CN107305125A - A kind of map constructing method and terminal - Google Patents
A kind of map constructing method and terminal Download PDFInfo
- Publication number
- CN107305125A CN107305125A CN201610252498.XA CN201610252498A CN107305125A CN 107305125 A CN107305125 A CN 107305125A CN 201610252498 A CN201610252498 A CN 201610252498A CN 107305125 A CN107305125 A CN 107305125A
- Authority
- CN
- China
- Prior art keywords
- map datum
- distance
- map
- terminal
- barrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses a kind of map constructing method and terminal.Methods described includes：Obtain the first map datum；First map datum is the initial map datum for treating operating area；Moved based on first map datum, the complaint message between barrier is obtained in moving process；Complaint message based on acquisition is modified to first map datum, and the second map datum is obtained based on correction result.
Description
Technical field
The present invention relates to automatic technology, and in particular to a kind of map constructing method and terminal.
Background technology
Mobile robot independently completes various tasks under complex environment, and the information for obtaining environmental area is most important, and
Map is a kind of expression way of the most frequently used area information.Environmental map is obtained, mobile robot could carry out path rule
Draw, arrive at a little, and then complete each task.
The conventional map structuring mode of mobile robot mainly has following two：
First, by the way of positioning simultaneously and map structuring (SLAM).Mobile robot body by carry sensors,
Using typical detection technology using image, laser and ultrasonic technique, with the motion process of robot body, collection week
Complaint message is enclosed, progressively map making.
Second, the method for the mobile robot map-building based on wireless sensor network node.Mainly by by nothing
Line sensor network nodes intersperse among robot ambulation region, and by network transmission, robot obtains each wireless sensor node
Data carry out disturbance in judgement thing, finally realize map structuring.
Existing map structuring mode is completely dependent on typical detection technology, constructing environment map of starting from scratch.This exist with
Under several shortcomings：One, in practical application, by the way of self-service structure map is completely dependent on, it may occur however that due to moving machine
What the problems such as device people's vision blind spot caused, which can not travel through, all answers the situation of travel region, and then causes what map structuring lacked to ask
Topic；Two, in the case of totally unknown to surrounding environment, mobile robot need to constantly sense the distance of obstacle in each orientation, first
It is often less efficient in secondary building process, especially for environmental area is very complicated or area very broad situation.
The content of the invention
To solve existing technical problem, the embodiment of the present invention provides a kind of map constructing method and terminal, can
The problem of map structuring is lacked is solved, map structuring efficiency is lifted.
To reach above-mentioned purpose, what the technical scheme of the embodiment of the present invention was realized in：
The embodiments of the invention provide a kind of map constructing method, methods described includes：
Obtain the first map datum；First map datum is the initial map datum for treating operating area；
Moved based on first map datum, the complaint message between barrier is obtained in moving process；
Complaint message based on acquisition is modified to first map datum, and the second map is obtained based on correction result
Data.
In such scheme, after the first map datum of the input, methods described also includes：
Parse first map datum, obtain described in treat the boundary information of clear area in operating area；
Analyze the boundary information and obtain initial path.
It is described to be moved based on first map datum in such scheme, including：Moved based on the initial path
It is dynamic.
In such scheme, the complaint message obtained in moving process between barrier, including：
The first distance between barrier is obtained in moving process.
In such scheme, the complaint message based on acquisition is modified to the initial map datum, including：
Obtain and the second distance between corresponding border；
Judge whether first distance and the difference of the second distance exceed predetermined threshold value；
When first distance and the difference of the second distance exceed predetermined threshold value, updated based on the described first distance
Corresponding boundary information.
The embodiment of the present invention additionally provides a kind of terminal, and the terminal includes：Data processing unit, control unit and data
Sensing unit；Wherein,
The data processing unit, for obtaining the first map datum；First map datum is to treat operating area
Initial map datum；
Described control unit, for being moved based on the original two-dimensional map datum；
The data sensor unit, for during described control unit control is mobile, obtaining between barrier
Complaint message；
The data processing unit, is additionally operable to the complaint message based on data sensor unit acquisition to first ground
Diagram data is modified, and the second map datum is obtained based on correction result.
