Map creation method for mobile robot and path planning method based on the map
US11385062B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 12, 2019 |
| Grant date | Jul 12, 2022 |
| Priority date | — |
| Expiry date | Jun 10, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/10
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present disclosure discloses a map creation method of a mobile robot, including establishing a rectangular coordinate system in a working area of the mobile robot; causing the mobile robot moving in a character shape in the working area; obtaining a key frame picture of the mobile robot at a point Pi and saving the picture and coordinates of the point Pi; obtaining a picture of the mobile robot at a point P′i, wherein an abscissa or ordinate of the point P′i is the same as that of the point Pi; extracting and matching features of the pictures acquired at the point Pi and the point P′i; calibrating coordinates of the mobile robot at the point P′i and data of the odometer and/or the gyroscope according to the matching result and saving them; and repeating the obtaining to the calibrating until the map creation in the working area is complete.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.