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1. (WO2018121448) TOPOLOGY MAP CREATION METHOD AND NAVIGATION METHOD FOR MOBILE ROBOT, PROGRAMMABLE DEVICE, AND COMPUTER READABLE MEDIUM

Pub. No.:    WO/2018/121448    International Application No.:    PCT/CN2017/118098
Publication Date: Fri Jul 06 01:59:59 CEST 2018 International Filing Date: Sat Dec 23 00:59:59 CET 2017
IPC: G01C 21/32
G01C 21/34
Applicants: SHEN ZHEN 3IROBOTICS CO., LTD.
深圳市杉川机器人有限公司
Inventors: YANG, Yong
杨勇
LI, Chongguo
李崇国
WU, Zexiao
吴泽晓
ZHENG, Zhifan
郑志帆
Title: TOPOLOGY MAP CREATION METHOD AND NAVIGATION METHOD FOR MOBILE ROBOT, PROGRAMMABLE DEVICE, AND COMPUTER READABLE MEDIUM
Abstract:
A topology map creation method and a navigation method for a mobile robot, a programmable device, and a computer readable medium. The creation method comprises: S1: building a current area according to acquired environmental information of a current position of a mobile robot; S2: determining whether the current area meets a sub-area division condition, if so, entering step S3, and if not, entering step S4; S3: dividing the current area into at least two sub-areas, inclusive of a sub-area of the current position, which are connected by a border, and then entering step S5; S4: taking the current area as a sub-area of the current position, and then entering S5; S5: creating a local map in the sub-area of the current position, and storing same; S6: determining whether there is a sub-area in which the local map has not been created, if so, entering step S7, and if not, entering step S8; S7: the mobile robot moving to the sub-area in which the local map has not been created, and updating the current position information and then returning to step S1; S8: creating a topology map by taking the sub-area as a node, and the border as an edge.