyroscope etc..
In one embodiment of the invention, when described at least two different types of distance measuring sensors include ultrasonic range finder
When,
It is described detected respectively by least two different types of distance measuring sensors it is at least one in the target area
Before location information of the barrier relative to the test position, further comprise：
On the initial map, by a row or column grid where the origin grid corresponding to the test position
Lattice are determined as reference grid, and reference grid described in determining a row or column is defined as in the target area one and waits sweeping
Retouch the central axes corresponding to sector region；
Then,
It is described to detect at least one barrier in the target area respectively by least two different types of distance measuring sensors
Hinder object relative to the location information of the test position, including：
Scanning sound wave is sent out to the sector region to be scanned by ultrasonic range finder, receives the anti-of the scanning sound wave
Ejected wave determines spacing distance of at least one barrier relative to the test position according to the waveform of the back wave；According to
Origin grid corresponding to the test position, reference grid described in a row or column of determination, the sector region to be scanned
Central angle and the spacing distance, determine the region to be scanned at least one barrier correspond in the initial
Location information on map.
In the above embodiment of the present invention, by will be where the origin grid corresponding to test position on initial map
A row or column grid be determined as reference grid, and determining a row or column reference grid is defined as one in target area
Central axes corresponding to a sector region to be scanned detect sector region to be scanned in subsequent process by ultrasonic range finder
In at least one barrier relative to the spacing distance of test position after, then can be according to the origin grid corresponding to test position
The central angle and spacing distance of lattice, a row or column reference grid of determination, sector region to be scanned, determine region to be scanned
At least one barrier correspond to location information on initial map.
Specifically, in one embodiment of the invention, the waveform according to the back wave determines at least one barrier
Relative to the spacing distance of the test position, including：
Determine that corresponding reflection wave strength is more than each primary peak of preset strength threshold value from the waveform of the back wave；
For primary peak described in each, the multipath reflection removed in the primary peak interferes wave crest to obtain second
Wave crest；
For secondary peak described in each, determine that the barrier corresponding to the secondary peak is opposite by following formula
In the spacing distance of the test position：
Wherein, LiCharacterize spacing distance of the barrier relative to the test position corresponding to i-th of secondary peak, v
The spread speed speed of characterization scanning sound wave, when t characterizes the arrival corresponding to i-th of secondary peak in the waveform of the back wave
Between.
In the above embodiment of the present invention, due to the same barrier, range transmission scan the ultrasonic range finder of sound wave away from
From difference, the intensity of back wave is also different, and distance is remoter, and decaying is more, if keeping preset strength threshold value constant, barrier
When hindering object closer apart from ultrasonic range finder, be capable of detecting when the barrier, when obstacle distance ultrasonic range finder farther out when,
It can not may just detect the barrier；Therefore, in order to accurately detecting that barrier, preset strength threshold value can be tied
It closes practical business demand to be configured, for example preset strength threshold value is described by an intensity threshold curve, the intensity threshold is bent
Line can reduce with the increase of the arrival time of back wave.
An embodiment of the present invention provides another methods for drawing navigation map, only at least two different types of rangings
For sensor includes ultrasonic range finder, infrared range-measurement system and laser range finder, as shown in Fig. 2, can specifically include as follows
Each step：
Step 201, initial map is drawn, at least one test position is selected in target area, determines each institute
Test position corresponding origin grid of institute on the initial map.
In the embodiment of the present invention, for convenience of describing, referring to FIG. 3, to draw the initial map of a 9*9, and profit
Use AijForm each grid in each initial map described, wherein i characterizes the row where grid, and j characterizes grid institute
Be classified as example；Characterize that the region of 1dm*1dm, the test position selected is 1 test position and its is right with grid simultaneously
Should include A in the origin grid in initial map55For.Specifically, then merely with A in following each steps55To describe
Origin grid.
It is understandable, in practical application scene, in order to improve the accuracy of navigation map, the region representated by grid
It can be with smaller, such as 1cm*1cm.
Step 202, in A55Corresponding test position, on initial map, by A55The a row or column grid at place
It is determined as reference grid, and determining a row or column reference grid is defined as a sector region to be scanned in target area
Corresponding central axes.
