OPTOELECTRONIC MOUSE SENSOR MODULE-BASED METHOD AND SYSTEM FOR CREATING INDOOR MAP

摘要

The present disclosure provides an optoelectronic mouse sensor module-based method and system for creating an indoor map. The method comprises: mapping a coordinate system of an optoelectronic mouse sensor module to a ground coordinate system in which a robot is located to obtain a correspondence; step S1: during a mobile detection process performed on an indoor environment of which an environment map is to be created, acquiring i^th obstacle detection data and i^th optoelectronic coordinates in an optoelectronic coordinate system, wherein i is an integer greater than or equal to 1; step S2: calculating i^th ground position coordinates of the robot in the ground coordinate system according to the i^th optoelectronic position coordinates and (i-1)^th optoelectronic position coordinates; and step S3: creating the environment map of the indoor environment according to the i^th ground position coordinates and the i^th obstacle detection data. The present disclosure provides advantages of having high measuring accuracy, good linearity, a large measurement range and low costs.