In such scheme, the data processing unit is additionally operable to parsing first map datum, obtain described in treat operation
The boundary information of clear area in region；Analyze the boundary information and obtain initial path.
In such scheme, described control unit, for based on initial path movement.
In such scheme, the data sensor unit, in moving process obtain and barrier between first away from
From.
In such scheme, the data processing unit, for obtaining and the second distance between corresponding border；Judge institute
State the first distance and whether the difference of the second distance exceedes predetermined threshold value；When first distance and the second distance
When difference exceedes predetermined threshold value, corresponding boundary information is updated based on the described first distance.
Map constructing method provided in an embodiment of the present invention and terminal, by obtaining the first map datum；First ground
Diagram data is the initial map datum for treating operating area；Moved, obtained in moving process based on first map datum
Obtain the complaint message between barrier；Complaint message based on acquisition is modified to first map datum, based on repairing
Positive result obtains the second map datum.In this way, using the technical scheme of the embodiment of the present invention, by first inputting the first map number
According to being moved based on the first map datum and gather complaint message, the first map datum is modified, so as to obtain accurate
The second map datum, on the one hand solve the problem of map structuring during map structuring is lacked；On the other hand also carry significantly
The accuracy of the high map built, improves the efficiency of map structuring.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the map constructing method of the embodiment of the present invention one；
Fig. 2 be the embodiment of the present invention in the first map datum schematic diagram；
Fig. 3 is the schematic flow sheet of the map constructing method of the embodiment of the present invention two；
Fig. 4 be the embodiment of the present invention in Process maps data schematic diagram；
Fig. 5 is the composition structural representation of the terminal of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further detailed explanation.
Embodiment one
The embodiments of the invention provide a kind of map constructing method.Fig. 1 is the map constructing method of the embodiment of the present invention one
Schematic flow sheet；As shown in figure 1, methods described includes：
Step 101：Obtain the first map datum；First map datum is the initial map datum for treating operating area.
In the present embodiment, the map constructing method is applied in terminal.The terminal is supported to build map, and is based on structure
The map built completes various tasks；The terminal is specifically as follows mobile robot etc..
In the present embodiment, first map datum is the two dimensional surface map datum of input.It is described as a kind of mode
First map datum can be obtained by CAD (CAD).Fig. 2 is the first map datum in the embodiment of the present invention
Schematic diagram；As shown in Fig. 2 exemplified by treating operating area between calculator room equipment, first map datum includes barrier
Domain (such as equipment enclosure, battery rack, power cabinet, air-conditioning etc.)；Region in addition to the barrier zone is then clear space
Domain.Also include in first map datum it is described treat operating area size (such as 710 centimetres of the length shown in figure, it is wide by 455
Centimetre), the size of the size of each barrier zone and clear area etc..
Step 102：Moved based on first map datum, the barrier between barrier is obtained in moving process
Hinder information.
In the present embodiment, the terminal parses first map datum, recognize in first map datum without barrier
Hinder region；The terminal can plan path to be moved based on the clear area identified, be moved according to the path of planning
It is dynamic.As a kind of embodiment, it is all accessible that the path that the terminal is planned enables the terminal to move traversal
Region.
In the present embodiment, the terminal obtains the complaint message between barrier in moving process；The obstacle letter
Breath is specifically as follows the distance between the barrier and described terminal.Specifically, can configure sensor (for example in the terminal
Range sensor), the distance between the terminal and barrier are gathered by the sensor configured.
Step 103：Complaint message based on acquisition is modified to first map datum, is obtained based on correction result
Second map datum.Second map datum is the map datum obtained after being modified for first map datum.
In the present embodiment, the complaint message based on acquisition is modified to the initial map datum, including：Obtain
The first distance between barrier；The between corresponding with barrier border is obtained based on first map datum
Two distances；Judge whether first distance and the difference of the second distance exceed predetermined threshold value；When first distance with
When the difference of the second distance exceedes predetermined threshold value, update corresponding in first map datum according to the described first distance
Second distance, to be modified to first map datum.Wherein, the predetermined threshold value can be according to different initial map numbers
According to or the initial map datum of differing complexity be pre-configured with.