Here it is possible to be realized described in step 202 by corresponding software program combination gyroscope or other Position and attitude sensors
Technology contents.
In following each steps of the embodiment of the present invention, only with origin grid A55On the basis of one row at place are determined by grid
It includes such as Fig. 3 mean camber lines region that grid and sector region to be scanned, which are located at,.
Step 203, in A55Corresponding test position sends out scanning sound by ultrasonic range finder to sector region to be scanned
Wave receives the back wave of scanning sound wave.
Step 204, determine that corresponding reflection wave strength is more than each the first of preset strength threshold value from the waveform of back wave
Wave crest；For primary peak described in each, the multipath reflection removed in primary peak interferes wave crest to obtain secondary peak；Needle
To each secondary peak, spacing distance of the barrier corresponding to secondary peak relative to test position is determined.
Specifically, interval of the barrier corresponding to secondary peak relative to test position can be determined by following formula
Distance：
Wherein, LiCharacterize spacing distance of the barrier corresponding to i-th of secondary peak relative to test position, v characterizations
The spread speed for scanning sound wave is fast, the arrival time in the waveform of t characterization back waves corresponding to i-th of secondary peak.
In the following each embodiments of the present invention only by taking back wave includes a wave crest as an example, i.e., an interval is only calculated
For distance.
Step 205, according to A55、A55The one row reference grid at place, the central angle and interval distance of sector region to be scanned
From determining that at least one barrier in region to be scanned corresponds to location information on initial map.
Since the width of each grid on initial map is 1dm, it here can be according to central angle, calculating
Spacing distance one and A are determined on initial map55The distance between be the spacing distance camber line, here specifically
Determining location information is described with position corresponding to camber line on initial map as shown in Figure 3.
The ranks coordinate for each grid that the camber line passes through is the location information of barrier.
Step 206, according to A55, determined from initial map corresponding to determining location information it is at least one can
Doubt grid.
Correspondingly, referring to FIG. 3, each initial that can be then passed through determining camber line here is determined as suspicious grid
Lattice, i.e. A33、A23、A24、A25、A26、A27、A28It will be confirmed as suspicious grid.
It should be understood by those skilled in the art that, it can be in A in subsequent process55Corresponding test position controls ultrasound
Distance meter rotate, after rotation angle reaches the size of above-mentioned central angle, then can by with above-mentioned steps 203 to step 206 phase
As method, continue to be detected the obstacle position information in another sector region to be scanned, until multiple to be scanned
Region overlay is with A55Until corresponding test position is a border circular areas in the center of circle.
Step 207, in A55Corresponding test position detects at least one barrier in target area by infrared range-measurement system
Location information, determined from initial map detection location information corresponding at least one suspicious grid.
Step 208, in A55Corresponding test position detects at least one barrier in target area by laser range finder
Location information, determined from initial map detection location information corresponding at least one suspicious grid.
In step 207 to step 208, believed by the position of barrier in infrared range-measurement system or laser range finder detection zone
Breath is a common technical means of those skilled in the art, and is no longer repeated here specific technical detail.
Step 209, in A55Corresponding test position, record initial map on each grid in A55Corresponding inspection
Location sets the suspicious number for being confirmed as suspicious grid respectively, and determines number of probes.
Obvious, distance measuring sensor includes ultrasonic range finder, infrared range-measurement system and laser range finder, and number of probes is
3。
Step 210, in A55Corresponding test position is directed to each grid of initial map, and grid is true
It is set to the ratio between the suspicious number of suspicious grid and number of probes and is determined as suspicious probability corresponding to grid.
It is understandable, when the test position selected is multiple, can be executed and step 201 to step in other test positions
Similar method in rapid 210.Then step 211 is executed again.
Step 211, each grid being directed on initial map detects each suspicious probability corresponding to grid
Whether it is not 0, if so, thening follow the steps 212；Otherwise, step 213 is executed.
Step 212, the average value of each suspicious probability corresponding to grid is determined as the obstacle probability corresponding to grid.
In the embodiment of the present invention, when each suspicious probability corresponding to the grid is not 0, then explanation is in each inspection
Location is set when being detected to the location information of barrier in target area, is detected corresponding with the grid in target area
There may be barriers for position, therefore, using the average value of each suspicious probability corresponding to the grid, (i.e. obstacle is general
Rate) possibility that the grid is obstacle grid is accurately measured.
