CN107305125A - A kind of map constructing method and terminal - Google Patents

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

A map construction method and terminal

technical field

The invention relates to automation technology, in particular to a map construction method and a terminal.

Background technique

It is very important for mobile robots to complete various tasks autonomously in complex environments, and it is very important to obtain the information of the environment area, and the map is the most commonly used way of expressing area information. After obtaining the environment map, the mobile robot can carry out path planning, reach the destination point, and then complete various tasks.

There are two main methods of map construction commonly used by mobile robots:

First, adopt the method of simultaneous localization and mapping (SLAM). The mobile robot body carries sensors and uses typical sensing technologies including image, laser, and ultrasonic technologies to collect information on surrounding obstacles and gradually draw maps as the robot body moves.

Second, a method for creating maps for mobile robots based on wireless sensor network nodes. Mainly, the wireless sensor network nodes are scattered in the walking area of the robot, and through network transmission, the robot obtains the data of each wireless sensor node to judge obstacles, and finally realizes map construction.

Existing map construction methods rely entirely on typical sensing technologies to build environmental maps from scratch. This has the following disadvantages: First, in practical applications, if the method of completely relying on self-service map construction is adopted, it may occur that due to problems such as visual blind spots of the mobile robot, it may not be possible to traverse all areas that should be walked, resulting in the lack of map construction. Second, when the surrounding environment is completely unknown, the mobile robot needs to continuously sense the obstacle distance in each direction. In the initial construction process, the efficiency is often low, especially for the environment area is very complex or the area is very wide.

Contents of the invention

In order to solve existing technical problems, embodiments of the present invention provide a map construction method and a terminal, which can solve the problem of lack of map construction and improve map construction efficiency.

In order to achieve the above object, the technical solution of the embodiment of the present invention is achieved in this way:

An embodiment of the present invention provides a map construction method, the method comprising:

Obtaining first map data; the first map data is the initial map data of the area to be operated;

moving based on the first map data, and obtaining obstacle information between obstacles during the movement;

The first map data is corrected based on the obtained obstacle information, and the second map data is obtained based on the correction result.

In the above solution, after the input of the first map data, the method further includes:

Analyzing the first map data to obtain boundary information of barrier-free areas in the area to be operated;

The initial path is obtained by analyzing the boundary information.

In the above solution, the moving based on the first map data includes: moving based on the initial path.

In the above solution, the acquisition of obstacle information between the obstacle and the obstacle during the movement includes:

Obtain the first distance to the obstacle during the movement.

In the above solution, the correction of the initial map data based on the obtained obstacle information includes:

obtaining a second distance from the corresponding boundary;

judging whether the difference between the first distance and the second distance exceeds a preset threshold;

When the difference between the first distance and the second distance exceeds a preset threshold, corresponding boundary information is updated based on the first distance.

The embodiment of the present invention also provides a terminal, the terminal includes: a data processing unit, a control unit, and a data sensing unit; wherein,

The data processing unit is configured to obtain first map data; the first map data is the initial map data of the area to be operated;

the control unit is configured to move based on the initial two-dimensional map data;

The data sensing unit is used to obtain obstacle information between the obstacle and the obstacle during the movement controlled by the control unit;

The data processing unit is further configured to correct the first map data based on the obstacle information obtained by the data sensing unit, and obtain second map data based on the correction result.

In the solution above, the data processing unit is further configured to analyze the first map data to obtain boundary information of the barrier-free area in the area to be worked; analyze the boundary information to obtain an initial path.

In the solution above, the control unit is configured to move based on the initial path.

In the above solution, the data sensing unit is used to obtain the first distance to the obstacle during the movement.

In the above solution, the data processing unit is configured to obtain a second distance from the corresponding boundary; determine whether the difference between the first distance and the second distance exceeds a preset threshold; when the first When the difference between the distance and the second distance exceeds a preset threshold, corresponding boundary information is updated based on the first distance.

The map construction method and terminal provided by the embodiments of the present invention obtain the first map data; the first map data is the initial map data of the area to be operated; move based on the first map data, and obtain and Obstacle information between obstacles; correcting the first map data based on the obtained obstacle information, and obtaining second map data based on the correction result. In this way, by adopting the technical solution of the embodiment of the present invention, by first inputting the first map data, moving based on the first map data and collecting obstacle information, correcting the first map data, thereby obtaining accurate second map data, on the one hand It solves the problem of lack of map construction in the map construction process; on the other hand, it also greatly improves the accuracy of the constructed map and improves the efficiency of map construction.

