A method, device, equipment and medium for creating a map

Abstract

Embodiments of the present invention provide a map creation method, apparatus, device and medium. In the embodiments of the present invention, an instruction for setting a location is received during a robot map building process. After receiving the instruction, the posture information of the robot's current position in the established map is determined. According to the posture information, the corresponding area of ​​the robot's current position in the established map is identified as a target location. Therefore, the robot completes the location setting during the map building process, that is, the robot only needs to move once to achieve map building and location setting, which reduces the time spent by the robot in map building, improves the work efficiency of the robot in map building, and also improves the user experience.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a map creation method, device, equipment and medium. Background Art

[0002] With the continuous development of robot technology, more and more robots are applied to people's lives and work, bringing convenience to people's lives and work. In order to realize their own functions, such as sweeping the floor and transporting items, robots need to scan the surrounding environment to build a map before realizing their functions, and realize their own functions based on the map. Sometimes, in the process of realizing their own functions, robots need to navigate to the set target locations and perform specific operations at these target locations. For example, let the robot lead to a certain target location, so it is necessary to determine the target location on the established map in advance before navigation.

[0003] In the prior art, the method for determining the navigation target location information is that after the robot creates a map by scanning, the map is uploaded to a computer, and the user finds the target location on the map through the computer, and then manually marks the location of the target location on the map and fills in the corresponding target location name. Since the location of the target location needs to be manually marked on the map after obtaining the map, the process of determining the target location information is time-consuming, prone to errors, and low in accuracy. If the map is misunderstood, the determined target location is also prone to errors. Summary of the invention

[0004] The embodiments of the present invention provide a map creation method, device, equipment and medium to solve the problems in the prior art that when a robot creates a map, it takes a long time, is prone to errors and has low precision.

[0005] An embodiment of the present invention provides a map creation method, which is applied to a first controller controlling a robot chassis, and the method comprises:

[0006] In the process of establishing a map of the surrounding environment, receiving an instruction for setting a location sent by a second controller of the robot, wherein the instruction carries information of a target location to be identified;

[0007] Determine the posture information of the current position of the robot in the established map, identify the corresponding area of ​​the current position of the robot in the established map as the target location according to the posture information, and establish a corresponding relationship between the posture information and the identification information of the target location, wherein the identification information is assigned to the target location by the first controller according to the information of the target location;

[0008] The corresponding relationship is sent to the second controller.

[0009] In a possible implementation, the method further includes:

[0010] Obtaining a target acquisition position when the robot acquires target key frame data for mapping, wherein the target key frame data is key frame data that meets the requirements and is acquired by the robot before receiving the instruction;

[0011] According to the target acquisition position, first relative position information of the target location relative to each of the target acquisition positions is determined.

[0012] In a possible implementation manner, the requirements satisfied by the target key frame data include:

[0013] a set number of key frame data collected by the robot before receiving the instruction; or

[0014] The key frame data in which the distance between the collection position collected by the robot and the target location is within a threshold range before receiving the instruction.

[0015] In a possible implementation manner, determining, according to the target acquisition position, first relative position information of the target location relative to each of the target acquisition positions includes:

[0016] For each of the target acquisition positions, a first coordinate system with the target acquisition position as the origin is constructed, and the coordinates of the target location in the first coordinate system are determined as first relative position information of the target location relative to the target acquisition position.

[0017] In a possible implementation, the method further includes:

[0018] If the posture information of any target collection position in the established map is updated, then for any target location in the established map, the posture information of the target location in the established map is re-determined based on the first relative posture information between the target location and its corresponding target collection position.

[0019] In a possible implementation, updating the position information of any target acquisition position in the established map includes:

[0020] For the first key frame data currently collected by the robot, if there is a second key frame data having the same collection position as the first key frame data among the key frame data collected by the robot, then obtaining the posture information of the collection position of the first key frame data in the established map and the posture information of the collection position of the second key frame data in the established map, and determining the second relative posture information of the posture information corresponding to the first key frame data and the posture information corresponding to the second key frame data;

[0021] According to the second relative posture information, the deviation information between the acquisition position of the first key frame data and the acquisition position of the second key frame data is determined, and according to the deviation information, the posture information of the acquisition position of each key frame data in the established map is updated.