Step 213, that the maximum value in each suspicious probability corresponding to grid is determined as the obstacle corresponding to grid is general
Rate.
In the embodiment of the present invention, when there are the suspicious grids that one is 0 in each suspicious probability corresponding to a grid
When, then there are following situations A and situation B：
Situation A：Each distance measuring sensor is in a wherein test position to the location information of the barrier in target area
When being detected, in target area position corresponding with the grid at this time and be not located at each distance measuring sensor detection range it
Interior, so as to cause a test position wherein, which is not determined to suspicious grid, so that corresponding to the grid
One suspicious probability is 0.For example, in A55When corresponding test position, in target area with A99Corresponding position may be simultaneously
Not in the detection range of each distance measuring sensor, at this point, can then lead to A99A corresponding suspicious probability is 0, but should be 0
Suspicious probability and do not have referential；For another example, in target area with A15It corresponding position may be because of A more than in target area25
Corresponding position cause there are barrier in target area with A15Corresponding position is not in the detection model of each sensor
Within enclosing.
Situation B：Each distance measuring sensor is in a wherein test position to the location information of the barrier in target area
When being detected, position corresponding with the grid is now placed within each distance measuring sensor detection range in target area,
But each distance measuring sensor is simultaneously not detected in target area position corresponding with the grid there are barriers.
Therefore, when in each suspicious probability corresponding to a grid there are one be 0 suspicious probability when, be 0 can
Doubtful probability does not have higher referential, and the maximum value in each suspicious probability corresponding to the grid is only determined as the grid
Obstacle probability corresponding to lattice, obtained obstacle probability more can accurately measure the possibility that the grid is suspicious grid,
Follow-up then available more accurate navigation map.
Step 214, on initial map, corresponding obstacle probability is more than to each grid tag for setting numerical value as barrier
Hinder grid to form navigation map.
As shown in figure 4, an embodiment of the present invention provides a kind of device for drawing navigation map, it is applied to self propelled machines
People, including：
Preprocessing module 401 selects at least one test position for drawing initial map in target area,
And determine each test position corresponding origin grid of institute on the initial map；
At least two different types of distance measuring sensors 402, described in each test position, detecting respectively
The location information of at least one barrier in target area；
Suspicious probability determination module 403 is used in each test position, corresponding to the test position
The location information that origin grid, each distance measuring sensor detect respectively, determines each grid of the initial map
The corresponding suspicious probability of lattice institute；
Obstacle probability determination module 404, each described grid for being directed to the initial map, according to institute
State the obstacle probability corresponding to grid described in each suspicious determine the probability corresponding to grid；
Processing module 405 is marked, in the initial map, corresponding obstacle probability to be more than setting numerical value
Each grid tag is obstacle grid to form navigation map.
In one embodiment of the invention, the suspicious probability determination module 403 is specifically used in each check bit
It sets, executes：
The current location information that one A1, selection non-selected distance measuring sensor are detected in the test position；
A2, the origin grid corresponding to the test position determine described work as from the initial map
At least one suspicious grid corresponding to the information of front position；
A3, it detects whether there are non-selected distance measuring sensor, if it is, executing A1；Otherwise, A4 is executed；
A4, it records each grid on the initial map and is confirmed as suspicious grid respectively in the test position
Suspicious number, and determine the number of probes of at least two distance measuring sensor；
A5, each grid for being directed to the initial map, by the grid be confirmed as suspicious grid can
The ratio doubted between number and the number of probes is determined as the suspicious probability corresponding to the grid.
In one embodiment of the invention, the obstacle probability determination module 404 is specifically used for for the initial
Each of figure grid executes：
Detect whether each suspicious probability corresponding to the grid is not 0, if it is, executing B1；Otherwise, it executes
B2；
B1, the obstacle that the average value of each suspicious probability corresponding to the grid is determined as corresponding to the grid are general
Rate；
B2, the maximum value in each suspicious probability corresponding to the grid is determined as the obstacle corresponding to the grid
Probability.