Description of drawings

FIG. 1 is a schematic flow chart of a map construction method according to Embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of the first map data in an embodiment of the present invention;

FIG. 3 is a schematic flowchart of a map construction method in Embodiment 2 of the present invention;

4 is a schematic diagram of process map data in an embodiment of the present invention;

FIG. 5 is a schematic diagram of a composition structure of a terminal according to an embodiment of the present invention.

detailed description

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Embodiment one

An embodiment of the present invention provides a map construction method. Fig. 1 is a schematic flow chart of a map construction method in Embodiment 1 of the present invention; as shown in Fig. 1 , the method includes:

Step 101: Obtain first map data; the first map data is the initial map data of the area to be worked.

In this embodiment, the map construction method is applied to a terminal. The terminal supports the construction of maps and completes various tasks based on the constructed maps; the terminal may specifically be a mobile robot or the like.

In this embodiment, the first map data is input two-dimensional plane map data. As a manner, the first map data can be obtained through computer-aided design (CAD). Fig. 2 is the schematic diagram of the first map data in the embodiment of the present invention; As shown in Fig. 2, take the area to be worked as the equipment room of the machine room as an example, include obstacle areas (such as equipment cabinets, battery cabinets) in the first map data , power cabinet, air conditioner, etc.); areas other than the barrier area are barrier-free areas. The first map data also includes the size of the to-be-worked area (for example, as shown in the figure, the length is 710 cm, and the width is 455 cm), the size of each obstacle area, the size of an obstacle-free area, and so on.

Step 102: Move based on the first map data, and obtain obstacle information between obstacles during the movement.

In this embodiment, the terminal analyzes the first map data, and identifies the barrier-free area in the first map data; the terminal can plan a path to move based on the identified barrier-free area, and follow the planned path to move. As an implementation manner, the path planned by the terminal enables the terminal to move and traverse all barrier-free areas.

In this embodiment, the terminal obtains obstacle information between the obstacle and the obstacle during movement; the obstacle information may specifically be a distance between the obstacle and the terminal. Specifically, a sensor (such as a distance sensor) may be configured in the terminal, and the distance between the terminal and the obstacle may be collected through the configured sensor.

Step 103: Correct the first map data based on the obtained obstacle information, and obtain second map data based on the correction result. The second map data is map data obtained by correcting the first map data.

In this embodiment, the correction of the initial map data based on the obtained obstacle information includes: obtaining a first distance from the obstacle; obtaining a boundary corresponding to the obstacle based on the first map data The second distance between; judge whether the difference between the first distance and the second distance exceeds the preset threshold; when the difference between the first distance and the second distance exceeds the preset threshold, according to The first distance updates the corresponding second distance in the first map data, so as to correct the first map data. Wherein, the preset threshold can be preconfigured according to different initial map data or initial map data of different complexity.

In this embodiment, when the terminal is planning a route, it can divide the position points of the obstacle information to be collected in the route according to the complexity of the first map data, so as to control the terminal to collect the obstacle information at the position points. Obstacle information. On the other hand, the planned path enables the terminal to traverse all barrier-free areas, and correspondingly, the divided location points also enable the terminal to obtain the obstacle information corresponding to all boundary information during the process of traversing all barrier-free areas. can be obtained, so as to prevent the omission of the collected obstacle information, resulting in inaccuracy of the obtained second map data.

Adopting the technical scheme of the embodiment of the present invention, by first inputting the first map data, moving based on the first map data and collecting obstacle information, correcting the first map data, thereby obtaining accurate second map data, on the one hand solves the problem of The problem of lack of map construction in the map construction process; on the other hand, it also greatly improves the accuracy of the constructed map and improves the efficiency of map construction.

Embodiment two

An embodiment of the present invention provides a map construction method. Fig. 3 is a schematic flow chart of a map construction method in Embodiment 2 of the present invention; as shown in Fig. 3 , the method includes:

Step 201: Obtain first map data; the first map data is the initial map data of the area to be worked.

In this embodiment, the map construction method is applied to a terminal. The terminal supports the construction of maps and completes various tasks based on the constructed maps; the terminal may specifically be a mobile robot or the like.

In this embodiment, the first map data is input two-dimensional plane map data. As a manner, the first map data can be obtained through computer-aided design (CAD). As shown in Figure 2, taking the area to be operated as an example of a machine room equipment room, the first map data includes obstacle areas (such as equipment cabinets, battery cabinets, power cabinets, air conditioners, etc.); The area is the barrier-free area. The first map data also includes the size of the to-be-worked area (for example, as shown in the figure, the length is 710 cm, and the width is 455 cm), the size of each obstacle area, the size of an obstacle-free area, and so on.