In the present embodiment, the terminal is when carrying out path planning, complexity that can be according to first map datum
The location point of complaint message to be collected is divided in the path for which, to control the terminal in location point collection obstacle letter
Breath.On the other hand, the path planned can make terminal travel through all clear areas, accordingly, the location point of division
Enable the terminal during all clear areas are traveled through, the complaint message corresponding to all boundary informations is equal
It can get, with the omission for the complaint message for preventing collection, so as to cause the inaccurate of the second map datum of acquisition.
Using the technical scheme of the embodiment of the present invention, by first inputting the first map datum, entered based on the first map datum
Row is mobile and gathers complaint message, and the first map datum is modified, so as to obtain accurate second map datum, on the one hand
Solve the problem of map structuring during map structuring is lacked；Another aspect also substantially increases the accurate of the map of structure
Property, improve the efficiency of map structuring.
Embodiment two
The embodiments of the invention provide a kind of map constructing method.Fig. 3 is the map constructing method of the embodiment of the present invention two
Schematic flow sheet；As shown in figure 3, methods described includes：
Step 201：Obtain the first map datum；First map datum is the initial map datum for treating operating area.
In the present embodiment, the map constructing method is applied in terminal.The terminal is supported to build map, and is based on structure
The map built completes various tasks；The terminal is specifically as follows mobile robot etc..
In the present embodiment, first map datum is the two dimensional surface map datum of input.It is described as a kind of mode
First map datum can be obtained by CAD (CAD).As shown in Fig. 2 to treat operating area as calculator room equipment
Between exemplified by, first map datum includes barrier zone (such as equipment enclosure, battery rack, power cabinet, air-conditioning etc.)；Remove
Region beyond the barrier zone is then clear area.Operating area is treated described in also including in first map datum
The chi of size (such as 710 centimetres of the length shown in figure, wide 455 centimetres), the size of each barrier zone and clear area
It is very little etc..
Step 202：Parse first map datum, obtain the border for treating the clear area in operating area and believe
Breath.
In the present embodiment, the terminal parses first map datum, recognize in first map datum without barrier
Hinder the boundary information of region and the clear area.In this step, the boundary information of the clear area based on acquisition can
A Process maps data are built, the map datum can refer to shown in Fig. 3.
Step 203：Analyze the boundary information and obtain initial path, based on initial path movement, in moving process
The first distance between middle acquisition and barrier.
In the present embodiment, the terminal can the boundary information based on the clear area identified plan to be moved initial
Path, is moved according to the initial path of planning.As a kind of embodiment, the initial path that the terminal is planned causes
The terminal, which can be moved, travels through all clear areas.
In the present embodiment, the terminal obtains the first distance between barrier in moving process.Specifically, described
Sensor (such as range sensor) is can configure in terminal, is gathered by the sensor configured between the terminal and barrier
Distance.
Step 204：Obtain and the second distance between corresponding border.
Here, corresponding border is the side of the barrier corresponding barrier zone in first map datum
Boundary.Then described obtain is with the second distance between corresponding border：Obtained and corresponding side by first map datum
Second distance between boundary.Specifically, marking the corresponding barrier zone of the barrier in first map datum first
Position and the position of the terminal；Obtain the second distance between the border of the barrier zone and the terminal.
Step 205：Judge whether first distance and the difference of the second distance exceed predetermined threshold value；When judgement
As a result it is when being, to perform step 206；When the result judged as it is no when, perform step 207：Do not enter for corresponding boundary information
Row amendment.
Step 206：Corresponding boundary information is updated based on the described first distance.
Step 207：Second map datum is obtained based on correction result.Second map datum is for first ground
The map datum that diagram data is obtained after being modified.
In the present embodiment, the predetermined threshold value can be according to the initial of different initial map datum or differing complexity
Map datum is pre-configured with.In the present embodiment, when the difference of first distance and the second distance exceedes predetermined threshold value,
Show that the data in first map datum have deviation, it is necessary to be modified to the first map datum；First distance with
When the difference of the second distance is not less than predetermined threshold value, show the data zero deflection in first map datum, without right
First map datum is modified.
