WO2022135372A1 - Procédé de construction de carte, et robot - Google Patents

Procédé de construction de carte, et robot Download PDF

Info

Publication number
WO2022135372A1
WO2022135372A1 PCT/CN2021/139951 CN2021139951W WO2022135372A1 WO 2022135372 A1 WO2022135372 A1 WO 2022135372A1 CN 2021139951 W CN2021139951 W CN 2021139951W WO 2022135372 A1 WO2022135372 A1 WO 2022135372A1
Authority
WO
WIPO (PCT)
Prior art keywords
coverage
marker
point
robot
mark point
Prior art date
Application number
PCT/CN2021/139951
Other languages
English (en)
Chinese (zh)
Inventor
杨勇
吴泽晓
杨敬伟
Original Assignee
深圳市杉川机器人有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳市杉川机器人有限公司 filed Critical 深圳市杉川机器人有限公司
Publication of WO2022135372A1 publication Critical patent/WO2022135372A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

  • the present application relates to the field of robotics, and in particular, to a map construction method and a robot.
  • the existing way of building a map is that the robot builds the coverage line map by obtaining the start and end points of the coverage line. However, during the coverage phase, the robot only fills the grid map around a single coverage line. When the robot runs for a period of time and the position deviates, it will cause the final generated map to be uneven or even wrong.
  • the present application proposes a map construction method and a robot to solve the problem that when the robot is building a map, when the robot runs for a period of time and the position deviates, the final generated map will be uneven or even wrong.
  • the present application proposes a map construction method, which is applied to a robot.
  • the method includes: at the beginning of an overlay line, determining an initial overlay marker point according to a first real-time position of the robot, and moving according to a preset The strategy controls the robot to move; at the end of the coverage line, the end coverage marker is recorded according to the second real-time position of the robot, and the first search area is determined according to the end coverage marker; if the first If there is a correction coverage marker point other than the termination coverage marker point in the search area, then correct the position of the termination coverage marker point according to the position of the correction coverage marker point to obtain the corrected termination coverage marker point; The starting coverage marker point and the corrected end coverage marker point are used to construct a coverage line map of the coverage line.
  • the initial coverage mark point is determined according to the first real-time position of the robot, and the robot is controlled to move according to the preset movement strategy;
  • the second real-time location records the termination coverage marker, and determines the first search area according to the termination coverage marker; if there is a correction coverage marker other than the termination coverage marker in the first search area, then the termination is determined according to the position of the correction coverage marker.
  • the position of the coverage marker is corrected, and the corrected termination coverage marker is obtained; the coverage line map of the coverage line is constructed according to the initial coverage marker and the corrected termination coverage marker.
  • the present application proposes a robot, comprising: a first processing unit, configured to determine a start coverage mark point according to a first real-time position of the robot when the coverage line starts, and control it according to a preset movement strategy the robot moves; the second processing unit is used to record the termination coverage mark point according to the second real-time position of the robot when the coverage line ends, and determine the first search area according to the termination coverage mark point; A third processing unit, configured to correct the position of the termination coverage marker according to the position of the rectified coverage marker if there is a rectified coverage marker other than the termination coverage marker in the first search area , to obtain the corrected termination coverage marker point; the fourth processing unit is configured to construct a coverage line map of the coverage line according to the initial coverage marker point and the corrected termination coverage marker point.
  • the initial coverage mark point is determined according to the first real-time position of the robot, and the robot is controlled to move according to the preset movement strategy;
  • the real-time location records the termination coverage marker, and determines the first search area according to the termination coverage marker; if there is a correction coverage marker other than the termination coverage marker in the first search area, then the termination coverage marker is determined according to the position of the correction coverage marker.
  • the position of the point is corrected to obtain the corrected termination coverage marker point; according to the initial coverage marker point and the corrected termination coverage marker point, the coverage line map of the coverage line is constructed.
  • the present application proposes another robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned computer program when the processor executes the computer program Methods.
  • the initial coverage mark point is determined according to the first real-time position of the robot, and the robot is controlled to move according to the preset movement strategy;
  • the real-time location records the termination coverage marker, and determines the first search area according to the termination coverage marker; if there is a correction coverage marker other than the termination coverage marker in the first search area, then the termination coverage marker is determined according to the position of the correction coverage marker.
