Mapping method, computer-readable storage medium, and robot

A non-transitory computer-readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for collecting, by a first lidar of a robot, a current laser key frame to take as a first laser key frame;
• instructions for calculating a current pose of the robot based on the first laser key frame;
• instructions for updating a first probability map based on the current pose and the first laser key frame, wherein the first probability map is a probability map corresponding to the first lidar;
• instructions for collected, by a second lidar of the robot, a current laser key frame to take as a second laser key frame, wherein the first lidar is installed higher than the second lidar;
• instructions for updating a second probability map based on the current pose and the second laser key frame, wherein the second probability map is a probability map corresponding to the second lidar;
• instructions for generating a first grid map corresponding to the updated first probability map;
• instructions for generating a second grid map corresponding to the updated second probability map;
• instructions for obtaining a fused grid map by aligning the first grid map and the second grid map according to a preset relative pose conversion relationship between the first lidar and the second lidar;
• instructions for determining a grid in the fused grid map for navigating the robot as a black grid, in response to the grid meeting a first preset condition that the grid corresponds to a black grid in the first grid map;
• instructions for determining the grid in the fused grid map as a white grid, in response to the grid meeting a second preset condition that the grid corresponds to a grid that is not a black grid in the first grid map but corresponds to a white grid in the second grid map;
• and
• instructions for determining the grid in the fused grid map as a gray grid, in response to the grid neither meeting the first preset condition nor meeting the second preset condition.

A robot, comprising:

• a first lidar;
• a second lidar, wherein the first lidar is installed higher than the second lidar;
• a processor;
• a memory coupled to the 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, by the first lidar, a current laser key frame to take as a first laser key frame;
• instructions for calculating a current pose of the robot based on the first laser key frame;
• instructions for updating a first probability map based on the current pose and the first laser key frame, wherein the first probability map is a probability map corresponding to the first lidar;
• instructions for collected, by the second lidar, a current laser key frame to take as a second laser key frame;
• instructions for updating a second probability map based on the current pose and the second laser key frame, wherein the second probability map is a probability map corresponding to the second lidar;
• instructions for generating a first grid map corresponding to the updated first probability map;
• instructions for generating a second grid map corresponding to the updated second probability map;
• instructions for obtaining a fused grid map by aligning the first grid map and the second grid map according to a preset relative pose conversion relationship between the first lidar and the second lidar;
• instructions for determining a grid in the fused grid map for navigating the robot as a black grid, in response to the grid meeting a first preset condition that the grid corresponds to a black grid in the first grid map;
• instructions for determining the grid in the fused grid map as a white grid, in response to the grid meeting a second preset condition that the grid corresponds to a grid that is not a black grid in the first grid map but corresponds to a white grid in the second grid map;
• and
• instructions for determining the grid in the fused grid map as a gray grid, in response to the grid neither meeting the first preset condition nor meeting the second preset condition.