In the present embodiment, the terminal is when carrying out path planning, complexity that can be according to first map datum
The location point of complaint message to be collected is divided in the path for which, to control the terminal in location point collection obstacle letter
Breath.On the other hand, the path planned can make terminal travel through all clear areas, accordingly, the location point of division
Enable the terminal during all clear areas are traveled through, the complaint message corresponding to all boundary informations is equal
It can get, with the omission for the complaint message for preventing collection, so as to cause the inaccurate of the second map datum of acquisition.
Using the technical scheme of the embodiment of the present invention, by first inputting the first map datum, entered based on the first map datum
Row is mobile and gathers complaint message, and the first map datum is modified, so as to obtain accurate second map datum, on the one hand
Solve the problem of map structuring during map structuring is lacked；Another aspect also substantially increases the accurate of the map of structure
Property, improve the efficiency of map structuring.
Embodiment three
The embodiment of the present invention additionally provides a kind of terminal.Fig. 5 is the composition structural representation of the terminal of the embodiment of the present invention；
As shown in figure 5, the terminal includes：Data processing unit 31, control unit 32 and data sensing unit 33；Wherein,
The data processing unit 31, for obtaining the first map datum；First map datum is to treat operating area
Initial map datum；
Described control unit 32, for being moved based on the original two-dimensional map datum；
The data sensor unit 33, for during the control of described control unit 32 is mobile, obtaining and barrier
Between complaint message；
The data processing unit 31, is additionally operable to the complaint message obtained based on the data sensor unit 33 to described the
One map datum is modified, and the second map datum is obtained based on correction result.Second map datum is for described the
The map datum that one map datum is obtained after being modified.
In the present embodiment, first map datum is the two dimensional surface map datum of input.It is described as a kind of mode
First map datum can be obtained by CAD (CAD).As shown in Fig. 2 to treat operating area as calculator room equipment
Between exemplified by, first map datum includes barrier zone (such as equipment enclosure, battery rack, power cabinet, air-conditioning etc.)；Remove
Region beyond the barrier zone is then clear area.Operating area is treated described in also including in first map datum
The chi of size (such as 710 centimetres of the length shown in figure, wide 455 centimetres), the size of each barrier zone and clear area
It is very little etc..
In the present embodiment, the data processing unit 31 parses first map datum, recognizes the first map number
Clear area in；The data processing unit 31 can plan path to be moved based on the clear area identified,
Moved according to the path of planning.As a kind of embodiment, the path that the data processing unit 31 is planned is so that institute
All clear areas of traversal can be moved by stating terminal.
In the present embodiment, terminal control unit 32 described in moving process obtains the obstacle letter between barrier
Breath；The complaint message is specifically as follows the distance between the barrier and described terminal.Specifically, described control unit 32
It can be realized by sensor (such as range sensor), pass through the distance between the sensor collection configured and barrier.
In the present embodiment, the data sensor unit 33, for obtaining first between barrier in moving process
Distance.The data processing unit 31, for obtaining and the second distance between corresponding border；Judge first distance with
Whether the difference of the second distance exceedes predetermined threshold value；Preset when first distance and the difference of the second distance exceed
During threshold value, corresponding boundary information is updated based on the described first distance.Wherein, the predetermined threshold value can according to it is different initially
The initial map datum of diagram data or differing complexity is pre-configured with.
In the present embodiment, the data processing unit 31, can be according to first map datum when carrying out path planning
Complexity divide the location point of complaint message to be collected in the path for which, to control the data sensor unit 33 in institute
State location point collection complaint message.On the other hand, the path planned can make terminal travel through all clear areas, accordingly
, the location point of division also enables the terminal during all clear areas are traveled through, all boundary informations
Corresponding complaint message can be got, with the omission for the complaint message for preventing collection, so as to cause the second ground obtained
Diagram data it is inaccurate.
It will be appreciated by those skilled in the art that in the terminal of the embodiment of the present invention each processing unit function, before can refer to
State the associated description of map constructing method and understand, each processing unit in the terminal of the embodiment of the present invention, can be by realizing this hair
The analog circuit of function described in bright embodiment and realize, can also be by performing the software of the function described in the embodiment of the present invention
Operation on intelligent terminal and realize.
