CN108007453A - Map updating method, device and electronic equipment based on a cloud - Google Patents

Abstract

The invention discloses a point cloud-based map updating method, device and electronic equipment. Wherein, the method includes: each time a frame of point cloud data is obtained, determining the estimated orientation information of the object to be positioned when the frame of point cloud data is generated; Environmental map; if not, draw an environmental map corresponding to the object to be positioned in the preset map storage area according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data; if so, according to The estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is matched with the environment map corresponding to the object to be positioned, and the environment map corresponding to the object to be positioned is updated according to the matching result. Utilizing the solution of the invention, the object to be positioned can realize the functions of real-time positioning, map building and real-time update of the map even when there is no satellite positioning signal.

Description

Point cloud-based map update method, device and electronic equipment

technical field

The invention relates to the technical field of intelligent robots, in particular to a point cloud-based map update method, device and electronic equipment.

Background technique

With the development of science and technology and the continuous improvement of people's requirements for the quality of life, intelligent robots gradually appear in people's daily life, such as cleaning robots, industrial robots, service robots, robots that carry goods in warehouses, etc. In order to understand the working conditions of the robot, it is necessary to locate the robot in real time and obtain the environmental map around its location, so as to obtain the walking route and location of the robot.

However, the inventor found in the process of implementing the present invention that most existing robots use satellite positioning technology for positioning when they work indoors, and build maps based on the positioning results. However, when the robot works in a working environment without satellite positioning signals, it cannot realize its positioning and mapping functions, and cannot realize the update of the map. It can be seen that there is a lack of a map updating method and device applicable to various working environments in the prior art.

Contents of the invention

In view of the above problems, the present invention is proposed to provide a point cloud-based map update method, device and electronic equipment that overcome the above problems or at least partially solve the above problems.

According to one aspect of the present invention, a method for updating a map based on a point cloud is provided, including:

After each frame of point cloud data is acquired, determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated;

Judging whether an environmental map corresponding to the object to be positioned is stored in the preset map storage area;

If not, draw an environment map corresponding to the object to be positioned in a preset map storage area according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data;

If so, match the frame of point cloud data with the environment map corresponding to the object to be positioned according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, and update the environment map corresponding to the object to be positioned according to the matching result.

Optionally, the estimated orientation information further includes displacement information and angle information, and according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data, in the The step of drawing an environmental map corresponding to the object to be positioned in the preset map storage area specifically includes:

Obtain the displacement information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, and determine the position point corresponding to the displacement information as the coordinate origin of the coordinate system contained in the map storage area ;

Loading the frame of point cloud data to the origin of the coordinates, obtaining the angle information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated;

Rotate the frame of point cloud data loaded at the coordinate origin according to the angle information, and draw an environment map corresponding to the object to be positioned according to the rotated point cloud data.

Optionally, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is matched with the environment map corresponding to the object to be positioned, and updated according to the matching result The step of creating an environment map corresponding to the object to be positioned specifically includes:

Determine the previous frame of point cloud data of the frame of point cloud data according to the environment map;

According to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is initially matched with the previous frame of point cloud data;

Determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data;

Updating an environment map corresponding to the object to be positioned according to the positioning orientation information.

Optionally, the step of initially matching the frame of point cloud data with the previous frame of point cloud data according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated specifically includes:

Determine the initial positioning range according to the estimated position information; wherein, the initial positioning range contains a plurality of positioning position points;

For each positioning position point, load the frame point cloud data to the positioning position point, perform a matching operation on the frame point cloud data loaded to the positioning position point and the previous frame point cloud data, according to the calculation result Determining the positioning position point that can make the point cloud data of the current frame and the point cloud data of the previous frame match each other;

Then, the step of determining the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data specifically includes:

According to the positioning position point capable of matching the point cloud data of the current frame with the point cloud data of the previous frame, determine the positioning orientation information of the object to be positioned when the point cloud data of the frame is generated.

Optionally, the matching operation includes: a square difference operation.

Optionally, the step of determining the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result between the frame of point cloud data and the previous frame of point cloud data specifically includes:

Determining the positioning and orientation information of the last frame of point cloud data;

Determine the displacement variation of the object to be positioned relative to the positioning orientation information of the previous frame of point cloud data according to the initial matching result;

According to the positioning orientation information of the previous frame of point cloud data and the displacement variation, determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated.

Optionally, determining the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data; updating according to the positioning orientation information The step of creating an environment map corresponding to the object to be positioned specifically includes:

According to the positioning orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is matched with the environment map twice;

Correcting the positioning orientation information according to the secondary matching result of the frame point cloud data and the environmental map to obtain the corrected positioning orientation information;

An environment map corresponding to the object to be positioned is updated according to the corrected positioning orientation information.

Optionally, the step of determining the estimated orientation information of the object to be positioned when the frame of point cloud data is generated specifically includes:

determining the angle information of the object to be positioned when generating the current frame of point cloud data by means of an angle sensor arranged on the object to be positioned;

Determining the displacement information of the object to be positioned when generating the point cloud data of the current frame by means of a distance sensor arranged on the object to be positioned;

The estimated orientation information of the object to be positioned when the frame of point cloud data is generated is determined according to the angle information and the displacement information.