  • the position of the point is corrected to obtain the corrected termination coverage marker point; according to the initial coverage marker point and the corrected termination coverage marker point, the coverage line map of the coverage line is constructed.
  • the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned method is implemented.
  • the initial coverage mark point is determined according to the first real-time position of the robot, and the robot is controlled to move according to the preset movement strategy; when the coverage line ends, according to the The second real-time position of the robot records the termination coverage marker, and determines the first search area according to the termination coverage marker; if there is a correction coverage marker other than the termination coverage marker in the first search area, then according to the correction coverage marker Correct the position of the termination coverage marker to obtain the corrected termination coverage marker; build the coverage line map of the coverage line according to the initial coverage marker and the corrected termination coverage marker.
  • FIG. 1 is a schematic flowchart of a map construction method provided by the first embodiment of the present application.
  • FIG. 2 is a schematic flowchart of S105 to S107 in a map construction method provided by the first embodiment of the present application;
  • FIG. 3 is a schematic diagram of a robot provided by a second embodiment of the present application.
  • FIG. 4 is a schematic diagram of a robot provided by a third embodiment of the present application.
  • the term “if” may be contextually interpreted as “when” or “once” or “in response to determining” or “in response to detecting “.
  • the phrases “if it is determined” or “if the [described condition or event] is detected” may be interpreted, depending on the context, to mean “once it is determined” or “in response to the determination” or “once the [described condition or event] is detected. ]” or “in response to detection of the [described condition or event]”.
  • references in this specification to "one embodiment” or “some embodiments” and the like mean that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application.
  • appearances of the phrases “in one embodiment,” “in some embodiments,” “in other embodiments,” “in other embodiments,” etc. in various places in this specification are not necessarily All refer to the same embodiment, but mean “one or more but not all embodiments” unless specifically emphasized otherwise.
  • the terms “including”, “including”, “having” and their variants mean “including but not limited to” unless specifically emphasized otherwise.
  • FIG. 1 is a schematic flowchart of a map construction method provided by the first embodiment of the present application.
  • the execution subject of a map construction method in this embodiment is a robot.
  • the map construction method shown in Figure 1 may include:
  • S101 At the beginning of the coverage line, determine an initial coverage mark point according to the first real-time position of the robot, and control the robot to move according to a preset movement strategy.
  • the robot When the robot is building a map, the robot needs to move according to the preset movement strategy. Generally, when the robot moves, it will adopt the "bow" route. The route the robot travels when it does not move along the edge is the overlay line. When the overlay line ends, The robot can enter the edgewise movement, and after moving along the edge for a certain distance, it enters the next covering line. The robot can construct a coverage line map based on the coverage lines acquired during the movement.
  • the robot obtains the first real-time position of the robot, marks the first real-time position as the initial coverage mark point, and controls the robot to move according to the preset movement strategy.
  • S102 When the coverage line ends, record a termination coverage marker point according to the second real-time position of the robot, and determine a first search area according to the termination coverage marker point.
  • the end condition of the coverage line is set in the robot.
  • the end condition of the coverage line is satisfied, that is, the end of the coverage line
  • the second real-time position of the robot is obtained, and the end coverage mark point is recorded according to the second real-time position of the robot.
  • the robot collides it can be determined that the robot has moved to the boundary, and the coverage line can be terminated. Therefore, if it is detected that the robot collides, the second real-time position of the robot is obtained, and the second real-time position is marked as the termination coverage mark point.
  • the robot determines the end-coverage mark point, and determines the first search area according to the end-coverage mark point.
  • the first search area determination rule can be preset in the robot, and the robot determines the first search area according to the termination coverage mark point and the first search area determination rule.
  • the robot can take the end-coverage mark point as the center and the preset value as the radius to obtain a circular area, and use the circular area as the first search area.
  • the preset value can be set according to the actual situation, for example, the preset value is set to 10cm.
  • the robot After the robot obtains the first search area, the robot obtains the correction coverage mark point in the first search area, and the correction coverage mark point is used to correct the position of the end coverage mark point. Therefore, it can be understood that the correction coverage mark point and the end coverage mark point are Marker points cannot be the same point.