[0022] In a possible implementation, re-determining the position information of the target location in the established map according to the first relative position information of the target location and its corresponding target collection position includes:

[0023] The position and posture information of the target location in the established map is re-determined according to the second relative position and posture information and the updated position and posture information of the target acquisition position.

[0024] In a possible implementation, re-determining the position information of the target location in the established map according to the second relative position information and the updated position information of the target acquisition position includes:

[0025] If the target location corresponds to only one target collection location, in the established map, construct a second coordinate system with the updated posture information of the target collection location as the origin; determine the first position of the target location in the second coordinate system based on the second relative posture information; and re-determine the posture information of the target location based on the posture information of the first position in the established map.

[0026] In a possible implementation, re-determining the position information of the target location in the established map according to the second relative position information and the updated position information of the target acquisition position includes:

[0027] If it is determined that there are at least two target collection positions corresponding to the target location, then for each target collection position, a third coordinate system with the updated posture information of the target collection position as the origin is constructed in the established map; based on the second relative posture information, the second position of the target location in the third coordinate system is determined; based on each second position, the target position of the target location in the established map is determined, and based on the posture information of the target position in the established map, the posture information of the target location is re-determined.

[0028] An embodiment of the present invention further provides a map creation method, which is applied to a second controller controlling a robot, and the method comprises:

[0029] When the robot builds a map of the surrounding environment, receiving an instruction for setting a location, wherein the instruction carries information of a target location to be identified, and sending the instruction to a first controller for controlling the robot chassis;

[0030] Receive the correspondence between the posture information of the robot's current position in the established map and the identification information of the target location sent by the first controller, and save the correspondence between the target location, the posture information and the identification information, wherein the identification information is allocated to the target location by the first controller based on the information of the target location.

[0031] The embodiment of the present invention further provides a map creation device, which is applied to a first controller controlling a robot chassis, and the device comprises:

[0032] A receiving module, used for receiving a location setting instruction sent by the second controller of the robot in the process of establishing a map of the surrounding environment, wherein the instruction carries information of a target location to be identified;

[0033] A mapping module, used to determine the posture information of the current position of the robot in the established map, identify the corresponding area of ​​the current position of the robot in the established map as the target location according to the posture information, and establish a corresponding relationship between the posture information and the identification information of the target location, wherein the identification information is assigned to the target location by the first controller according to the information of the target location;

[0034] A sending module is used to send the corresponding relationship to the second controller.

[0035] In a possible implementation, the mapping module is further used to obtain a target collection position when the robot collects target key frame data for mapping, wherein the target key frame data is key frame data that meets the requirements and is collected by the robot before receiving the instruction; and determine, based on the target collection position, first relative posture information of the target location relative to each of the target collection positions.

[0036] In a possible implementation manner, the requirements satisfied by the target key frame data include:

[0037] a set number of key frame data collected by the robot before receiving the instruction; or

[0038] The key frame data in which the distance between the collection position collected by the robot and the target location is within a threshold range before receiving the instruction.

[0039] In a possible implementation, the mapping module is specifically used to construct, for each target acquisition position, a first coordinate system with the target acquisition position as the origin, and determine the coordinates of the target location in the first coordinate system as the first relative posture information of the target location relative to the target acquisition position.

[0040] In a possible implementation, the mapping module is also used to, if the posture information of any target collection location in the established map is updated, then, for any target location in the established map, re-determine the posture information of the target location in the established map based on the first relative posture information of the target location and its corresponding target collection location.