As shown in figure 5, in one embodiment of the invention, at least two different types of distance measuring sensor 402 includes
Ultrasonic range finder 4021 and infrared range-measurement system 4022；
When described at least two different types of distance measuring sensors 402 include ultrasonic range finder 4021,
Further comprise：Definition process module 501, in each test position, executing：In the grid
On figure, a row or column grid where the origin grid corresponding to the test position is determined as reference grid, and will be true
Reference grid described in fixed a row or column is defined as the axis corresponding to a sector region to be scanned in the target area
Line；
The ultrasonic range finder 4021 is swept for sending out scanning sound wave to the sector region to be scanned described in reception
The back wave for retouching sound wave determines interval of at least one barrier relative to the test position according to the waveform of the back wave
Distance；It is origin grid corresponding to the test position, reference grid described in a row or column of determination, described to be scanned
The central angle of sector region and the spacing distance determine that at least one barrier in the region to be scanned is corresponded to described
Location information on initial map.
Based on embodiment as shown in Figure 5, in one embodiment of the invention, the ultrasonic range finder 4021 is specific to use
In execution：
Determine that corresponding reflection wave strength is more than each primary peak of preset strength threshold value from the waveform of the back wave；
For primary peak described in each, the multipath reflection removed in the primary peak interferes wave crest to obtain second
Wave crest；
For secondary peak described in each, determine that the barrier corresponding to the secondary peak is opposite by following formula
In the spacing distance of the test position：
Wherein, LiCharacterize spacing distance of the barrier relative to the test position corresponding to i-th of secondary peak, v
The spread speed speed of characterization scanning sound wave, when t characterizes the arrival corresponding to i-th of secondary peak in the waveform of the back wave
Between.
The contents such as the information exchange between each unit, implementation procedure in above-mentioned apparatus, due to implementing with the method for the present invention
Example is based on same design, and particular content can be found in the narration in the method for the present invention embodiment, and details are not described herein again.
In conclusion each embodiment of the present invention at least has the advantages that：
1, in one embodiment of the invention, by selecting at least one test position in target area, and each inspection is determined
Location is set on the initial map of drafting after the corresponding origin grid of institute, then can be in each check bit of selection
It sets, the position for detecting at least one barrier in target area respectively by least two different types of distance measuring sensors is believed
Breath, and the location information for combining origin grid and each distance measuring sensor corresponding to test position to detect respectively, determine initial
The corresponding suspicious probability of each grid of grating map, so it is corresponding each suspicious according to each grid institute
The corresponding obstacle probability of each grid of determine the probability institute, it is obstacle grid that the size of obstacle probability, which can react corresponding grid,
The possibility of lattice, will be corresponded on initial map obstacle probability be more than set each grid tag of numerical value as obstacle grid i.e.
Navigation map can be formed；Avoid single distance measuring sensor influences navigation map because the location information of detection is there are detection error
Accuracy, while the location information for avoiding the detection of single sensor influences the accurate of navigation map due to there are operating mode error
Property, so that the accuracy of navigation map is higher.
2, in one embodiment of the invention, when each suspicious probability corresponding to the grid is not 0, then explanation is each
When a test position is detected the location information of barrier in target area, detect in target area with the grid phase
There may be barriers for corresponding position, therefore, using average value (the i.e. obstacle of each suspicious probability corresponding to the grid
Probability) possibility that the grid is obstacle grid is accurately measured.
3, in one embodiment of the invention, when in each suspicious probability corresponding to a grid there are one for 0 it is suspicious
When probability, higher referential is not had for 0 suspicious probability, only by each suspicious probability corresponding to the grid most
Big value is determined as the obstacle probability corresponding to the grid, and it is suspicious that obtained obstacle probability, which more can accurately measure the grid,
More accurate navigation map subsequently then can be obtained in the possibility of grid.