  • the correction cover mark point Since the purpose of correction is to make the edges of the two cover lines flush, the correction cover mark point must be determined according to the previous cover line.
  • the correction coverage mark point may be the end point of the previous coverage line in the first search area, and the correction coverage mark point may also be a new point determined by the robot according to the end point of the previous coverage line. In this way, if the position of the robot deviates or the robot slips when it moves, it can also ensure that the edges of the two covering lines are flush.
  • the robot corrects the position of the end-coverage mark point according to the position of the correction-coverage mark point, and obtains the corrected end-coverage mark point.
  • the robot can align the position of the termination coverage marker with the position of the correction coverage marker to obtain the corrected termination coverage marker; a calculation rule can also be set in the robot, and the robot can correct the coverage marker according to the position and calculation of the coverage marker.
  • the rule calculates the position of the corrected termination coverage marker, which is not limited here.
  • the first target distance may be the Euclidean distance.
  • the robot obtains the first Euclidean distance between each candidate coverage marker and the termination coverage marker, sorts all the first Euclidean distances, and obtains the candidate coverage marker corresponding to the smallest first Euclidean distance.
  • the point is determined as the correction overlay mark point. Then, the robot corrects the position of the end-coverage mark point according to the position of the correction-coverage mark point, and obtains the corrected end-coverage mark point.
  • S104 Construct a coverage line map of the coverage line according to the start coverage marker point and the corrected end coverage marker point.
  • the edge position of the preset body distance from the robot's current position in the robot's motion direction can be obtained. Taking the edge position as the center, the grid map filled with the preset number is black. , which is filled with the wall color.
  • this embodiment can also include S105-S107, as shown in Figure 2, S105-S107 are as follows:
  • S105 When the robot moves along the edge, determine the target edge mark point according to the real-time position of the robot and the edge mark point marking rule, and determine the second search area according to the target edge mark point.
  • the robot detects that it is currently moving along the edge and starts to determine the target edge mark point. Among them, the robot can judge whether the current edge movement is carried out through the sensor.
  • the robot has pre-stored edge marking rules.
  • the robot can determine the current position as the target edge marking point at every preset interval.
  • the robot moves along the edge, and determines the target edge mark point according to the real-time position of the robot and the edge mark point marking rule. Specifically, during the edge-edge process, the robot can obtain the current position every 25cm, and determine the current position as the target edge-edge mark point.
  • the second search area is determined according to the target edge mark point.
  • the target edge mark point For specific details of determining the second search area according to the target edge marker point, please refer to the relevant description of determining the first search area according to the end coverage marker point in S102, which will not be repeated here.
  • S106 If there are corrected edgewise marking points other than the target edgewise marking point in the second search area, correct the position of the target edgewise marking point according to the position of the corrected edgewise marking point to obtain the corrected edgewise marking point.
  • the target marks points along the edge.
  • the robot After the robot obtains the second search area, the robot obtains the correction edge mark point in the second search area, and the correction edge mark point is used to correct the position of the target edge mark point. Therefore, it can be understood that the correction edge mark point and the target edge mark point Marker points cannot be the same point.
  • the corrected edgewise marker point Since the purpose of the correction is to make the edge of the edgewise map flush, the corrected edgewise marker point must be determined according to the last target edgewise marker point.
  • the corrected edgewise marking point may be the last target edgewise marking point, and the corrected edgewise marking point may also be a new point determined by the robot according to the last target edgewise marking point. In this way, the position of the robot deviates or the robot slips when it moves, and it can also ensure that the edges of the map along the edge are flush.
  • the robot corrects the position of the target edge mark point according to the position of the corrected edge mark point, and obtains the corrected target edge mark point.
  • the robot can align the position of the target edge mark point with the position of the corrected edge mark point to obtain the corrected termination coverage mark point;
  • a calculation rule can also be set in the robot, and the robot can correct the cover mark point according to the position and calculation The rule calculates the position of the corrected termination coverage marker, which is not limited here.
  • the robot obtains the second Euclidean distance between each candidate edge marking point and the target edge marking point, sorts all the second Euclidean distances, and obtains the smallest second Euclidean distance