According to another aspect of the present invention, a kind of point cloud based map update device is provided, comprising:

The determination module is adapted to determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated each time a frame of point cloud data is acquired;

The judging module is adapted to judge whether an environmental map corresponding to the object to be positioned is stored in the preset map storage area;

The drawing module is adapted to, when the judging result of the judging module is negative, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data, to store in the preset map Draw an environment map corresponding to the object to be positioned in the area;

The update module is adapted to, when the judgment result of the judging module is yes, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data corresponding to the object to be positioned The environment map is matched, and the environment map corresponding to the object to be positioned is updated according to the matching result.

Optionally, the estimated orientation information further includes displacement information and angle information, and the drawing module is further adapted to:

Obtain the displacement information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, and determine the position point corresponding to the displacement information as the coordinate origin of the coordinate system contained in the map storage area ;

Loading the frame of point cloud data to the origin of the coordinates, obtaining the angle information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated;

Rotate the frame of point cloud data loaded at the coordinate origin according to the angle information, and draw an environment map corresponding to the object to be positioned according to the rotated point cloud data.

Optionally, wherein the update module is further adapted to:

Determine the previous frame of point cloud data of the frame of point cloud data according to the environment map;

According to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is initially matched with the previous frame of point cloud data;

Determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data;

Updating an environment map corresponding to the object to be positioned according to the positioning orientation information.

Optionally, wherein the update module is further adapted to:

Determine the initial positioning range according to the estimated position information; wherein, the initial positioning range contains a plurality of positioning position points;

For each positioning position point, load the frame point cloud data to the positioning position point, perform a matching operation on the frame point cloud data loaded to the positioning position point and the previous frame point cloud data, according to the calculation result Determining the positioning position point that can make the point cloud data of the current frame and the point cloud data of the previous frame match each other;

Then, the step of determining the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data specifically includes:

According to the positioning position point capable of matching the point cloud data of the current frame with the point cloud data of the previous frame, determine the positioning orientation information of the object to be positioned when the point cloud data of the frame is generated.

Optionally, the matching operation includes: a square difference operation.

Optionally, the update module is further adapted to:

Determining the positioning and orientation information of the last frame of point cloud data;

Determine the displacement variation of the object to be positioned relative to the positioning orientation information of the previous frame of point cloud data according to the initial matching result;

According to the positioning orientation information of the previous frame of point cloud data and the displacement variation, determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated.

Optionally, the update module is further adapted to:

According to the positioning orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is matched with the environment map twice;

Correcting the positioning orientation information according to the secondary matching result of the frame point cloud data and the environmental map to obtain the corrected positioning orientation information;

An environment map corresponding to the object to be positioned is updated according to the corrected positioning orientation information.

Optionally, the determining module is further adapted to:

determining the angle information of the object to be positioned when generating the current frame of point cloud data by means of an angle sensor arranged on the object to be positioned;

Determining the displacement information of the object to be positioned when generating the point cloud data of the current frame by means of a distance sensor arranged on the object to be positioned;

The estimated orientation information of the object to be positioned when the frame of point cloud data is generated is determined according to the angle information and the displacement information.

According to another aspect of the present invention, a computer storage medium is provided, and at least one executable instruction is stored in the storage medium, and the executable instruction causes the processor to perform operations corresponding to the above point cloud-based map update method .

According to the point cloud-based map update method provided in this embodiment, after each frame of point cloud data is acquired, the estimated orientation information of the object to be positioned is determined when the frame of point cloud data is generated, and the preset Whether there is an environmental map corresponding to the object to be positioned stored in the map storage area; if not, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data, in the preset map storage area Draw the environment map corresponding to the object to be positioned; if so, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, match the frame of point cloud data with the environment map corresponding to the object to be positioned, according to The matching result updates the environment map corresponding to the object to be located. According to the method, the object to be positioned can realize real-time positioning, map building and real-time update of the environmental map around its location when there is no satellite positioning signal, so that the map can be realized in various working environments. update function.

The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the specific embodiments of the present invention are enumerated below.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same components. In the attached picture:

Fig. 1 shows the flowchart of the point cloud-based map updating method provided by one embodiment of the present invention;

FIG. 2 shows a flow chart of a point cloud-based map update method provided by another embodiment of the present invention;

Fig. 3 shows the schematic diagram of the positions when the point cloud data of the current frame and the point cloud data of the previous frame are matched with each other;

FIG. 4 shows a functional block diagram of a point cloud-based map updating device provided by an embodiment of the present invention;

Fig. 5 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

Fig. 1 shows a flowchart of a point cloud-based map update method provided by an embodiment of the present invention. As shown in Figure 1, the method includes the following steps:

Step S101: After each frame of point cloud data is acquired, determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated.

The estimated orientation information further includes displacement information and angle information. The estimated orientation information of the object to be positioned when the frame of point cloud data is generated can be determined by the following method: the angle information of the object to be positioned when the frame of point cloud data is generated is determined by an angle sensor arranged on the object to be positioned; Determine the displacement information of the object to be positioned when generating the point cloud data of this frame through the distance sensor set on the object to be positioned; determine the estimated orientation information of the object to be positioned when generating the point cloud data of the frame according to the angle information and displacement information . Wherein, the above-mentioned angle sensor can be a gyroscope, and can also be other sensors that can measure angles; the above-mentioned angle information of the object to be positioned can refer to the angle information of the object to be positioned relative to the two-dimensional coordinate system used to draw the environmental map, which can be Indicates the orientation information of the object to be positioned. The above-mentioned distance sensor may be an odometer, or other distance sensors capable of measuring distance information. In addition to the above method to determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, other methods can also be used to determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated , is not limited here. The above object to be positioned may include a robot.

Step S102: Determine whether an environmental map corresponding to the object to be positioned is stored in the preset map storage area.

Wherein, the preset map storage area can be located inside the object to be positioned, or inside the device of the mobile terminal wirelessly connected to the object to be positioned (for example, it can be located in the memory of the mobile terminal). The present invention does not limit the preset map storage area. The specific location of the area. The purpose of this step is to determine whether the acquired current frame point cloud data is the first frame point cloud data by judging whether the preset map storage area stores an environmental map corresponding to the object to be positioned. If there is no environmental map corresponding to the object to be positioned in the preset map storage area, step S103 can be performed to directly load the first frame of point cloud data onto the environmental map to update the environmental map. If it is determined that the acquired current frame point cloud data is not the first frame point cloud data, step S104 may be performed to update the environment map.

Step S103: If not, draw an environment map corresponding to the object to be located in a preset map storage area according to the estimated orientation information of the object to be located when the frame of point cloud data is generated and the frame of point cloud data.

If it is determined in step S102 that no environmental map corresponding to the object to be positioned is stored in the preset map storage area. Then, an environment map corresponding to the object to be positioned can be drawn in a preset map storage area according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data. Specifically, the location point corresponding to the displacement information in the above estimated orientation information can be determined as the coordinate origin of the coordinate system contained in the map storage area, and the frame point cloud data is loaded to the coordinate origin, and then the frame point is obtained and generated The cloud data is the angle information contained in the estimated orientation information of the object to be positioned, and the frame of point cloud data is rotated according to the above angle information, so that the environment map corresponding to the object to be positioned is drawn according to the rotated point cloud data. The purpose of this step is that if the obtained current frame point cloud data is the first frame point cloud data, then the first frame point cloud data can be directly loaded onto the environment map to update the environment map.

Step S104: If yes, match the frame of point cloud data with the environment map corresponding to the object to be located according to the estimated orientation information of the object to be located when the frame of point cloud data is generated, and update the environment corresponding to the object to be located according to the matching result map.

If it is determined in step S102 that the environment map corresponding to the object to be positioned is stored in the map storage area preset by the map. Then, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is matched with the environment map corresponding to the object to be positioned, and the environment map corresponding to the object to be positioned is updated according to the matching result. In the matching process, the estimated orientation information of the object to be positioned when the frame of point cloud data is generated can be initially matched with the previous frame of point cloud data of the frame of point cloud data, and then the frame point is determined according to the initial matching result The cloud data is the positioning orientation information of the object to be positioned, and then the environment map corresponding to the object to be positioned is updated according to the above positioning orientation information. After the initial matching, in order to improve the matching accuracy, the positioning orientation information of the object to be positioned when the frame of point cloud data is generated can also be matched with the environmental map for the second time, according to the secondary matching result of the frame of point cloud data and the environmental map The above positioning orientation information is corrected to obtain the corrected positioning orientation information, and then the environment map corresponding to the object to be positioned is updated according to the corrected positioning orientation information. In this embodiment, the primary matching can be performed alone, the secondary matching can also be performed after the primary matching, and other matching methods can also be used. The specific matching method can be set by those skilled in the art according to the actual situation. In this embodiment is not limited.

According to the point cloud-based map update method provided in this embodiment, after each frame of point cloud data is acquired, the estimated orientation information of the object to be positioned is determined when the frame of point cloud data is generated, and the preset Whether there is an environmental map corresponding to the object to be positioned stored in the map storage area; if not, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data, in the preset map storage area Draw the environment map corresponding to the object to be positioned; if so, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, match the frame of point cloud data with the environment map corresponding to the object to be positioned, according to The matching result updates the environment map corresponding to the object to be located. According to the method, the object to be positioned can also realize its real-time positioning, map building and timely update of the environmental map around its location when there is no satellite positioning signal, so that it can be realized in various working environments Map update function.

Fig. 2 shows a flow chart of a point cloud-based map update method provided by another embodiment of the present invention. As shown in Figure 2, the method includes the following steps:

Step S201: After each frame of point cloud data is acquired, determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated.

Wherein, the above estimated orientation information further includes displacement information and angle information. The estimated orientation information of the object to be positioned when the frame of point cloud data is generated can be determined by the following method: the angle information of the object to be positioned when the frame of point cloud data is generated is determined by an angle sensor arranged on the object to be positioned; Determine the displacement information of the object to be positioned when generating the point cloud data of this frame by the distance sensor arranged on the object to be positioned; determine the estimated orientation of the object to be positioned when generating the point cloud data of the frame according to the angle information and displacement information information. Wherein, the above-mentioned angle sensor can be a gyroscope, and can also be other sensors that can measure angles; the above-mentioned angle information of the object to be positioned can refer to the angle information of the object to be positioned relative to the two-dimensional coordinate system used to draw the environmental map, which can be Indicates the orientation information of the object to be positioned. The above-mentioned distance sensor may be an odometer, or other distance sensors capable of measuring distance information. In addition to determining the estimated orientation information of the object to be positioned when the frame of point cloud data is generated by the above method, other methods can also be used to determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, It is not limited here. Wherein, the object to be positioned may include a robot.

Step S202: Determine whether an environmental map corresponding to the object to be positioned is stored in the preset map storage area.

If it is determined that no environmental map corresponding to the object to be positioned is stored in the preset map storage area, steps S203-S205 are performed. If it is determined that the environment map corresponding to the object to be positioned is stored in the preset map storage area, steps S206-S208 are executed. The purpose of this step is to judge whether the acquired current frame point cloud data is the first frame point cloud data by judging whether the preset map storage area stores the environment map corresponding to the object to be positioned, if it is the first frame point cloud data If there is no environmental map corresponding to the object to be positioned in the preset map storage area, the first frame of point cloud data can be directly loaded onto the environmental map by performing the contents in steps S203-S205 to realize the environmental map update. If it is determined that the acquired current frame point cloud data is not the first frame point cloud data, steps S206-S208 may be performed to update the environment map.

Step S203: Obtain the displacement information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, and determine the position point corresponding to the displacement information as the coordinate origin of the coordinate system contained in the map storage area.

If there is no environmental map corresponding to the object to be positioned stored in the preset map storage area, then there is no point cloud orientation information corresponding to the previous frame of point cloud data. At this time, the estimated orientation information contained in the displacement information corresponding to The location point is determined as the coordinate origin of the coordinate system contained within the map storage area. For example, the displacement information contained in the estimated orientation information may be zero. Therefore, through this step, the current position (ie, the initial position) of the object to be positioned can be determined as the coordinate origin of the coordinate system.

Step S204: Load the frame of point cloud data to the origin of the coordinates, and obtain the angle information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated.

After loading the frame of point cloud data to the coordinate origin, since different angle information corresponds to different environmental maps corresponding to different environmental maps to be positioned, it is necessary to obtain the estimated orientation information of the object to be positioned when the frame of point cloud data is generated Include angle information.

Step S205: Rotate the frame of point cloud data loaded to the coordinate origin according to the angle information, and draw an environment map corresponding to the object to be positioned according to the rotated point cloud data.

After obtaining the angle information contained in the estimated orientation information, according to the above angle information, rotate the frame point cloud data loaded at the origin of the coordinates. The angle value of the rotation can be the value of the above angle information, and then according to the rotated point The cloud data draws an environment map corresponding to the object to be located.

Step S206: Determine the previous frame of point cloud data of the frame of point cloud data according to the environment map.

After receiving the current frame point cloud data, since the current environment map corresponding to the object to be positioned is established based on the obtained previous frame point cloud data, that is, the current environment map corresponding to the object to be positioned includes at least the current frame Information corresponding to the previous frame of point cloud data. Therefore, according to the environment map corresponding to the object to be positioned, the previous frame of point cloud data of the current frame of point cloud data can be obtained.

Step S207: According to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is initially matched with the previous frame of point cloud data.

Specifically, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the step of initially matching the frame of point cloud data with the previous frame of point cloud data may include: determining the initial positioning range according to the estimated orientation information ; Among them, the initial positioning range contains multiple positioning points. For each positioning position point, load the frame point cloud data to the positioning position point, perform a matching operation on the frame point cloud data loaded to the positioning position point and the previous frame point cloud data, and determine the ability to The location point that matches the point cloud data of the current frame with the point cloud data of the previous frame.

Specifically, the method of determining the initial positioning range according to the estimated orientation information may be: take the position corresponding to the positioning orientation information of the previous frame of point cloud data as the center of the circle, and use the distance information in the estimated orientation information as the radius of the circle The area is determined as the initial positioning range, or the position point corresponding to the positioning orientation information of the previous frame of point cloud data is used as the center point, and the square area whose side length is equal to twice the distance information value in the estimated orientation information is determined as Initial positioning range. In addition to the above methods, other methods can also be used to determine the initial positioning range. Then, a plurality of positioning position points may be obtained within the above-mentioned initial positioning range according to a preset sampling rule. For example, the distance between each positioning position point can be set in advance, and then each positioning position point is determined according to the distance. Finally, for each location point, the current frame point cloud data is loaded to the location point, and the matching operation is performed on the point cloud data of the current frame loaded to the location point and the point cloud data of the previous frame. Determine the positioning position point that can match the point cloud data of the current frame with the point cloud data of the previous frame, and determine the positioning orientation information of the object to be positioned when the point cloud data of the frame is generated according to the positioning position point. Wherein, the positioning orientation information refers to the position point where the object to be positioned is located (or more precisely, it refers to the position point where components such as the laser ranging radar and the gyroscope chip arranged on the object to be positioned are located). Correspondingly, the positioning orientation information of the previous frame of point cloud data refers to the position point where the object to be positioned is located when the previous frame of point cloud data is generated. Similarly, the positioning orientation information of the object to be positioned when the frame of point cloud data is generated refers to the position point where the object to be positioned is located when the frame of point cloud data is generated.

Wherein, the above matching operation includes: square difference operation, and may also include other operation methods. It is possible to use the point cloud matching algorithm that has the smallest distance square difference between the current frame point cloud data and the previous frame point cloud data loaded to a certain location point, and determine according to the calculation results that the current frame point cloud data can be compared with the previous frame point cloud data. Position points where frame point cloud data match each other. In addition to the above-mentioned point cloud matching algorithm with the smallest distance square difference, other point cloud matching algorithms can also be used, which will not be described here one by one.

Step S208: Determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result between the point cloud data of the frame and the point cloud data of the previous frame; update the environment map corresponding to the object to be positioned according to the positioning orientation information.

Specifically, according to the positioning position point that can match the point cloud data of the current frame with the point cloud data of the previous frame, the positioning orientation information of the object to be positioned when the point cloud data of the frame is generated is determined. Further, first determine the orientation and orientation information of the previous frame of point cloud data; then determine the displacement variation of the object to be located relative to the orientation and orientation information of the previous frame of point cloud data according to the initial matching result; finally, according to the previous frame of point cloud data The positioning orientation information and displacement variation of the frame point cloud data are determined to determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated. Fig. 3 shows a schematic diagram of positions when the point cloud data of the current frame is matched with the point cloud data of the previous frame. As shown in Fig. 3, point A indicates the location and orientation information of the previous frame of point cloud data, and point B indicates the location and orientation information of the current frame of point cloud data. If the distance between point A and point B is L, according to the distance L between point A and point B and the angle information obtained by the angle sensor set on the object to be positioned, it can be determined that the object to be positioned is relative to the point cloud of the previous frame The displacement variation of the positioning and orientation information of the data. Since the positioning and orientation information of the previous frame of point cloud data is known and relatively accurate, according to the positioning and orientation information of the previous frame of point cloud data and the displacement of the object to be positioned relative to the positioning and orientation information of the previous frame of point cloud data The amount of change can quickly and accurately determine the location and orientation information of the current frame point cloud data.

Optionally, after determining the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data, further according to the undetermined The positioning and orientation information of the location object is used to perform secondary matching on the frame point cloud data and the environment map. In this way, more accurate positioning and orientation information of the current frame point cloud data can be obtained, and the shortcoming that may fall into a local optimal value can be overcome, and the matching accuracy can be improved. Then, according to the secondary matching result of the frame point cloud data and the environment map, the positioning orientation information is corrected to obtain the corrected positioning orientation information. Specifically, if the point cloud data of the current frame is matched with the environment map for the second time according to the location and orientation information of the point cloud data of the current frame, the more accurate location and orientation information of the point cloud data of the current frame is obtained based on the first matching result. If there is a difference between the positioning and orientation information of the point cloud data of the current frame, the positioning and orientation information of the point cloud data of the current frame is corrected according to the secondary matching result to obtain the corrected positioning and orientation information of the point cloud data of the current frame. If there is no difference, then the corrected positioning orientation information of the current frame point cloud data is the positioning orientation information of the current frame point cloud data obtained according to the initial matching result.

Finally, the environment map corresponding to the object to be positioned is updated according to the corrected positioning orientation information. In order to understand the real-time positioning information of the object to be positioned and the surrounding environment map, it is necessary to update the map in time according to each frame of point cloud data acquired. After obtaining the corrected positioning and orientation information of the current frame point cloud data, the current frame point cloud data is loaded onto the environment map to realize the update of the environment map. According to this step, the environment map around the object to be positioned can be determined in real time. And, the object to be positioned is positioned according to the corrected positioning orientation information of the point cloud data of the current frame.

According to the point cloud-based map update method provided in this embodiment, after each frame of point cloud data is acquired, the estimated orientation information of the object to be positioned when the frame of point cloud data is generated is determined, and then by judging the preset map Whether the environment map corresponding to the object to be positioned is stored in the storage area is used to judge whether the obtained point cloud data of the current frame is the first frame point cloud data, and if it is the first frame point cloud data, the time to obtain and generate the point cloud data of the frame is to be determined Position the displacement information contained in the estimated orientation information of the object, determine the position point corresponding to the displacement information as the coordinate origin of the coordinate system contained in the map storage area; load the frame point cloud data to the coordinate origin, and obtain and generate the frame The point cloud data is the angle information contained in the estimated orientation information of the object to be positioned; and according to the angle information, the frame of point cloud data loaded to the origin of the coordinates is rotated, and the rotated point cloud data is drawn corresponding to the object to be positioned The environment map, so that the first frame point cloud data is directly loaded onto the environment map to update the environment map. If it is judged that there is an environmental map corresponding to the object to be positioned stored in the preset map storage area, the point cloud data of this frame is first matched with the point cloud data of the previous frame. In order to improve the matching accuracy and overcome the possibility of falling into local The shortcoming of the optimal value, the positioning orientation information of the object to be positioned generated according to the initial matching result and the environmental map will be matched twice, so that the above positioning orientation information will be corrected according to the secondary matching result of the point cloud data of the frame and the environmental map , to obtain the corrected positioning orientation information, and then update the environment map corresponding to the object to be positioned according to the corrected positioning orientation information. According to the method, the object to be positioned can realize real-time positioning, map building, and timely update the environmental map around its location even when there is no satellite positioning signal, so that the map can be updated in various working environments Function.

The methods in the above embodiments can be applied to SLAM (Simultaneous Localization And Mapping, real-time positioning and mapping) equipment, and can also be applied to other devices. Wherein, the above-mentioned SLAM device may include components such as a laser ranging radar, a gyroscope chip, a gyroscope, a computing chip, and a WIFI module. The gyroscope and the gyroscope chip can give the initial angle information of the laser ranging radar, and can also obtain the angle information (orientation information) of the object to be positioned contained in each frame of point cloud data. The laser ranging radar can add the obstacles measured by the laser ranging radar to the map according to the initial angle information. After that, the laser ranging radar can use the initial angle information given by the gyroscope chip and the existing part of the environmental map. The obstacle is matched to the corresponding position of the environment map, and the position information of the laser ranging radar at this time is obtained, and it is output as the positioning information. Then add the matched obstacle points to the map and update the map as the output map information. The above-mentioned mapping and positioning information is transmitted to the user's computer or mobile phone for display and storage through wireless output methods such as WIFI module or Bluetooth.

Fig. 4 shows a functional block diagram of an apparatus for updating a map based on point cloud provided by an embodiment of the present invention. As shown in FIG. 4 , the device includes: a determining module 401 , a judging module 402 , a drawing module 403 , and an updating module 404 .

Wherein, the determination module 401 is adapted to determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated each time a frame of point cloud data is acquired;

The judging module 402 is adapted to judge whether an environmental map corresponding to the object to be positioned is stored in the preset map storage area;

The drawing module 403 is adapted to, when the judgment result of the judging module 402 is No, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data, in the preset Drawing an environment map corresponding to the object to be positioned in the map storage area;

The update module 404 is adapted to combine the frame of point cloud data with the object to be positioned according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated when the judgment result of the judgment module 402 is yes. The corresponding environment map is matched, and the environment map corresponding to the object to be positioned is updated according to the matching result.

Additionally, in another embodiment of the present invention:

Wherein, the estimated orientation information further includes displacement information and angle information, and the drawing module 403 is further adapted to: acquire the displacement information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated determining the location point corresponding to the displacement information as the coordinate origin of the coordinate system included in the map storage area;

Loading the frame of point cloud data to the origin of the coordinates, obtaining the angle information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated;

Rotate the frame of point cloud data loaded at the coordinate origin according to the angle information, and draw an environment map corresponding to the object to be positioned according to the rotated point cloud data.

Optionally, the update module 404 is further adapted to:

Determine the previous frame of point cloud data of the frame of point cloud data according to the environment map;

According to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is initially matched with the previous frame of point cloud data;

Determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data;

Updating an environment map corresponding to the object to be positioned according to the positioning orientation information.

Optionally, the updating module 404 is further adapted to:

Determine the initial positioning range according to the estimated position information; wherein, the initial positioning range contains a plurality of positioning position points;

For each positioning position point, load the frame point cloud data to the positioning position point, perform a matching operation on the frame point cloud data loaded to the positioning position point and the previous frame point cloud data, according to the calculation result Determining the positioning position point that can make the point cloud data of the current frame and the point cloud data of the previous frame match each other;

Then, the step of determining the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data specifically includes:

According to the positioning position point capable of matching the point cloud data of the current frame with the point cloud data of the previous frame, determine the positioning orientation information of the object to be positioned when the point cloud data of the frame is generated.

Optionally, the matching operation includes: a square difference operation.

Optionally, the updating module 404 is further adapted to:

Determining the positioning and orientation information of the last frame of point cloud data;

Determine the displacement variation of the object to be positioned relative to the positioning orientation information of the previous frame of point cloud data according to the initial matching result;

According to the positioning orientation information of the previous frame of point cloud data and the displacement variation, determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated.

Optionally, the updating module 404 is further adapted to:

According to the positioning orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is matched with the environment map twice;

Correcting the positioning orientation information according to the secondary matching result of the frame point cloud data and the environmental map to obtain the corrected positioning orientation information;

An environment map corresponding to the object to be positioned is updated according to the corrected positioning orientation information.

Optionally, the determining module 401 is further adapted to:

determining the angle information of the object to be positioned when generating the current frame of point cloud data by means of an angle sensor arranged on the object to be positioned;

Determining the displacement information of the object to be positioned when generating the point cloud data of the current frame by means of a distance sensor arranged on the object to be positioned;

The estimated orientation information of the object to be positioned when the frame of point cloud data is generated is determined according to the angle information and the displacement information.