It should be noted that herein, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment including a series of elements includes not only those elements,
But also include other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Finally, it should be noted that：The foregoing is merely presently preferred embodiments of the present invention, is merely to illustrate the skill of the present invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of method for drawing navigation map, which is characterized in that it is applied to self-propelled robot, including：
Initial map is drawn, at least one test position is selected in target area, and determine each test position
The corresponding origin grid of institute on the initial map；
In each test position, the target area is detected respectively by least two different types of distance measuring sensors
The location information of interior at least one barrier；Origin grid, each ranging sensing corresponding to the test position
The location information that device detects respectively determines the corresponding suspicious probability of each grid institute of the initial map；
It is directed to each described grid of the initial map, each suspicious probability corresponding to the grid is true
Obstacle probability corresponding to the fixed grid；
On the initial map, corresponding obstacle probability is more than each grid tag for setting numerical value as obstacle grid
Lattice are to form navigation map.
2. according to the method described in claim 1, it is characterized in that,
The position letter that origin grid, each distance measuring sensor corresponding to the test position detects respectively
Breath determines the corresponding suspicious probability of each grid institute of the initial map, including：
The current location information that one A1, selection non-selected distance measuring sensor are detected in the test position；
A2, the origin grid corresponding to the test position, the present bit is determined from the initial map
The corresponding at least one suspicious grid of confidence breath；
A3, it detects whether there are non-selected distance measuring sensor, if it is, executing A1；Otherwise, A4 is executed；
A4, record each grid on the initial map the test position be confirmed as suspicious grid respectively can
Number is doubted, and determines the number of probes of at least two distance measuring sensor；
The grid is confirmed as suspicious time of suspicious grid by A5, each grid for being directed to the initial map
Several ratios between the number of probes are determined as the suspicious probability corresponding to the grid.
3. according to the method described in claim 1, it is characterized in that,
Obstacle probability corresponding to grid described in each suspicious determine the probability corresponding to the grid, including：
Detect whether each suspicious probability corresponding to the grid is not 0, if it is, executing B1；Otherwise, B2 is executed；
B1, the average value of each suspicious probability corresponding to the grid is determined as the obstacle probability corresponding to the grid；
B2, the obstacle that the maximum value in each suspicious probability corresponding to the grid is determined as corresponding to the grid are general
Rate.
4. according to any method in claims 1 to 3, which is characterized in that
At least two different types of distance measuring sensor includes ultrasonic range finder and infrared range-measurement system；
When described at least two different types of distance measuring sensors include ultrasonic range finder,
At least one obstacle in the target area is detected respectively by least two different types of distance measuring sensors described
Before location information of the object relative to the test position, further comprise：
It is on the initial map, a row or column grid where the origin grid corresponding to the test position is true
It is set to reference grid, and reference grid described in determining a row or column is defined as a fan to be scanned in the target area
Central axes corresponding to shape region；
Then,
It is described to detect at least one barrier in the target area respectively by least two different types of distance measuring sensors
Relative to the location information of the test position, including：
Scanning sound wave is sent out to the sector region to be scanned by ultrasonic range finder, receives the reflection of the scanning sound wave
Wave determines spacing distance of at least one barrier relative to the test position according to the waveform of the back wave；According to institute
State origin grid corresponding to test position, determination a row or column described in reference grid, the sector region to be scanned
Central angle and the spacing distance determine that at least one barrier in the region to be scanned is corresponded in the initial
Location information on figure.
5. according to the method described in claim 4, it is characterized in that,
The waveform according to the back wave determines spacing distance of at least one barrier relative to the test position, packet
It includes：
Determine that corresponding reflection wave strength is more than each primary peak of preset strength threshold value from the waveform of the back wave；
For primary peak described in each, the multipath reflection removed in the primary peak interferes wave crest to obtain the second wave
Peak；
For secondary peak described in each, determine the barrier corresponding to the secondary peak relative to institute by following formula
State the spacing distance of test position：
Wherein, LiSpacing distance of the barrier relative to the test position corresponding to i-th of secondary peak is characterized, v characterizations are swept
The spread speed speed of sound wave is retouched, t characterizes the arrival time corresponding to i-th of secondary peak in the waveform of the back wave.