[0041] In a possible implementation, the mapping module is specifically used to obtain, for the first key frame data currently collected by the robot, the posture information of the collection position of the first key frame data in the established map and the posture information of the collection position of the second key frame data in the established map, and determine the second relative posture information of the posture information corresponding to the first key frame data and the posture information corresponding to the second key frame data; determine the deviation information between the collection position of the first key frame data and the collection position of the second key frame data according to the second relative posture information, and update the posture information of the collection position of each key frame data in the established map according to the deviation information.

[0042] In a possible implementation, the mapping module is specifically configured to re-determine the pose information of the target location in the established map according to the second relative pose information and the updated pose information of the target acquisition position.

[0043] In a possible implementation, the mapping module is specifically used to construct, in an established map, a second coordinate system with the updated posture information of the target collection position as the origin if the target location corresponds to one target collection position; determine the first position of the target location in the second coordinate system based on the second relative posture information; and re-determine the posture information of the target location based on the posture information of the first position in the established map.

[0044] In a possible implementation, the mapping module is specifically used to, if it is determined that there are at least two target acquisition positions corresponding to the target location, then, for each target acquisition position, construct a third coordinate system in the established map with the updated posture information of the target acquisition position as the origin; determine the second position of the target location in the third coordinate system based on the second relative posture information; determine the target position of the target location in the established map based on each second position, and re-determine the posture information of the target location based on the posture information of the target position in the established map.

[0045] An embodiment of the present invention further provides a map creation device, which is applied to a second controller controlling a robot, and the device comprises:

[0046] a transceiver module, configured to receive an instruction for setting a location when the robot establishes a map of the surrounding environment, wherein the instruction carries information of a target location to be identified, and send the instruction to a first controller for controlling the robot chassis; and receive a correspondence between the position information of the robot's current location in the established map and the identification information of the target location sent by the first controller;

[0047] A storage module is used to store the correspondence between the target location, the position information and the identification information, wherein the identification information is allocated to the target location by the first controller according to the information of the target location.

[0048] An embodiment of the present invention further provides an electronic device, which includes at least a processor and a memory, and the processor is used to implement the steps of any of the above-mentioned map creation methods when executing a computer program stored in the memory.

[0049] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program implements the steps of any of the above-mentioned map creation methods when executed by a processor.

[0050] In the embodiment of the present invention, in the process of establishing a map of the surrounding environment, the command for setting a location sent by the second controller of the robot is received, wherein the command carries the information of the target location to be identified, the posture information of the current position of the robot in the established map is determined, and according to the posture information, the corresponding area of ​​the current position of the robot in the established map is identified as the target location, and a corresponding relationship between the posture information and the identification information of the target location is established, and the identification information is assigned to the target location by the first controller according to the information of the target location, and the corresponding relationship is sent to the second controller. In the embodiment of the present invention, the command for setting a location is received in the process of the robot building a map, and after receiving the command, the posture information of the current position of the robot in the established map is determined, and the corresponding area of ​​the current position of the robot in the established map is identified as the target location according to the posture information, so the robot completes the location setting in the process of building a map, that is, the robot only needs to move once to achieve map building and location setting, which reduces the time consumed by the robot in creating a map, improves the work efficiency of the robot in creating a map, and also improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A schematic diagram of a map creation process provided by an embodiment of the present invention;

[0053] Figure 2 A schematic diagram of a map creation process provided by an embodiment of the present invention;

[0054] Figure 3 A schematic diagram of the structure of a map creation and configuration device provided by an embodiment of the present invention;

[0055] Figure 4 A schematic diagram of the structure of a map creation and configuration device provided by an embodiment of the present invention;

[0056] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0057] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] In order to reduce the time consumed by a robot in creating a map, improve the efficiency of the robot in creating a map, and enhance the user experience, an embodiment of the present invention provides a map creation method, apparatus, device, and medium.