For the specific structure and working principle of each of the above modules, reference may be made to the description of the corresponding steps in the method embodiments, which will not be repeated here.

The above-mentioned device can be a separate SLAM device, and this SLAM device can be loaded on various types of robots separately, without being connected to other devices such as odometers set on the robot, to directly measure the operating environment map and real-time positioning of the robot information, which solves the positioning problem when there is no satellite positioning signal, and is easy to install without changing the existing system. In addition to the above-mentioned independent SLAM equipment, the above-mentioned devices may also be other devices, which will not be described one by one here.

The embodiment of the present application also provides a non-volatile computer storage medium, the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the point cloud-based map update in any of the above method embodiments method.

Fig. 5 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the electronic device.

As shown in FIG. 5 , the electronic device may include: a processor (processor) 502 , a communication interface (Communications Interface) 504 , a memory (memory) 506 , and a communication bus 508 .

in:

The processor 502 , the communication interface 504 , and the memory 506 communicate with each other through the communication bus 508 .

The communication interface 504 is configured to communicate with network elements of other devices such as clients or other servers.

The processor 502 is configured to execute the program 510, and specifically, may execute relevant steps in the above-mentioned embodiment of the point cloud-based map update method.

Specifically, the program 510 may include program codes including computer operation instructions.

The processor 502 may be a central processing unit CPU, or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the electronic device may be of the same type, such as one or more CPUs, or may be different types of processors, such as one or more CPUs and one or more ASICs.

The memory 506 is used for storing the program 510 . The memory 506 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

The program 510 can specifically be used to make the processor 502 perform the following operations:

After each frame of point cloud data is acquired, determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated;

Judging whether an environmental map corresponding to the object to be positioned is stored in the preset map storage area;

If not, draw an environment map corresponding to the object to be positioned in a preset map storage area according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data;

If so, match the frame of point cloud data with the environment map corresponding to the object to be positioned according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, and update the environment map corresponding to the object to be positioned according to the matching result.

In an optional manner, the estimated orientation information further includes displacement information and angle information, and the program 510 may be further used to make the processor 502 perform the following operations: acquire the information obtained when the frame of point cloud data is generated The displacement information contained in the estimated orientation information of the object to be positioned, and determining the position point corresponding to the displacement information as the coordinate origin of the coordinate system contained in the map storage area;

Loading the frame of point cloud data to the origin of the coordinates, obtaining the angle information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated;

Rotate the frame of point cloud data loaded at the coordinate origin according to the angle information, and draw an environment map corresponding to the object to be positioned according to the rotated point cloud data.

In an optional manner, the program 510 may be further specifically configured to enable the processor 502 to perform the following operations:

Determine the previous frame of point cloud data of the frame of point cloud data according to the environment map;

According to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is initially matched with the previous frame of point cloud data;

Determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data;

Updating an environment map corresponding to the object to be positioned according to the positioning orientation information.

In an optional manner, the program 510 may be further specifically configured to enable the processor 502 to perform the following operations:

Determine the initial positioning range according to the estimated position information; wherein, the initial positioning range contains a plurality of positioning position points;

For each positioning position point, load the frame point cloud data to the positioning position point, perform a matching operation on the frame point cloud data loaded to the positioning position point and the previous frame point cloud data, according to the calculation result Determining the positioning position point that can make the point cloud data of the current frame and the point cloud data of the previous frame match each other;

Then, the step of determining the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data specifically includes:

According to the positioning position point capable of matching the point cloud data of the current frame with the point cloud data of the previous frame, determine the positioning orientation information of the object to be positioned when the point cloud data of the frame is generated.

In an optional manner, the program 510 may be further specifically configured to enable the processor 502 to perform the following operations: the matching operation includes: a square difference operation.

In an optional manner, the program 510 may be further specifically configured to enable the processor 502 to perform the following operations: determine the location and orientation information of the last frame of point cloud data;

Determine the displacement variation of the object to be positioned relative to the positioning orientation information of the previous frame of point cloud data according to the initial matching result;

According to the positioning orientation information of the previous frame of point cloud data and the displacement variation, determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated.

In an optional manner, the program 510 may be further specifically configured to enable the processor 502 to perform the following operations:

According to the positioning orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is matched with the environment map twice;

Correcting the positioning orientation information according to the secondary matching result of the frame point cloud data and the environmental map to obtain the corrected positioning orientation information;

An environment map corresponding to the object to be positioned is updated according to the corrected positioning orientation information.

