基本信息:
- 专利标题: 机器人及其环境地图构建方法和装置
- 专利标题(英):ROBOT, AND ENVIRONMENT MAP CONSTRUCTION METHOD AND APPARATUS THEREFOR
- 申请号:PCT/CN2021/126706 申请日:2021-10-27
- 公开(公告)号:WO2022252482A1 公开(公告)日:2022-12-08
- 发明人: 汤煜 , 熊友军
- 申请人: 深圳市优必选科技股份有限公司
- 申请人地址: 中国广东省深圳市南山区学苑大道1001号南山智园C1栋16、22楼, Guangdong 518000
- 专利权人: 深圳市优必选科技股份有限公司
- 当前专利权人: 深圳市优必选科技股份有限公司
- 当前专利权人地址: 中国广东省深圳市南山区学苑大道1001号南山智园C1栋16、22楼, Guangdong 518000
- 代理机构: 深圳中一联合知识产权代理有限公司
- 优先权: CN202110598469.X 2021-05-31
- 主分类号: G06F16/245
- IPC分类号: G06F16/245
A robot, and an environment map construction method and apparatus therefor. The method comprises: acquiring a sensing data frame during a moving process of a robot, and an absolute position, and generating a sensing data frame library; according to an absolute position corresponding to a sensing data frame currently acquired by the robot, and a preset distance threshold value, searching the sensing data frame library for an absolute position that matches the current absolute position, and a sensing data frame corresponding to the matching absolute position; and matching the found sensing data frame with the currently acquired sensing data frame, and performing loop closure optimization and environment map construction according to a matching result. A sensing data frame is screened by means of an absolute position, such that the problem of detecting a wrong loop closure point in a similar scenario can be avoided; and the sensing data frame is screened by means of the absolute position, such that the probability of being unable to complete matching can be reduced, thereby facilitating reducing the matching calculation amount of the sensing data frame, and improving the efficiency of environment map construction.
IPC结构图谱:
G | 物理 |
--G06 | 计算;推算;计数 |
----G06F | 电数字数据处理 |
------G06F16/00 | 信息检索;数据库结构;文件系统结构 |
--------G06F16/10 | .文件系统;文件服务器 |
----------G06F16/24 | ..查询 |
------------G06F16/245 | ...查询过程 |