Example IV
The embodiment of the present invention additionally provides a kind of terminal, as shown in figure 5, the terminal includes：Data processing unit 31, control
Unit 32 and data sensing unit 33 processed；Wherein,
The data processing unit 31, for obtaining the first map datum；First map datum is to treat operating area
Initial map datum；Be additionally operable to parsing first map datum, obtain described in treat clear area in operating area
Boundary information；Analyze the boundary information and obtain initial path；
Described control unit 32, for based on initial path movement；
The data sensor unit 33, for during the control of described control unit 32 is mobile, obtaining and barrier
Between the first distance；
The data processing unit 31, is additionally operable to obtain and the second distance between corresponding border；Judge described first
Whether distance and the difference of the second distance exceed predetermined threshold value；When first distance and the difference of the second distance surpass
When crossing predetermined threshold value, update corresponding boundary information to be modified corresponding boundary information based on the described first distance；Base
The second map datum is obtained in correction result.Second map datum is to be obtained after being modified for first map datum
The map datum obtained.
In the present embodiment, first map datum is the two dimensional surface map datum of input.It is described as a kind of mode
First map datum can be obtained by CAD (CAD).As shown in Fig. 2 to treat operating area as calculator room equipment
Between exemplified by, first map datum includes barrier zone (such as equipment enclosure, battery rack, power cabinet, air-conditioning etc.)；Remove
Region beyond the barrier zone is then clear area.Operating area is treated described in also including in first map datum
The chi of size (such as 710 centimetres of the length shown in figure, wide 455 centimetres), the size of each barrier zone and clear area
It is very little etc..
In the present embodiment, the data processing unit 31 parses first map datum, recognizes the first map number
The boundary information of clear area and the clear area in.In this step, the clear area based on acquisition
Boundary information can build a Process maps data, and the map can refer to shown in Fig. 3.
In the present embodiment, the boundary information planning that the data processing unit 31 can be based on the clear area identified is treated
Mobile initial path, described control unit 32 is moved according to the initial path of planning.It is described as a kind of embodiment
The terminal that the initial path that data processing unit 31 is planned enables, which is moved, travels through all clear areas.
In the present embodiment, terminal data sensor unit 33 described in moving process obtains between barrier
One distance.Specifically, the data sensor unit 33 can be realized by sensor (such as range sensor), adopted by sensor
Collect the distance between the terminal and barrier.
Here, corresponding border is the side of the barrier corresponding barrier zone in first map datum
Boundary.The second distance that then data processing unit 31 is obtained between corresponding border is：Pass through first map datum
Obtain and the second distance between corresponding border.Specifically, marking the barrier pair in first map datum first
The position for the barrier zone answered and the position of the terminal；Obtain between the border of the barrier zone and the terminal
Two distances.
In the present embodiment, the predetermined threshold value can be according to the initial of different initial map datum or differing complexity
Map datum is pre-configured with.In the present embodiment, when the difference of first distance and the second distance exceedes predetermined threshold value,
Show that the data in first map datum have deviation, it is necessary to be modified to the first map datum；First distance with
When the difference of the second distance is not less than predetermined threshold value, show the data zero deflection in first map datum, without right
First map datum is modified.
In the present embodiment, the data processing unit 31, can be according to first map datum when carrying out path planning
Complexity divide the location point of complaint message to be collected in the path for which, to control the terminal to be adopted in the location point
Collect complaint message.On the other hand, the path planned can make terminal travel through all clear areas, accordingly, division
Location point also enables the terminal during all clear areas are traveled through, the barrier corresponding to all boundary informations
Information is hindered to get, with the omission for the complaint message for preventing collection, so as to cause the second map datum obtained not
Accurately.
It will be appreciated by those skilled in the art that in the terminal of the embodiment of the present invention each processing unit function, before can refer to
State the associated description of map constructing method and understand, each processing unit in the terminal of the embodiment of the present invention, can be by realizing this hair
The analog circuit of function described in bright embodiment and realize, can also be by performing the software of the function described in the embodiment of the present invention
Operation on intelligent terminal and realize.