In an optional manner, the program 510 may be further specifically configured to enable the processor 502 to perform the following operations:

determining the angle information of the object to be positioned when generating the current frame of point cloud data by means of an angle sensor arranged on the object to be positioned;

Determining the displacement information of the object to be positioned when generating the point cloud data of the current frame by means of a distance sensor arranged on the object to be positioned;

The estimated orientation information of the object to be positioned when the frame of point cloud data is generated is determined according to the angle information and the displacement information.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other device. Various generic systems can also be used with the teachings based on this. The structure required to construct such a system is apparent from the above description. Furthermore, the present invention is not specific to any particular programming language. It should be understood that various programming languages can be used to implement the content of the present invention described herein, and the above description of specific languages is for disclosing the best mode of the present invention.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, in order to streamline this disclosure and to facilitate an understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art can understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. Modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method or method so disclosed may be used in any combination, except that at least some of such features and/or processes or units are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will understand that although some embodiments described herein include some features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention. and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to realize some or all functions of some or all of the components in the point cloud-based map updating device according to the embodiment of the present invention . The present invention can also be implemented as an apparatus or an apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

Claims (10)

1. A point cloud-based map update method, comprising: After each frame of point cloud data is acquired, determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated; judging whether an environmental map corresponding to the object to be positioned is stored in the preset map storage area; If not, draw the environment corresponding to the object to be positioned in the preset map storage area according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data map; If so, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is matched with the environment map corresponding to the object to be positioned, and the matching result is updated according to the matching result. The environment map corresponding to the bit object. 2. The method according to claim 1, wherein the estimated orientation information further comprises displacement information and angle information, and the estimated orientation information and For the frame of point cloud data, the step of drawing an environmental map corresponding to the object to be positioned in the preset map storage area specifically includes: Obtain the displacement information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, and determine the position point corresponding to the displacement information as the coordinate origin of the coordinate system contained in the map storage area ; Loading the frame of point cloud data to the origin of the coordinates, obtaining the angle information contained in the estimated orientation information of the object to be positioned when the frame of point cloud data is generated; Rotate the frame of point cloud data loaded at the coordinate origin according to the angle information, and draw an environment map corresponding to the object to be positioned according to the rotated point cloud data. 3. The method according to claim 1 or 2, wherein, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame point cloud data is combined with the object to be positioned The corresponding environment map is matched, and the step of updating the environment map corresponding to the object to be positioned according to the matching result specifically includes: Determine the previous frame of point cloud data of the frame of point cloud data according to the environment map; According to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is initially matched with the previous frame of point cloud data; Determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data; Updating an environment map corresponding to the object to be positioned according to the positioning orientation information. 4. The method according to claim 3, wherein, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is combined with the previous frame of point cloud The steps for initial data matching include: Determine the initial positioning range according to the estimated position information; wherein, the initial positioning range contains a plurality of positioning position points; For each positioning position point, load the frame point cloud data to the positioning position point, perform a matching operation on the frame point cloud data loaded to the positioning position point and the previous frame point cloud data, according to the calculation result Determining the positioning position point that can make the point cloud data of the current frame and the point cloud data of the previous frame match each other; Then, the step of determining the positioning orientation information of the object to be positioned when the frame of point cloud data is generated according to the initial matching result of the frame of point cloud data and the previous frame of point cloud data specifically includes: According to the positioning position point capable of matching the point cloud data of the current frame with the point cloud data of the previous frame, determine the positioning orientation information of the object to be positioned when the point cloud data of the frame is generated. 5. The method according to claim 4, wherein the matching operation comprises: a square difference operation. 6. according to the method described in any one of claim 3-5, wherein, described according to this frame point cloud data and the initial matching result of described last frame point cloud data, when generating this frame point cloud data, described to-be-positioned The steps of locating the orientation information of the object specifically include: Determining the positioning and orientation information of the last frame of point cloud data; Determine the displacement variation of the object to be positioned relative to the positioning orientation information of the previous frame of point cloud data according to the initial matching result; According to the positioning orientation information of the previous frame of point cloud data and the displacement variation, determine the positioning orientation information of the object to be positioned when the frame of point cloud data is generated. 7. The method according to claim 5 or 6, wherein, according to the initial matching result of the frame point cloud data and the previous frame point cloud data, the position of the object to be positioned is determined when the frame point cloud data is generated. Positioning orientation information; the step of updating the environmental map corresponding to the object to be positioned according to the positioning orientation information specifically includes: According to the positioning orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data is matched with the environment map twice; Correcting the positioning orientation information according to the secondary matching result of the frame point cloud data and the environmental map to obtain the corrected positioning orientation information; An environment map corresponding to the object to be positioned is updated according to the corrected positioning orientation information. 8. A device for updating maps based on point clouds, comprising: The determination module is adapted to determine the estimated orientation information of the object to be positioned when the frame of point cloud data is generated each time a frame of point cloud data is acquired; The judging module is adapted to judge whether an environmental map corresponding to the object to be positioned is stored in the preset map storage area; The drawing module is adapted to, when the judging result of the judging module is negative, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated and the frame of point cloud data, to store in the preset map Draw an environment map corresponding to the object to be positioned in the area; The update module is adapted to, when the judgment result of the judging module is yes, according to the estimated orientation information of the object to be positioned when the frame of point cloud data is generated, the frame of point cloud data corresponding to the object to be positioned The environment map is matched, and the environment map corresponding to the object to be positioned is updated according to the matching result. 9. An electronic device, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface complete mutual communication through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction causes the processor to perform operations corresponding to the method for updating a map based on point cloud according to any one of claims 1-7. 10. A computer storage medium, at least one executable instruction is stored in the storage medium, and the executable instruction causes the processor to execute the point cloud-based map update method according to any one of claims 1-7 corresponding operation.