US 12,416,511 B2
Map using method, robot and medium
Fei Zhang, Shanghai (CN); Yonghui Wan, Shanghai (CN); and Tong Li, Shanghai (CN)
Assigned to Keenon Robotics Co., Ltd., Shanghai (CN)
Filed by Keenon Robotics Co., Ltd., Shanghai (CN)
Filed on Sep. 23, 2022, as Appl. No. 17/951,503.
Claims priority of application No. 202111144400.6 (CN), filed on Sep. 28, 2021.
Prior Publication US 2023/0095552 A1, Mar. 30, 2023
Int. Cl. G01C 21/00 (2006.01); G01S 13/86 (2006.01); G01S 13/89 (2006.01)
CPC G01C 21/3859 (2020.08) [G01C 21/3837 (2020.08); G01S 13/865 (2013.01); G01S 13/89 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A map using method, comprising:
obtaining, by a current robot, a target map including a virtual wall;
performing a move of the current robot according to the target map, wherein the target map is generated using a map construction method, and the map construction method comprises:
controlling a lidar of a mapping robot to scan a target environment to obtain scanning data, wherein a radar probe configured to determine a reference point cloud is arranged according to a preset distance by taking a center of the lidar of the mapping robot as a starting point, and the target environment comprises a wall;
determining a virtual wall corresponding to the wall according to the scanning data;
fitting the reference point cloud determined by the radar probe according to the scanning data to update the virtual wall to obtain an updated virtual wall; and
generating a target map comprising the updated virtual wall.