6. a kind of device for drawing navigation map, which is characterized in that it is applied to self-propelled robot, including：
Preprocessing module selects at least one test position for drawing initial map in target area, and determines each
A test position corresponding origin grid of institute on the initial map；
At least two different types of distance measuring sensors, in each test position, detecting the target area respectively
The location information of at least one barrier in domain；
Suspicious probability determination module is used in each test position, the origin grid corresponding to the test position
The location information that lattice, each distance measuring sensor detect respectively determines that each grid of the initial map divides
Not corresponding suspicious probability；
Obstacle probability determination module, each described grid for being directed to the initial map, according to the grid
Obstacle probability corresponding to grid described in corresponding each suspicious determine the probability；
Processing module is marked, in the initial map, corresponding obstacle probability to be more than to each institute of setting numerical value
State grid tag be obstacle grid to form navigation map.
7. device according to claim 6, which is characterized in that
The suspicious probability determination module is specifically used for, in each test position, executing：
The current location information that one A1, selection non-selected distance measuring sensor are detected in the test position；
A2, the origin grid corresponding to the test position, the present bit is determined from the initial map
The corresponding at least one suspicious grid of confidence breath；
A3, it detects whether there are non-selected distance measuring sensor, if it is, executing A1；Otherwise, A4 is executed；
A4, record each grid on the initial map the test position be confirmed as suspicious grid respectively can
Number is doubted, and determines the number of probes of at least two distance measuring sensor；
The grid is confirmed as suspicious time of suspicious grid by A5, each grid for being directed to the initial map
Several ratios between the number of probes are determined as the suspicious probability corresponding to the grid.
8. device according to claim 6, which is characterized in that
The obstacle probability determination module is specifically used for each described grid for the initial map, executes：
Detect whether each suspicious probability corresponding to the grid is not 0, if it is, executing B1；Otherwise, B2 is executed；
B1, the average value of each suspicious probability corresponding to the grid is determined as the obstacle probability corresponding to the grid；
B2, the obstacle that the maximum value in each suspicious probability corresponding to the grid is determined as corresponding to the grid are general
Rate.
9. according to any method in claim 6 to 8, which is characterized in that
At least two different types of distance measuring sensor includes ultrasonic range finder and infrared range-measurement system；
When described at least two different types of distance measuring sensors include ultrasonic range finder,
Further comprise：Definition process module, in each test position, executing：It, will on the grating map
The a row or column grid where origin grid corresponding to the test position is determined as reference grid, and by determining a line
Or one the row reference grid be defined as the central axes in the target area corresponding to a sector region to be scanned；
The ultrasonic range finder receives the scanning sound wave for sending out scanning sound wave to the sector region to be scanned
Back wave determines spacing distance of at least one barrier relative to the test position according to the waveform of the back wave；Root
Reference grid, the fan section to be scanned described in a row or column according to origin grid, determination corresponding to the test position
The central angle in domain and the spacing distance determine that at least one barrier in the region to be scanned is corresponded in the initial grid
Location information on lattice map.
10. device according to claim 9, which is characterized in that
The ultrasonic range finder is specifically used for executing：
Determine that corresponding reflection wave strength is more than each primary peak of preset strength threshold value from the waveform of the back wave；
For primary peak described in each, the multipath reflection removed in the primary peak interferes wave crest to obtain the second wave
Peak；