[0060] Embodiment 1:

[0061] Figure 1 A schematic diagram of a map creation process provided by an embodiment of the present invention, the process includes:

[0062] S101: In the process of building a map of the surrounding environment, receiving a location setting instruction sent by a second controller of the robot, wherein the instruction carries information of a target location to be identified.

[0063] A map creation method provided in an embodiment of the present invention is applied to a controller for controlling a robot chassis. In order to distinguish it from other controllers of the robot, the controller of the robot chassis is referred to as a first controller in the embodiment of the present invention.

[0064] In the embodiment of the present invention, when the robot creates a map, when certain conditions are met, the robot will record key frame data at the current position. Specifically, it can be when the time interval between the current time and the acquisition time of the previous key frame data is a preset time interval; it can also be when the distance between the current position and the acquisition position of the previous key frame data is a preset distance, etc. After the key frame data is collected, if the key frame data is the first key frame data collected, the map is created according to the key frame data. If the key frame data is not the first key frame data collected, the robot fuses the current key frame data with each key frame data collected before, and updates the established map.

[0065] In the embodiment of the present invention, when the first controller of the robot chassis is building a map of the surrounding environment, the user can send a location setting instruction to the robot at any time, and after receiving the instruction, the second controller of the robot sends the location setting instruction to the first controller. The second controller of the robot is installed with a robot operating system (OS).

[0066] In some embodiments, the user can send instructions by voice, by touching the function keys on the robot display screen, or by gestures, etc. The specific implementation form of the instructions is not limited in the embodiments of the present invention.

[0067] In addition, in an embodiment of the present invention, the instruction carries information of a target location to be identified, and the information of the target location may be a name or number of the target location, for example, the target location to be identified may be name information such as a front desk, an office, or a supermarket.

[0068] S102: Determine the posture information of the robot's current position in the established map, identify the corresponding area of ​​the robot's current position in the established map as the target location based on the posture information, and establish a correspondence between the posture information and the identification information of the target location, wherein the identification information is allocated to the target location by the first controller based on the information of the target location.

[0069] In an embodiment of the present invention, after receiving the instruction to set the location, the first controller determines the posture information of the current position of the robot in the established map. Specifically, based on the collected data (such as radar data, odometer data, visual data, etc.), the current position of the robot is identified, and the position of the current position in the established map is determined, and the posture information corresponding to the position is determined as the posture information of the current position of the robot in the established map, and the corresponding area of ​​the current position of the robot in the established map is identified as the target location. The posture information includes at least one of posture information, coordinate information, angle information, etc., wherein the posture information can be the orientation information of the robot. In an embodiment of the present invention, each target location will occupy a certain area. When creating a map, the posture information corresponding to the current position in the established map can be determined in the established map, and the area containing the current position is used as the corresponding area of ​​the current position in the established map, and the information of the target location is marked at any point in the area in the established map. When marking, the name information of the target location may be directly used as the identifier, or the icon of the target location may be used as the identifier. The specific identification method is not limited in the embodiment of the present invention.

[0070] In addition, in an embodiment of the present invention, after receiving the instruction, in order to avoid the first controller being unable to determine the target location based on the information of the target location when there are other locations with the same information as the target location in the established map, such as when there are two offices in the established map, the first controller will also generate identification information corresponding to the target location based on the information of the target location. In an embodiment of the present invention, the identification information of each target location is different, and the identification information can be an ID used to uniquely identify the target location, and the ID can be numbers, letters, or a combination of numbers and letters.

[0071] After generating the identification information corresponding to the target location, the first controller establishes a correspondence between the identification information and the position information of the target location, and saves the correspondence.

[0072] S103: Send the corresponding relationship to the second controller.

[0073] In an embodiment of the present invention, after the first controller establishes and saves the correspondence between the position information of the target location and the identification information of the target location, the correspondence is sent to the second controller, so that after the map is created, the second controller can navigate according to the created map and the correspondence between the target locations.

[0074] In an embodiment of the present invention, an instruction for setting a location can be received during the process of the robot building a map. After receiving the instruction, the posture information of the robot's current position in the established map is determined, and the corresponding area of ​​the robot's current position in the established map is identified as the target location based on the posture information. That is, in an embodiment of the present invention, the robot only needs to move once to achieve map building and location setting at the same time, which reduces the time spent by the robot in creating a map, improves the work efficiency of the robot in creating a map, and also improves the user experience.

[0075] Embodiment 2:

[0076] If the pose information of any target collection position in the established map is updated, it is necessary to re-determine the pose information of the target location in the established map to improve the accuracy of map building. Based on the above embodiment, in an embodiment of the present invention, the method further includes:

[0077] Obtaining a target acquisition position when the robot acquires target key frame data for mapping, wherein the target key frame data is key frame data that meets the requirements and is acquired by the robot before receiving the instruction;

[0078] According to the target acquisition position, first relative position information of the target location relative to each of the target acquisition positions is determined.

[0079] In an embodiment of the present invention, after the pose information of the target location is determined in the established map, the collection positions of the key frames in the map established by the robot may deviate from the actual collection positions in the subsequent mapping process. In order to ensure the accuracy of mapping, it is necessary to update the pose information of the collection positions corresponding to the key frame data in the established map, and at the same time, the pose information of the target location in the established map will be re-determined.

[0080] In order to more conveniently and quickly determine the location information of the target location in the established map, in an embodiment of the present invention, when the target location is identified in the established map, the first controller will also save the first relative posture information of the target location and the target collection position of the target key frame data, so that when the posture information of the target location in the established map is subsequently re-determined, it can be determined based on the first relative posture information.

[0081] In order to avoid wasting resources, the first controller will obtain target key frame data that meets the requirements from all the key frame data according to the pre-saved requirements, and obtain the target acquisition position for acquiring the target key frame data. In an embodiment of the present invention, the number of target key frame data determined by the first controller can be one or more, and accordingly, the target acquisition position obtained may be one or more.

[0082] In an embodiment of the present invention, for each target acquisition position, a first coordinate system with the target acquisition position of the target key frame data as the origin is constructed according to the target acquisition position, and the coordinates of the target location in the first coordinate system are determined as the first relative position and posture information of the target location relative to the target acquisition position. The first relative position and posture information includes at least one of coordinate information, posture information, angle information, etc.

[0083] Embodiment 3:

[0084] In order to avoid the time consumption of determining the first relative posture information of the acquisition position of each key frame data and the target location and reduce the load pressure of the first controller, on the basis of the above embodiments, in an embodiment of the present invention, the requirements satisfied by the target key frame data include:

[0085] a set number of key frame data collected by the robot before receiving the instruction; or

[0086] The key frame data in which the distance between the collection position collected by the robot and the target location is within a threshold range before receiving the instruction.

[0087] In the embodiment of the present invention, the requirement satisfied by the target key frame data may be a set number of key frame data collected by the robot before receiving the instruction. The number can be set as needed. When there is a high requirement for the accuracy of the map, the number can be set larger. If the accuracy requirement is not too high, the number can be set smaller. Generally, the number can be set to 1, that is, the key frame data collected before receiving the instruction is determined to be the target key frame data.

[0088] In an embodiment of the present invention, the distance between the collection position of the key frame data collected before receiving the instruction and the target location can also be determined according to a preset threshold range within the threshold range, and the key frame data corresponding to the distance can be determined as the target key frame data that meets the requirements.

[0089] If in the established map, the distance between the target location and the collection position of each key frame data is not within the threshold range, then the distance between the collection position of the key frame data collected before receiving the instruction and the target location will be arranged in order from near to far, and the key frame data corresponding to one or more collection positions closest to the target location will be determined as the target key frame data.

[0090] Embodiment 4:

[0091] In order to accurately determine the first relative position information of the target location relative to each target collection position and improve the efficiency of the robot in creating a map, based on the above embodiments, in an embodiment of the present invention, determining the first relative position information of the target location relative to each target collection position according to the target collection position includes:

[0092] For each of the target acquisition positions, a first coordinate system with the target acquisition position as the origin is constructed, and the coordinates of the target location in the first coordinate system are determined as first relative position information of the target location relative to the target acquisition position.

[0093] In an embodiment of the present invention, after the pose information of the target location is determined in the established map, the pose information of the acquisition position of the key frame data in the established map may be updated in the subsequent mapping process, resulting in the adjustment of the established map. In order to update the pose information of the target location accordingly, in an embodiment of the present invention, the first relative pose information of the target location and the target acquisition position of the target key frame data is saved, so that after the pose information of the target key frame acquisition position in the established map is updated, the pose information of the target location in the established map is re-determined according to the first relative pose information.

[0094] Since the number of target key frame data determined by the first controller is one or more, a first coordinate system with the target acquisition position of the target key frame data as the origin is constructed for each target key frame data, and the coordinates of the target location in the first coordinate system are determined as the first relative posture information of the target location relative to the target acquisition position.

[0095] Wherein, when establishing the first coordinate system, the direction of the coordinate axis of the first coordinate system is a pre-set direction, which can be the east, west, south, north and other directions in the established map, or other directions. And when there are multiple target acquisition positions that meet the requirements of the target key frame data, a first coordinate system is established for each target acquisition position, and each first coordinate system does not affect each other, so the direction of the coordinate axis of each first coordinate system can be the same or different, as long as it is ensured that after the posture information of the target acquisition position is updated, according to the updated posture information of the target acquisition position and the first relative posture information, when re-determining the posture information of the target location in the established map, the coordinate system used is the same as the direction of the coordinate axis of the first coordinate system used when determining the first relative posture. In order to save the storage space of the robot, when establishing the first coordinate system, the directions of the coordinate axes of the first coordinate system are generally the same, so that the robot only needs to store the direction of one coordinate axis, saving storage space.

[0096] For example, the X-axis direction of the coordinate axis of the first coordinate system pre-stored in the first controller is the east-west direction, and the Y-axis direction is the north-south direction, and the directions of the coordinate axes of the first coordinate system established for each target acquisition position in the first controller are consistent. Therefore, in the first controller, after determining the target key frame data that meets the requirements, for each target key frame data, a first coordinate system is constructed with the target acquisition position of the target key frame data as the origin, the east-west direction as the X-axis, and the north-south direction as the Y-axis, and the coordinate information of the target location in the first coordinate system is determined.

[0097] Embodiment 5:

[0098] After the pose information of the target acquisition position is updated, in order to realize the re-determination of the pose information of the target location in the established map and improve the efficiency of re-determining the pose information of the target location, on the basis of the above embodiments, in an embodiment of the present invention, the method further includes:

[0099] If the posture information of any target collection position in the established map is updated, then for any target location in the established map, the posture information of the target location in the established map is re-determined based on the first relative posture information between the target location and its corresponding target collection position.

[0100] In an embodiment of the present invention, the robot may move in a loop during the process of creating a map, that is, the robot has been to the current position before, and the posture information of the current position has been recorded in the established map. This is the time when the robot comes to the position again. At this time, key frame data may be collected again, and the posture information of the current position in the established map will be recorded again. If the posture information recorded twice is different, it is necessary to update the collection position corresponding to the key frame data in the established map.

[0101] When updating the acquisition position corresponding to the key frame data in the established map, the acquisition position corresponding to the key frame data in the established map can be updated immediately after determining that the posture information of the two records is different; or after determining that the posture information of the two records is different, the acquisition position is determined to be recorded, and when the robot stops scanning the surrounding environment, the acquisition position corresponding to the key frame data in the established map is updated. And because the difference in the posture information of the two records is caused by the error of the robot when creating the map, in order to minimize the impact of this update on the accuracy of the established map, while updating the acquisition position corresponding to the key frame data, the acquisition positions of other key frame data in the established map will also be updated accordingly to share this error and avoid the error being borne only by the acquisition position.