  • the candidate edge marking points corresponding to the distance are determined as the corrected edge marking points. Then, the robot corrects the position of the target edge mark point according to the position of the corrected edge mark point, and obtains the corrected target edge mark point.
  • the robot constructs an edge map based on the corrected target edge markers, and fills the grid map. Specifically, the robot can directly fill the raster map with the position of the corrected target edge marking point as the center 5*5 during the edge-edge process as white, and the left or right 20cm of the position of the corrected target edge-edge marking point is the The raster map with a center fill of 5*5 size is black.
  • an initial global map is constructed according to all the coverage line maps and all edge maps.
  • an optimization strategy can be preset in the robot to optimize the initial global map.
  • the optimization strategy includes one or more of: wall optimization strategy, outer contour optimization strategy, and obstacle optimization strategy kind.
  • the robot optimizes the initial global map according to the optimization strategy to obtain the target global map. For example, the robot can binarize the initial global map and reduce the size of the wall, or shrink the outer contour of the initial global map to make the overall layout more distinct, or expand the convex part of the outer contour. Straighten processing, or you can fill in obstacles in the map, etc.
  • the initial coverage mark point is determined according to the first real-time position of the robot, and the robot is controlled to move according to the preset movement strategy; when the coverage line ends, according to the second real-time position of the robot Record the termination coverage marker point, and determine the first search area according to the termination coverage marker point; if there is a correction coverage marker point other than the termination coverage marker point in the first search area, then according to the position of the correction coverage marker point, the termination coverage marker point is determined. Correct the position to obtain the corrected end coverage marker; build the coverage map of the coverage line according to the initial coverage marker and the corrected end coverage marker.
  • FIG. 3 is a schematic diagram of a robot provided by a second embodiment of the present application.
  • the included units are used to execute the steps in the embodiments corresponding to FIGS. 1 to 2 .
  • the robot 3 includes:
  • a first processing unit 310 configured to determine an initial coverage mark point according to the first real-time position of the robot when the coverage line starts, and control the robot to move according to a preset movement strategy
  • the second processing unit 320 is configured to, when the coverage line ends, record a termination coverage marker point according to the second real-time position of the robot, and determine a first search area according to the termination coverage marker point;
  • the third processing unit 330 is configured to, if there is a correction coverage marker point other than the termination coverage marker point in the first search area, perform a correction on the position of the termination coverage marker point according to the position of the correction coverage marker point Correction, get the corrected termination coverage mark point;
  • the fourth processing unit 340 is configured to construct a coverage line map of the coverage line according to the start coverage marker point and the corrected end coverage marker point.
  • the second processing unit 320 is specifically used for:
  • a second real-time position of the robot is acquired, and the second real-time position is marked as a termination coverage mark point.
  • the third processing unit 330 is specifically used for:
  • the robot 3 also includes:
  • a fifth processing unit configured to determine a target edge mark point according to the real-time position of the robot and the edge mark point marking rule when the robot moves along the edge, and determine a second search area according to the target edge mark point;
  • a sixth processing unit configured to correct the position of the target edgewise marking point according to the position of the corrected edgewise marking point if there is a corrected edgewise marking point other than the target edgewise marking point in the second search area , get the corrected target edge mark points;
  • the seventh processing unit is configured to construct an edge map according to the corrected target edge marking points.
  • the sixth processing unit is specifically used for:
  • the robot 3 also includes:
  • an eighth processing unit configured to construct an initial global map according to all the coverage line maps and all the edgewise maps
  • a ninth processing unit configured to optimize the initial global map according to an optimization strategy to obtain a target global map.
  • the optimization strategy includes: one or more of a wall optimization strategy, an outer contour optimization strategy, and an obstacle optimization strategy.
  • FIG. 4 is a schematic diagram of a robot provided by a third embodiment of the present application.
  • the robot 4 of this embodiment includes a processor 40, a memory 41, and a computer program 42, such as a map construction program, stored in the memory 41 and executable on the processor 40.
  • the processor 40 executes the computer program 42
  • the steps in each of the above-mentioned embodiments of the map construction method are implemented, for example, steps 101 to 104 shown in FIG. 1 .
  • the processor 40 executes the computer program 42
  • the functions of the modules/units in the above-mentioned apparatus embodiments for example, the functions of the modules 310 to 340 shown in FIG. 3 are implemented.
  • the computer program 42 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 41 and executed by the processor 40 to complete the this application.
  • the one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 42 in the robot 4 .
  • the computer program 42 can be divided into a first processing unit, a second processing unit, a third processing unit, and a fourth processing unit, and the specific functions of each unit are as follows:
  • a first processing unit configured to determine an initial coverage mark point according to the first real-time position of the robot when the coverage line starts, and control the robot to move according to a preset movement strategy
  • a second processing unit configured to record a termination coverage marker point according to the second real-time position of the robot when the coverage line ends, and determine a first search area according to the termination coverage marker point;
  • a third processing unit configured to correct the position of the termination coverage marker according to the position of the rectified coverage marker if there is a rectified coverage marker other than the termination coverage marker in the first search area , get the corrected termination coverage mark point;
  • the fourth processing unit is configured to construct a coverage line map of the coverage line according to the start coverage marker point and the corrected end coverage marker point.
  • the robot may include, but is not limited to, a processor 40 and a memory 41 .
  • FIG. 4 is only an example of the robot 4, and does not constitute a limitation to the robot 4. It may include more or less components than the one shown in the figure, or combine some components, or different components, such as
  • the robot may also include input and output devices, network access devices, buses, and the like.
  • the so-called processor 40 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 41 may be an internal storage unit of the robot 4 , such as a hard disk or a memory of the robot 4 .
  • the memory 41 can also be an external storage device of the robot 4, such as a plug-in hard disk equipped on the robot 4, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash card (Flash Card) and so on.
  • the robot 4 may also include both an internal storage unit of the robot 4 and an external storage device.
  • the memory 41 is used to store the computer program and other programs and data required by the robot.
  • the memory 41 can also be used to temporarily store data that has been output or will be output.
  • An embodiment of the present application also provides a network device, the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor executing The computer program implements the steps in any of the foregoing method embodiments.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.
  • the embodiments of the present application provide a computer program product, when the computer program product runs on a mobile terminal, the steps in the foregoing method embodiments can be implemented when the mobile terminal executes the computer program product.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the present application realizes all or part of the processes in the methods of the above embodiments, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium.
  • the computer program includes computer program code
  • the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like.
  • the computer-readable medium may include at least: any entity or device capable of carrying the computer program code to the photographing device/terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electrical carrier signals, telecommunication signals, and software distribution media.
  • ROM read-only memory
  • RAM random access memory
  • electrical carrier signals telecommunication signals
  • software distribution media For example, U disk, mobile hard disk, disk or CD, etc.
  • computer readable media may not be electrical carrier signals and telecommunications signals.
  • the disclosed apparatus/network device and method may be implemented in other manners.
  • the apparatus/network device embodiments described above are only illustrative.
  • the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de construction de carte, et un robot. Le procédé de construction de carte consiste : au début d'une ligne de couverture, à déterminer un point de marque de début de couverture en fonction d'une première position en temps réel du robot, et à commander le déplacement du robot en fonction d'un principe de déplacement prédéfini (S101) ; à la fin de la ligne de couverture, à enregistrer un point de marque de terminaison de couverture en fonction d'une deuxième position en temps réel du robot, et à déterminer une première zone de recherche en fonction du point de marque de terminaison de couverture (S102) ; s'il y a un point de marque de correction de couverture, en plus du point de marque de terminaison de couverture, dans la première zone de recherche, à corriger la position du point de marque de terminaison de couverture en fonction de la position du point de marque de correction de couverture, afin d'obtenir un point de marque de terminaison de couverture corrigé (S103) ; et à construire une carte de ligne de couverture de la ligne de couverture en fonction du point de marque de début de couverture et du point de marque de terminaison de couverture corrigé (S104).
PCT/CN2021/139951 2020-12-23 2021-12-21 Procédé de construction de carte, et robot WO2022135372A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011547372.8 2020-12-23
CN202011547372.8A CN112650250A (zh) 2020-12-23 2020-12-23 一种地图构建方法及机器人

Publications (1)

Publication Number Publication Date
WO2022135372A1 true WO2022135372A1 (fr) 2022-06-30

Family

ID=75359909

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/139951 WO2022135372A1 (fr) 2020-12-23 2021-12-21 Procédé de construction de carte, et robot

Country Status (2)

Country Link
CN (1) CN112650250A (fr)
WO (1) WO2022135372A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112650250A (zh) * 2020-12-23 2021-04-13 深圳市杉川机器人有限公司 一种地图构建方法及机器人

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6195415A (ja) * 1984-10-17 1986-05-14 Hitachi Ltd 自動走行車
TW201519842A (zh) * 2013-11-18 2015-06-01 Weistech Technology Co Ltd 具有路線校正功能之移動裝置及其作業步驟
CN105988471A (zh) * 2015-02-15 2016-10-05 苏州宝时得电动工具有限公司 割草机的智能割草系统及割草控制方法
CN108008728A (zh) * 2017-12-12 2018-05-08 深圳市银星智能科技股份有限公司 清洁机器人以及基于清洁机器人的最短路径规划方法
JP2018185659A (ja) * 2017-04-26 2018-11-22 シャープ株式会社 自動走行装置
CN110362079A (zh) * 2019-07-11 2019-10-22 珠海市一微半导体有限公司 机器人的遍历控制方法和芯片以及清洁机器人
CN111185899A (zh) * 2018-11-14 2020-05-22 苏州科瓴精密机械科技有限公司 机器人控制方法及机器人系统
CN111631639A (zh) * 2020-05-26 2020-09-08 珠海市一微半导体有限公司 全局栅格地图的地图遍历块建立方法、芯片及移动机器人
CN112650250A (zh) * 2020-12-23 2021-04-13 深圳市杉川机器人有限公司 一种地图构建方法及机器人

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105509748B (zh) * 2015-12-29 2019-03-01 深圳先进技术研究院 机器人的导航方法及装置
CN105717928B (zh) * 2016-04-26 2018-03-30 北京进化者机器人科技有限公司 一种基于视觉的机器人导航过门方法
CN107831773A (zh) * 2017-11-30 2018-03-23 深圳市沃特沃德股份有限公司 扫地机器人全覆盖清扫的方法及扫地机器人
CN108469826B (zh) * 2018-04-23 2021-06-08 宁波Gqy视讯股份有限公司 一种基于机器人的地图生成方法及系统
CN111179339B (zh) * 2019-12-13 2024-03-08 深圳市瑞立视多媒体科技有限公司 基于三角测量的坐标定位方法、装置、设备及存储介质