For secondary peak described in each, determine the barrier corresponding to the secondary peak relative to institute by following formula
State the spacing distance of test position：
Wherein, LiSpacing distance of the barrier relative to the test position corresponding to i-th of secondary peak is characterized, v characterizations are swept
The spread speed speed of sound wave is retouched, t characterizes the arrival time corresponding to i-th of secondary peak in the waveform of the back wave.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810133020.4A CN108663041B (en) | 2018-02-09 | 2018-02-09 | Method and device for drawing navigation map |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810133020.4A CN108663041B (en) | 2018-02-09 | 2018-02-09 | Method and device for drawing navigation map |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108663041A true CN108663041A (en) | 2018-10-16 |
| CN108663041B CN108663041B (en) | 2020-04-24 |
Family
ID=63784108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810133020.4A Active CN108663041B (en) | 2018-02-09 | 2018-02-09 | Method and device for drawing navigation map |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108663041B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109376212A (en) * | 2018-11-22 | 2019-02-22 | 上海木木聚枞机器人科技有限公司 | A kind of generation method and system of the map calculating pedestrian's probability of occurrence |
| CN111368760A (en) * | 2020-03-09 | 2020-07-03 | 北京百度网讯科技有限公司 | Obstacle detection method and device, electronic equipment and storage medium |
| CN111551169A (en) * | 2020-05-15 | 2020-08-18 | 广州支点创新科技有限责任公司 | Robot map construction and positioning method and robot |
| CN112034467A (en) * | 2020-07-20 | 2020-12-04 | 深圳市无限动力发展有限公司 | Method and device for drawing floor sweeping mechanism, computer equipment and readable storage medium |
| CN112667924A (en) * | 2020-12-18 | 2021-04-16 | 珠海格力智能装备有限公司 | Robot map acquisition method and device, processor and electronic device |
| CN114001743A (en) * | 2021-10-29 | 2022-02-01 | 京东方科技集团股份有限公司 | Map drawing method, map drawing device, map drawing system, storage medium, and electronic apparatus |
| CN115407344A (en) * | 2022-11-01 | 2022-11-29 | 小米汽车科技有限公司 | Grid map creation method, device, vehicle and readable storage medium |
| CN117129990A (en) * | 2022-11-02 | 2023-11-28 | 神顶科技（南京）有限公司 | Grid map detection method and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007304944A (en) * | 2006-05-12 | 2007-11-22 | Mitsubishi Heavy Ind Ltd | Peripheral map generation method, combined map generation method, and method of supporting travel of moving object |
| CN101413806A (en) * | 2008-11-07 | 2009-04-22 | 湖南大学 | Mobile robot grating map creating method of real-time data fusion |
| WO2011023247A1 (en) * | 2009-08-25 | 2011-03-03 | Tele Atlas B.V. | Generating raster image representing road existence probability based on probe measurements |
| US20140005933A1 (en) * | 2011-09-30 | 2014-01-02 | Evolution Robotics, Inc. | Adaptive Mapping with Spatial Summaries of Sensor Data |
| CN104897161A (en) * | 2015-06-02 | 2015-09-09 | 武汉大学 | Indoor planimetric map making method based on laser ranging |
| CN105043396A (en) * | 2015-08-14 | 2015-11-11 | 北京进化者机器人科技有限公司 | Method and system for indoor map self-establishment of mobile robot |
| CN105425803A (en) * | 2015-12-16 | 2016-03-23 | 纳恩博（北京）科技有限公司 | Autonomous obstacle avoidance method, device and system |
| CN106227212A (en) * | 2016-08-12 | 2016-12-14 | 天津大学 | The controlled indoor navigation system of precision based on grating map and dynamic calibration and method |
-
2018
- 2018-02-09 CN CN201810133020.4A patent/CN108663041B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007304944A (en) * | 2006-05-12 | 2007-11-22 | Mitsubishi Heavy Ind Ltd | Peripheral map generation method, combined map generation method, and method of supporting travel of moving object |
| CN101413806A (en) * | 2008-11-07 | 2009-04-22 | 湖南大学 | Mobile robot grating map creating method of real-time data fusion |
| WO2011023247A1 (en) * | 2009-08-25 | 2011-03-03 | Tele Atlas B.V. | Generating raster image representing road existence probability based on probe measurements |
| US20140005933A1 (en) * | 2011-09-30 | 2014-01-02 | Evolution Robotics, Inc. | Adaptive Mapping with Spatial Summaries of Sensor Data |
| CN104897161A (en) * | 2015-06-02 | 2015-09-09 | 武汉大学 | Indoor planimetric map making method based on laser ranging |
| CN105043396A (en) * | 2015-08-14 | 2015-11-11 | 北京进化者机器人科技有限公司 | Method and system for indoor map self-establishment of mobile robot |