In the embodiment of the present invention three and example IV, the data processing unit 31 in the terminal in actual applications may be used
By the central processing unit (CPU, Central Processing Unit) in the terminal, digital signal processor (DSP,
Digital Signal Processor), micro-control unit 32 (MCU, Microcontroller Unit) or programmable gate array
(FPGA, Field-Programmable Gate Array) is arranged to realize；Control unit 32 in the terminal, in practical application
In can by the terminal CPU, DSP, MCU or FPGA combination moving assembly (such as be driven motor) realize；The terminal
In data sensor unit 33, can be realized in actual applications by sensor (such as distance measuring sensor).
, can be by it in several embodiments provided herein, it should be understood that disclosed apparatus and method
Its mode is realized.Apparatus embodiments described above are only schematical, for example, the division of the unit, is only
A kind of division of logic function, can have other dividing mode, such as when actually realizing：Multiple units or component can be combined, or
Another system is desirably integrated into, or some features can be ignored, or do not perform.In addition, shown or discussed each composition portion
Coupling point each other or direct-coupling or communication connection can be the INDIRECT COUPLINGs of equipment or unit by some interfaces
Or communication connection, can be electrical, machinery or other forms.
The above-mentioned unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can positioned at a place, can also be distributed to multiple network lists
In member；Part or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated into a processing unit, also may be used
Be each unit individually as a unit, can also two or more units it is integrated in a unit；It is above-mentioned
Integrated unit can both be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in a computer read/write memory medium, the program
Upon execution, the step of including above method embodiment is performed；And foregoing storage medium includes：It is movable storage device, read-only
Memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
Or, if the above-mentioned integrated unit of the present invention is realized using in the form of software function module and is used as independent product
Sale in use, can also be stored in a computer read/write memory medium.Understood based on such, the present invention is implemented
The part that the technical scheme of example substantially contributes to prior art in other words can be embodied in the form of software product,
The computer software product is stored in a storage medium, including some instructions are to cause a computer equipment (can be with
It is personal computer, server or network equipment etc.) perform all or part of each of the invention embodiment methods described.
And foregoing storage medium includes：Movable storage device, ROM, RAM, magnetic disc or CD etc. are various can be with store program codes
Medium.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of map constructing method, it is characterised in that methods described includes：
Obtain the first map datum；First map datum is the initial map datum for treating operating area；
Moved based on first map datum, the complaint message between barrier is obtained in moving process；
Complaint message based on acquisition is modified to first map datum, and the second map number is obtained based on correction result
According to.
2. according to the method described in claim 1, it is characterised in that after the first map datum of the input, methods described is also
Including：
Parse first map datum, obtain described in treat the boundary information of clear area in operating area；
Analyze the boundary information and obtain initial path.
3. method according to claim 2, it is characterised in that described to be moved based on first map datum, bag
Include：Based on initial path movement.
4. according to the method described in claim 1, it is characterised in that the barrier obtained in moving process between barrier
Hinder information, including：
The first distance between barrier is obtained in moving process.
5. method according to claim 4, it is characterised in that the complaint message based on acquisition is to the initial map
Data are modified, including：
Obtain and the second distance between corresponding border；
Judge whether first distance and the difference of the second distance exceed predetermined threshold value；
When first distance and the difference of the second distance exceed predetermined threshold value, update corresponding based on the described first distance
Boundary information.
6. a kind of terminal, it is characterised in that the terminal includes：Data processing unit, control unit and data sensing unit；Its
In,
The data processing unit, for obtaining the first map datum；First map datum is treat operating area initial
Map datum；
Described control unit, for being moved based on the original two-dimensional map datum；
The data sensor unit, for during described control unit control is mobile, obtaining the barrier between barrier
Hinder information；
The data processing unit, is additionally operable to the complaint message based on data sensor unit acquisition to the first map number
According to being modified, the second map datum is obtained based on correction result.
7. terminal according to claim 6, it is characterised in that the data processing unit, is additionally operable to parsing described first
Map datum, obtain described in treat the boundary information of clear area in operating area；Analyze the boundary information and obtain initial
Path.
8. terminal according to claim 7, it is characterised in that described control unit, for being moved based on the initial path
It is dynamic.
9. terminal according to claim 6, it is characterised in that the data sensor unit, for being obtained in moving process
Obtain the first distance between barrier.