Step 202: Analyzing the first map data to obtain boundary information of barrier-free areas in the to-be-worked area.

In this embodiment, the terminal analyzes the first map data, and identifies the barrier-free area in the first map data and the boundary information of the barrier-free area. In this step, a process map data can be constructed based on the obtained boundary information of the barrier-free area, and the map data can be shown as shown in FIG. 3 .

Step 203: Analyze the boundary information to obtain an initial path, move based on the initial path, and obtain a first distance to the obstacle during the movement.

In this embodiment, the terminal may plan an initial path to move based on the identified boundary information of the barrier-free area, and move according to the planned initial path. As an implementation manner, the initial path planned by the terminal enables the terminal to move and traverse all barrier-free areas.

In this embodiment, the terminal obtains the first distance to the obstacle during the moving process. Specifically, a sensor (such as a distance sensor) may be configured in the terminal, and the distance between the terminal and the obstacle may be collected through the configured sensor.

Step 204: Obtain a second distance from the corresponding boundary.

Here, the corresponding boundary is the boundary of the obstacle area corresponding to the obstacle in the first map data. Then the obtained second distance from the corresponding border is: the second distance obtained from the first map data and the corresponding border. Specifically, first mark the position of the obstacle area corresponding to the obstacle and the position of the terminal in the first map data; obtain the second distance between the boundary of the obstacle area and the terminal.

Step 205: Judging whether the difference between the first distance and the second distance exceeds a preset threshold; when the judgment result is yes, perform step 206; when the judgment result is no, perform step 207: do not target The corresponding boundary information is corrected.

Step 206: Update corresponding boundary information based on the first distance.

Step 207: Obtain second map data based on the correction result. The second map data is map data obtained by correcting the first map data.

In this embodiment, the preset threshold may be preconfigured according to different initial map data or initial map data of different complexity. In this embodiment, when the difference between the first distance and the second distance exceeds a preset threshold, it indicates that the data in the first map data is biased, and the first map data needs to be corrected; When the difference between the first distance and the second distance does not exceed the preset threshold, it indicates that the data in the first map data has no deviation, and there is no need to correct the first map data.

In this embodiment, when the terminal is planning a route, it can divide the position points of the obstacle information to be collected in the route according to the complexity of the first map data, so as to control the terminal to collect the obstacle information at the position points. Obstacle information. On the other hand, the planned path enables the terminal to traverse all barrier-free areas, and correspondingly, the divided location points also enable the terminal to obtain the obstacle information corresponding to all boundary information during the process of traversing all barrier-free areas. can be obtained, so as to prevent the omission of the collected obstacle information, resulting in inaccuracy of the obtained second map data.

Adopting the technical scheme of the embodiment of the present invention, by first inputting the first map data, moving based on the first map data and collecting obstacle information, correcting the first map data, thereby obtaining accurate second map data, on the one hand solves the problem of The problem of lack of map construction in the map construction process; on the other hand, it also greatly improves the accuracy of the constructed map and improves the efficiency of map construction.

Embodiment three

The embodiment of the present invention also provides a terminal. FIG. 5 is a schematic diagram of the composition and structure of a terminal according to an embodiment of the present invention; as shown in FIG. 5 , the terminal includes: a data processing unit 31, a control unit 32, and a data sensing unit 33; wherein,

The data processing unit 31 is configured to obtain first map data; the first map data is the initial map data of the area to be operated;

The control unit 32 is configured to move based on the initial two-dimensional map data;

The data sensing unit 33 is configured to obtain obstacle information between the obstacle and the obstacle during the movement controlled by the control unit 32;

The data processing unit 31 is further configured to correct the first map data based on the obstacle information obtained by the data sensing unit 33, and obtain second map data based on the correction result. The second map data is map data obtained by correcting the first map data.

In this embodiment, the first map data is input two-dimensional plane map data. As a manner, the first map data can be obtained through computer-aided design (CAD). As shown in Figure 2, taking the area to be operated as an example of a machine room equipment room, the first map data includes obstacle areas (such as equipment cabinets, battery cabinets, power cabinets, air conditioners, etc.); The area is the barrier-free area. The first map data also includes the size of the to-be-worked area (for example, as shown in the figure, the length is 710 cm, and the width is 455 cm), the size of each obstacle area, the size of an obstacle-free area, and so on.

In this embodiment, the data processing unit 31 analyzes the first map data, and identifies the barrier-free area in the first map data; the data processing unit 31 can plan the location to be moved based on the identified barrier-free area. Path, move according to the planned path. As an implementation manner, the path planned by the data processing unit 31 enables the terminal to move through all barrier-free areas.

In this embodiment, the control unit 32 obtains obstacle information between the terminal and the obstacle during the moving process; the obstacle information may specifically be a distance between the obstacle and the terminal. Specifically, the control unit 32 can be realized by a sensor (such as a distance sensor), and the distance between the obstacle and the obstacle is collected by the configured sensor.

In this embodiment, the data sensing unit 33 is configured to obtain the first distance to the obstacle during the moving process. The data processing unit 31 is configured to obtain a second distance from the corresponding boundary; judge whether the difference between the first distance and the second distance exceeds a preset threshold; when the first distance and the When the difference of the second distance exceeds a preset threshold, update the corresponding boundary information based on the first distance. Wherein, the preset threshold can be preconfigured according to different initial map data or initial map data of different complexity.

In this embodiment, when the data processing unit 31 performs path planning, it can divide the position points of the obstacle information to be collected in the path according to the complexity of the first map data, so as to control the data sensing unit 33 Collect obstacle information at the location point. On the other hand, the planned path enables the terminal to traverse all barrier-free areas, and correspondingly, the divided location points also enable the terminal to obtain the obstacle information corresponding to all boundary information during the process of traversing all barrier-free areas. can be obtained, so as to prevent the omission of the collected obstacle information, resulting in inaccuracy of the obtained second map data.

Those skilled in the art should understand that the functions of each processing unit in the terminal of the embodiment of the present invention can be understood by referring to the relevant description of the aforementioned map construction method, and each processing unit in the terminal of the embodiment of the present invention can realize the The functions described above are realized by analog circuits, and may also be realized by running software executing the functions described in the embodiments of the present invention on an intelligent terminal.

Embodiment four

The embodiment of the present invention also provides a terminal. As shown in FIG. 5, the terminal includes: a data processing unit 31, a control unit 32, and a data sensing unit 33; wherein,

The data processing unit 31 is used to obtain the first map data; the first map data is the initial map data of the area to be operated; it is also used to analyze the first map data to obtain the map data in the area to be operated. Boundary information of the obstacle area; analyzing the boundary information to obtain an initial path;

The control unit 32 is configured to move based on the initial path;

The data sensing unit 33 is configured to obtain a first distance to an obstacle during the movement controlled by the control unit 32;

The data processing unit 31 is further configured to obtain a second distance from the corresponding boundary; judge whether the difference between the first distance and the second distance exceeds a preset threshold; when the first distance and When the difference of the second distance exceeds a preset threshold, the corresponding boundary information is updated based on the first distance to correct the corresponding boundary information; and the second map data is obtained based on the correction result. The second map data is map data obtained by correcting the first map data.

In this embodiment, the first map data is input two-dimensional plane map data. As a manner, the first map data can be obtained through computer-aided design (CAD). As shown in Figure 2, taking the area to be operated as an example of a machine room equipment room, the first map data includes obstacle areas (such as equipment cabinets, battery cabinets, power cabinets, air conditioners, etc.); The area is the barrier-free area. The first map data also includes the size of the to-be-worked area (for example, as shown in the figure, the length is 710 cm, and the width is 455 cm), the size of each obstacle area, the size of an obstacle-free area, and so on.

In this embodiment, the data processing unit 31 analyzes the first map data, and identifies barrier-free areas in the first map data and boundary information of the barrier-free areas. In this step, a process map data can be constructed based on the obtained boundary information of the barrier-free area, and the map can be shown as shown in FIG. 3 .

In this embodiment, the data processing unit 31 may plan an initial path to move based on the identified boundary information of the barrier-free area, and the control unit 32 moves according to the planned initial path. As an implementation manner, the initial path planned by the data processing unit 31 enables the terminal to move through all barrier-free areas.

In this embodiment, the data sensing unit 33 obtains the first distance to the obstacle during the movement of the terminal. Specifically, the data sensing unit 33 may be realized by a sensor (such as a distance sensor), and the sensor collects the distance between the terminal and the obstacle.

Here, the corresponding boundary is the boundary of the obstacle area corresponding to the obstacle in the first map data. Then, the second distance obtained by the data processing unit 31 from the corresponding boundary is: the second distance obtained from the corresponding boundary through the first map data. Specifically, first mark the position of the obstacle area corresponding to the obstacle and the position of the terminal in the first map data; obtain the second distance between the boundary of the obstacle area and the terminal.

In this embodiment, the preset threshold may be preconfigured according to different initial map data or initial map data of different complexity. In this embodiment, when the difference between the first distance and the second distance exceeds a preset threshold, it indicates that the data in the first map data is biased, and the first map data needs to be corrected; When the difference between the first distance and the second distance does not exceed the preset threshold, it indicates that the data in the first map data has no deviation, and there is no need to correct the first map data.