| CN105425803A (en) * | 2015-12-16 | 2016-03-23 | 纳恩博（北京）科技有限公司 | Autonomous obstacle avoidance method, device and system |
| CN106227212A (en) * | 2016-08-12 | 2016-12-14 | 天津大学 | The controlled indoor navigation system of precision based on grating map and dynamic calibration and method |
Non-Patent Citations (1)
| Title |
|---|
| 刘昆: "基于多传感器的同时定位与地图构建", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109376212A (en) * | 2018-11-22 | 2019-02-22 | 上海木木聚枞机器人科技有限公司 | A kind of generation method and system of the map calculating pedestrian's probability of occurrence |
| CN111368760A (en) * | 2020-03-09 | 2020-07-03 | 北京百度网讯科技有限公司 | Obstacle detection method and device, electronic equipment and storage medium |
| CN111368760B (en) * | 2020-03-09 | 2023-09-01 | 阿波罗智能技术(北京)有限公司 | Obstacle detection method and device, electronic equipment and storage medium |
| CN111551169A (en) * | 2020-05-15 | 2020-08-18 | 广州支点创新科技有限责任公司 | Robot map construction and positioning method and robot |
| CN112034467A (en) * | 2020-07-20 | 2020-12-04 | 深圳市无限动力发展有限公司 | Method and device for drawing floor sweeping mechanism, computer equipment and readable storage medium |
| CN112034467B (en) * | 2020-07-20 | 2023-09-26 | 深圳市无限动力发展有限公司 | Method, apparatus, computer device and readable storage medium for sweeping machine composition |
| CN112667924A (en) * | 2020-12-18 | 2021-04-16 | 珠海格力智能装备有限公司 | Robot map acquisition method and device, processor and electronic device |
| CN112667924B (en) * | 2020-12-18 | 2023-10-27 | 珠海格力智能装备有限公司 | Robot map acquisition method and device, processor and electronic device |
| CN114001743A (en) * | 2021-10-29 | 2022-02-01 | 京东方科技集团股份有限公司 | Map drawing method, map drawing device, map drawing system, storage medium, and electronic apparatus |
| CN115407344A (en) * | 2022-11-01 | 2022-11-29 | 小米汽车科技有限公司 | Grid map creation method, device, vehicle and readable storage medium |
| CN115407344B (en) * | 2022-11-01 | 2023-01-17 | 小米汽车科技有限公司 | Grid map creation method, device, vehicle and readable storage medium |
| CN117129990A (en) * | 2022-11-02 | 2023-11-28 | 神顶科技（南京）有限公司 | Grid map detection method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108663041B (en) | 2020-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108663041A (en) | A kind of method and device for drawing navigation map | |
| US6193657B1 (en) | Image based probe position and orientation detection | |
| CN106767852B (en) | A kind of method, apparatus and equipment generating detection target information | |
| CN109059902A (en) | Relative pose determines method, apparatus, equipment and medium | |
| CN109085834B (en) | Robot determines the method that the method for reference edge and robot screening refer to wall side | |
| CN107526085B (en) | Ultrasonic array ranging modeling method and system | |
| CN110411435B (en) | Robot positioning method and device and robot | |
| US20080273210A1 (en) | Three dimensional shape correlator | |
| CN104792866A (en) | Ultrasonic detecting and positioning method and device based on TOFD (time of flight diffraction) and phased array | |
| CN108733053A (en) | A kind of Intelligent road detection method based on robot | |
| CN109490331A (en) | High-velocity duct checking system | |
| JPH07306042A (en) | Method and device for forming peripheral map in cellular structure | |
| CN109738900A (en) | It is a kind of can parking stall detection method and device | |
| US8744752B2 (en) | Apparatus and method for detecting locations of vehicle and obstacle | |
| CN111337018A (en) | Positioning method and device, intelligent robot and computer readable storage medium | |
| WO2014012351A1 (en) | Positioning system of mobile robot and positioning method thereof | |
| JP2007506076A (en) | Method and apparatus for determining the current position of a geodetic instrument | |
| CN1849524B (en) | Method for determination of the direction to an object for surveying | |
| CN103529126A (en) | Ultrasonic automatic detection system and detection method of workpiece with clearance gridding-shaped multi-slope curve surfaces | |
| CN111693053A (en) | Repositioning method and system based on mobile robot | |
| JPH06265307A (en) | Method and apparatus for decision of position of reverse reflecting element | |
| CN104122332B (en) | Dynamic tracking method and device for U rib fillet weld ultrasonic flaw detection cross section | |
| CN110261825A (en) | Bistatic Long baselines hydrolocation method and system | |
| CN107966702B (en) | construction method and device of environment map | |
| CN104156969B (en) | Plane exploration method based on panoramic image depth map |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |