Robot pose determination method and apparatus and robot using the same

A pose determination apparatus for a robot having a lidar, comprising:

• a laser frame obtaining module configured to collect laser frames through the lidar of the robot;
• a pose calculation module configured to calculate a current pose of the robot in a map pointed by a preset first pointer based on the laser frames;
• a frame amount obtaining module configured to obtain an amount of the laser frames having been inserted into the map pointed by the first pointer;
• a first processing module configured to insert the laser frames into a map pointed by the first pointer, in response to the amount of the laser frames being less than a preset first threshold;
• a second processing module configured to insert the laser frames into the map pointed by the first pointer and a map pointed by a preset second pointer, in response to the amount of the laser frames being greater than or equal to the first threshold and being less than a preset second threshold;
• and
• a third processing module configured to point the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, in response to the amount of the laser frames being equal to the second threshold.

A robot, comprising:

• a lidar;
• a memory;
• a processor;
• and
• one or more computer programs stored in the memory and executable on the processor, wherein the one or more computer programs comprise:
• instructions for collecting laser frames through the lidar of the robot;
• instructions for calculating a current pose of the robot in a map pointed by a preset first pointer based on the laser frames, and obtaining an amount of the laser frames having been inserted into the map pointed by the first pointer;
• instructions for inserting the laser frames into a map pointed by the first pointer, in response to the amount of the laser frames being less than a preset first threshold;
• instructions for inserting the laser frames into the map pointed by the first pointer and a map pointed by a preset second pointer, in response to the amount of the laser frames being greater than or equal to the first threshold and being less than a preset second threshold;
• and
• instructions for pointing the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, in response to the amount of the laser frames being equal to the second threshold.