In this embodiment, when the data processing unit 31 performs route planning, it can divide the position points of the obstacle information to be collected in the route according to the complexity of the first map data, so as to control the terminal in the Location points collect obstacle information. On the other hand, the planned path enables the terminal to traverse all barrier-free areas, and correspondingly, the divided location points also enable the terminal to obtain the obstacle information corresponding to all boundary information during the process of traversing all barrier-free areas. can be obtained, so as to prevent the omission of the collected obstacle information, resulting in inaccuracy of the obtained second map data.

Those skilled in the art should understand that the functions of each processing unit in the terminal of the embodiment of the present invention can be understood by referring to the relevant description of the aforementioned map construction method, and each processing unit in the terminal of the embodiment of the present invention can realize the The functions described above are realized by analog circuits, and may also be realized by running software executing the functions described in the embodiments of the present invention on an intelligent terminal.

In Embodiment 3 and Embodiment 4 of the present invention, the data processing unit 31 in the terminal may be composed of a central processing unit (CPU, Central Processing Unit), a digital signal processor (DSP, Digital Signal Processor), micro control unit 32 (MCU, Microcontroller Unit) or programmable gate array (FPGA, Field-Programmable Gate Array); the control unit 32 in the terminal can be implemented by the CPU in the terminal in practical applications , DSP, MCU or FPGA in combination with mobile components (such as transmission motors, etc.); the data sensing unit 33 in the terminal can be realized by sensors (such as distance measuring sensors) in practical applications.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or May be integrated into another system, or some features may be ignored, or not implemented. In addition, the coupling, or direct coupling, or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical or other forms of.

The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units; Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention can be integrated into one processing unit, or each unit can be used as a single unit, or two or more units can be integrated into one unit; the above-mentioned integration The unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

Those of ordinary skill in the art can understand that all or part of the steps for realizing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the Including the steps of the foregoing method embodiment; and the aforementioned storage medium includes: various storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk A medium on which program code can be stored.

Alternatively, if the above-mentioned integrated units of the present invention are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for Make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media capable of storing program codes such as removable storage devices, ROM, RAM, magnetic disks or optical disks.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (10)

1. A map construction method, characterized in that the method comprises:

obtaining first map data; the first map data is initial map data of an area to be operated;

moving based on the first map data, and obtaining obstacle information between the first map data and an obstacle in the moving process;

the first map data is corrected based on the obtained obstacle information, and second map data is obtained based on the correction result.

2. The method of claim 1, wherein after the inputting the first map data, the method further comprises:

analyzing the first map data to obtain boundary information of an obstacle-free area in the area to be operated;

and analyzing the boundary information to obtain an initial path.

3. The method of claim 2, wherein the moving based on the first map data comprises: moving based on the initial path.

4. The method of claim 1, wherein obtaining obstacle information from an obstacle during the moving comprises:

a first distance to the obstacle is obtained during the movement.

5. The method of claim 4, wherein the revising the initial map data based on the obtained obstacle information comprises:

obtaining a second distance to the corresponding boundary;

judging whether the difference value of the first distance and the second distance exceeds a preset threshold value or not;

and when the difference value of the first distance and the second distance exceeds a preset threshold value, updating corresponding boundary information based on the first distance.

6. A terminal, characterized in that the terminal comprises: the device comprises a data processing unit, a control unit and a data sensing unit; wherein,

the data processing unit is used for obtaining first map data; the first map data is initial map data of an area to be operated;

the control unit is used for moving based on the initial two-dimensional map data;

the data sensing unit is used for acquiring obstacle information between the data sensing unit and an obstacle in the process of controlling the control unit to move;

the data processing unit is further configured to correct the first map data based on the obstacle information obtained by the data sensing unit, and obtain second map data based on a correction result.

7. The terminal according to claim 6, wherein the data processing unit is further configured to parse the first map data to obtain boundary information of an unobstructed area in the area to be worked; and analyzing the boundary information to obtain an initial path.

8. The terminal of claim 7, wherein the control unit is configured to move based on the initial path.

9. The terminal according to claim 6, wherein the data sensing unit is configured to obtain the first distance from the obstacle during the movement.

10. The terminal according to claim 9, wherein the data processing unit is configured to obtain a second distance from a corresponding boundary; judging whether the difference value of the first distance and the second distance exceeds a preset threshold value or not; and when the difference value of the first distance and the second distance exceeds a preset threshold value, updating corresponding boundary information based on the first distance.