10. terminal according to claim 9, it is characterised in that the data processing unit, for obtaining and corresponding side
Second distance between boundary；Judge whether first distance and the difference of the second distance exceed predetermined threshold value；When described
When first distance and the difference of the second distance exceed predetermined threshold value, corresponding border letter is updated based on the described first distance
Breath.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610252498.XA CN107305125A (en) | 2016-04-21 | 2016-04-21 | A kind of map constructing method and terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610252498.XA CN107305125A (en) | 2016-04-21 | 2016-04-21 | A kind of map constructing method and terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107305125A true CN107305125A (en) | 2017-10-31 |
Family
ID=60152513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610252498.XA Pending CN107305125A (en) | 2016-04-21 | 2016-04-21 | A kind of map constructing method and terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107305125A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109828582A (en) * | 2019-02-28 | 2019-05-31 | 沈阳师范大学 | Based on intelligent carriage paths planning method combined of multi-sensor information and system |
| CN109895100A (en) * | 2019-03-29 | 2019-06-18 | 深兰科技（上海）有限公司 | A kind of generation method of navigation map, device and robot |
| CN110244708A (en) * | 2019-05-16 | 2019-09-17 | 芜湖智久机器人有限公司 | A kind of AGV vehicle obstacle avoidance system and method |
| CN110610649A (en) * | 2018-06-14 | 2019-12-24 | 北京京东尚科信息技术有限公司 | Method and device for generating map |
| CN111426312A (en) * | 2020-03-31 | 2020-07-17 | 上海擎朗智能科技有限公司 | Method, device and equipment for updating positioning map and storage medium |
| CN112034830A (en) * | 2019-06-03 | 2020-12-04 | 江苏美的清洁电器股份有限公司 | Map information processing method and device and mobile device |
| WO2020248458A1 (en) * | 2019-06-14 | 2020-12-17 | 江苏美的清洁电器股份有限公司 | Information processing method and apparatus, and storage medium |
| CN112213738A (en) * | 2020-09-28 | 2021-01-12 | 劢微机器人科技(深圳)有限公司 | Map construction method, device and equipment for automated guided vehicle and storage medium |
| CN112540600A (en) * | 2019-09-19 | 2021-03-23 | 苏州宝时得电动工具有限公司 | Boundary correction method for working area of self-moving equipment and self-moving equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101650190A (en) * | 2009-07-30 | 2010-02-17 | 北京四维图新科技股份有限公司 | Map change reporting method and navigation terminal |
| CN102538779A (en) * | 2010-10-25 | 2012-07-04 | 株式会社日立制作所 | Robot system and map updating method |
| CN102713519A (en) * | 2010-01-22 | 2012-10-03 | 高通股份有限公司 | Map handling for location based services in conjunction with localized environments |
| CN102890507A (en) * | 2011-07-21 | 2013-01-23 | 鸿奇机器人股份有限公司 | Self-walking robot, cleaning robot and positioning method thereof |
| CN103884330A (en) * | 2012-12-21 | 2014-06-25 | 联想(北京)有限公司 | Information processing method, mobile electronic device, guidance device, and server |
-
2016
- 2016-04-21 CN CN201610252498.XA patent/CN107305125A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101650190A (en) * | 2009-07-30 | 2010-02-17 | 北京四维图新科技股份有限公司 | Map change reporting method and navigation terminal |
| CN102713519A (en) * | 2010-01-22 | 2012-10-03 | 高通股份有限公司 | Map handling for location based services in conjunction with localized environments |
| CN102538779A (en) * | 2010-10-25 | 2012-07-04 | 株式会社日立制作所 | Robot system and map updating method |
| CN102890507A (en) * | 2011-07-21 | 2013-01-23 | 鸿奇机器人股份有限公司 | Self-walking robot, cleaning robot and positioning method thereof |
| CN103884330A (en) * | 2012-12-21 | 2014-06-25 | 联想(北京)有限公司 | Information processing method, mobile electronic device, guidance device, and server |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110610649A (en) * | 2018-06-14 | 2019-12-24 | 北京京东尚科信息技术有限公司 | Method and device for generating map |
| US11713980B2 (en) | 2018-06-14 | 2023-08-01 | Beijing Jingdong Shangke Information Technology Co., Ltd. | Method and apparatus for generating map |