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6195415A (ja) * 1984-10-17 1986-05-14 Hitachi Ltd 自動走行車
TW201519842A (zh) * 2013-11-18 2015-06-01 Weistech Technology Co Ltd 具有路線校正功能之移動裝置及其作業步驟
CN105988471A (zh) * 2015-02-15 2016-10-05 苏州宝时得电动工具有限公司 割草机的智能割草系统及割草控制方法
JP2018185659A (ja) * 2017-04-26 2018-11-22 シャープ株式会社 自動走行装置
CN108008728A (zh) * 2017-12-12 2018-05-08 深圳市银星智能科技股份有限公司 清洁机器人以及基于清洁机器人的最短路径规划方法
CN111185899A (zh) * 2018-11-14 2020-05-22 苏州科瓴精密机械科技有限公司 机器人控制方法及机器人系统
CN110362079A (zh) * 2019-07-11 2019-10-22 珠海市一微半导体有限公司 机器人的遍历控制方法和芯片以及清洁机器人
CN111631639A (zh) * 2020-05-26 2020-09-08 珠海市一微半导体有限公司 全局栅格地图的地图遍历块建立方法、芯片及移动机器人
CN112650250A (zh) * 2020-12-23 2021-04-13 深圳市杉川机器人有限公司 一种地图构建方法及机器人

Also Published As

Publication number Publication date
CN112650250A (zh) 2021-04-13

Similar Documents

Publication Publication Date Title
WO2022121018A1 (fr) Robot, procédé de cartographie et appareil associé
JP6505939B1 (ja) 充電台の識別方法、装置、ロボット及びコンピュータ読取可能な記憶媒体
CN111813101B (zh) 机器人路径规划方法、装置、终端设备及存储介质
CN106924961A (zh) 一种智能象棋对弈控制方法及系统
WO2022135372A1 (fr) Procédé de construction de carte, et robot
WO2020220388A1 (fr) Procédé et appareil de reconnaissance de code qr, procédé et appareil de génération de code qr, code qr et chariot
JP7122059B2 (ja) シミュレーションデータ量拡張方法、装置、端末、記憶媒体、及びプログラム
JP2020148776A (ja) 車両軌跡計画方法、装置、コンピュータ設備、コンピュータ可読記憶媒体、及びプログラム
US20190331767A1 (en) Charging station identifying method, device, and robot
WO2024000616A1 (fr) Procédé et dispositif de détermination de limite de trajectoire de déplacement, véhicule, support d'enregistrement et terminal
WO2022099889A1 (fr) Procédé de relocalisation, robot et support de stockage lisible par ordinateur
CN112183476A (zh) 一种障碍检测方法、装置、电子设备以及存储介质
CN110796598A (zh) 自主移动机器人及其地图拼接方法、装置和可读存储介质
US11034028B2 (en) Pose determining method for mobile robot and apparatus and mobile robot thereof
CN115546313A (zh) 车载相机自校准方法、装置、电子设备及存储介质
CN111060110A (zh) 机器人导航方法、机器人导航装置及机器人
CN116360417A (zh) 一种机器人的路径规划方法、装置及设备
CN111708357B (zh) 清扫结束条件识别方法、装置及扫地机器人
CN112484729A (zh) 导航地图切换方法、装置、终端设备及存储介质
US20240193961A1 (en) Parking space detection method, electronic device and computer-readable storage medium
CN109073387A (zh) 一种多地图对齐的方法、装置、终端及存储介质
CN116698038A (zh) 一种机器人的定位丢失判断方法、装置及机器人
TWI819928B (zh) 車輛偏移檢測方法及相關設備
TWI837979B (zh) 異常車道線識別方法、電子設備及儲存介質
CN111552286B (zh) 一种机器人及其移动控制方法和装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21909368

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21909368

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205 DATED 28.11.2023)