| CN109828582A (en) * | 2019-02-28 | 2019-05-31 | 沈阳师范大学 | Based on intelligent carriage paths planning method combined of multi-sensor information and system |
| CN109895100A (en) * | 2019-03-29 | 2019-06-18 | 深兰科技（上海）有限公司 | A kind of generation method of navigation map, device and robot |
| CN110244708A (en) * | 2019-05-16 | 2019-09-17 | 芜湖智久机器人有限公司 | A kind of AGV vehicle obstacle avoidance system and method |
| WO2020244121A1 (en) * | 2019-06-03 | 2020-12-10 | 江苏美的清洁电器股份有限公司 | Map information processing method and apparatus, and mobile device |
| CN112034830A (en) * | 2019-06-03 | 2020-12-04 | 江苏美的清洁电器股份有限公司 | Map information processing method and device and mobile device |
| WO2020248458A1 (en) * | 2019-06-14 | 2020-12-17 | 江苏美的清洁电器股份有限公司 | Information processing method and apparatus, and storage medium |
| CN112540600A (en) * | 2019-09-19 | 2021-03-23 | 苏州宝时得电动工具有限公司 | Boundary correction method for working area of self-moving equipment and self-moving equipment |
| CN114096930A (en) * | 2019-09-19 | 2022-02-25 | 苏州宝时得电动工具有限公司 | Self-moving equipment and automatic moving and working method thereof |
| CN114096930B (en) * | 2019-09-19 | 2023-11-07 | 苏州宝时得电动工具有限公司 | Self-moving device and automatic moving and working method thereof |
| CN111426312A (en) * | 2020-03-31 | 2020-07-17 | 上海擎朗智能科技有限公司 | Method, device and equipment for updating positioning map and storage medium |
| CN112213738A (en) * | 2020-09-28 | 2021-01-12 | 劢微机器人科技(深圳)有限公司 | Map construction method, device and equipment for automated guided vehicle and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107305125A (en) | A kind of map constructing method and terminal | |
| EP3682305B1 (en) | Exploration of an unknown environment by an autonomous mobile robot | |
| CN111108457B (en) | Method, device and computer program for operating a robot control system | |
| Taylor et al. | Vision-based motion planning and exploration algorithms for mobile robots | |
| Kala | Rapidly exploring random graphs: motion planning of multiple mobile robots | |
| CN109189074B (en) | Indoor autonomous mapping method for storage environment | |
| CN109813328A (en) | A kind of driving path planing method, device and vehicle | |
| CN109163722B (en) | Humanoid robot path planning method and device | |
| CN104536445A (en) | Mobile navigation method and system | |
| US11221632B2 (en) | Method for checking a collision between two driverless transport vehicles, driverless transport vehicle, and system having a plurality of driverless transport vehicles | |
| Tiwari | Intelligent planning for mobile robotics: algorithmic approaches: algorithmic approaches | |
| Matsubara et al. | Active tactile exploration with uncertainty and travel cost for fast shape estimation of unknown objects | |
| Ahmetovic et al. | Impact of expertise on interaction preferences for navigation assistance of visually impaired individuals | |
| Wang* et al. | Optimal process planning for a combined punch-and-laser cutting machine using ant colony optimization | |
| CN111095170B (en) | Virtual reality scene, interaction method thereof and terminal equipment | |
| EP3757714A1 (en) | Machine learning method and mobile robot | |
| US20220019939A1 (en) | Method and system for predicting motion-outcome data of a robot moving between a given pair of robotic locations | |
| Martín-Barrio et al. | Application of immersive technologies and natural language to hyper-redundant robot teleoperation | |
| Pellegrinelli et al. | Estimation of robot execution time for close proximity human-robot collaboration | |
| CN105446605A (en) | Information processing method and electronic device | |
| Epstein et al. | Planning and explanations with a learned spatial model | |
| Martins et al. | An improved robot path planning model using cellular automata | |
| CN112578798A (en) | Robot map acquisition method and device, processor and electronic device | |
| Santos et al. | Probabilistic self-localisation on a qualitative map based on occlusions | |
| CN104933924A (en) | Driving simulation experimental equipment and application thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171031 |
|
| RJ01 | Rejection of invention patent application after publication |