[0102] Therefore, if the posture information of any target collection position in the established map is updated, the posture information of the target location that has a first relative posture information with the target collection position in the established map should also be updated to improve the accuracy of the position of the target location in the established map.

[0103] After the pose information of the target acquisition position is updated, in order to realize the re-determination of the pose information of the target location in the established map and improve the efficiency of re-determining the pose information of the target location, based on the above embodiments, in an embodiment of the present invention, updating the pose information of any of the target acquisition positions in the established map includes:

[0104] For the first key frame data currently collected by the robot, if there is a second key frame data having the same collection position as the first key frame data among the key frame data collected by the robot, then obtaining the pose information of the collection position of the first key frame data in the established map and the pose information of the collection position of the second key frame data in the established map, and determining second relative pose information of the pose information corresponding to the first key frame data and the pose information corresponding to the second key frame data; and

[0105] According to the second relative posture information, the deviation information between the acquisition position of the first key frame data and the acquisition position of the second key frame data is determined, and according to the deviation information, the posture information of the acquisition position of each key frame data in the established map is updated.

[0106] Specifically, in an embodiment of the present invention, when the robot is creating a map, if the first key frame data currently collected by the robot and the existing second key frame data detect a closed loop, that is, the collection position corresponding to the currently collected first key frame data is consistent with the collection position corresponding to the existing second key frame data, and the collection position of the first key frame data and the collection position of the second key frame data are not the same in the established map, the established map needs to be adjusted to eliminate the deviation. In an embodiment of the present invention, when the robot creates a map, it creates it based on the key frame data it collects. The key frame data is the robot's scan of the surrounding environment. When the robot creates a map based on the key frame data, deviations may occur due to calculation and other issues, resulting in the collection position corresponding to the currently collected first key frame data being the same as the collection position corresponding to the existing second key frame data, but the collection position of the first key frame data and the collection position of the second key frame data are not the same in the established map. For example, when creating a map, the robot will turn on the GPS positioning function to locate its location. When the robot recognizes that the longitude and latitude of the collection location of the currently collected first key frame data are the same as the longitude and latitude of the collection location of the previously collected second key frame data, it is determined that the collection location corresponding to the currently collected first key frame data is the same as the collection location corresponding to the existing second key frame data. For another example, the robot can calculate the collection location of the robot through the collected radar data, odometer data, visual data (such as environmental images, etc.).

[0107] In the specific implementation process, if there is a second key frame data with the same collection position as the first key frame data in the key frame data collected by the robot, then the posture information of the collection position of the first key frame data in the established map and the posture information of the collection position of the second key frame data are obtained, and the first posture information corresponding to the first key frame data and the second relative posture information of the posture information of the second key frame data are determined. And according to the second relative posture information, the deviation information between the collection position of the first key frame data and the collection position of the second key frame data is determined. For example, according to the second relative posture information, the difference between the posture information of the first key frame data and the posture information of the second key frame data in the established map can be determined as the deviation information. And according to the deviation information, the collection position of each key frame data in the established map is updated.

[0108] Specifically, when updating the collection positions of each key frame data in the established map according to the deviation information, the collection positions of all key frame data in the established map may be divided equally into the deviation information. For example, the difference between the posture information of the first key frame data and the posture information of the second key frame data is determined as the deviation information, and the number of collection positions of the key frame data in the established map is determined, the deviation information is divided equally into the number of parts, and the deviation information is deleted for the posture information of the collection position of each key frame data.

[0109] In an embodiment of the present invention, when a map is created based on the currently collected first key frame data, if the collection position of the current first key frame data is actually consistent with the collection position of the existing second key frame data, but in the established map, the coordinates of the two collection positions are different, then the second relative posture information of the two collection positions is determined, that is, the relative coordinate information of the two collection positions is determined, and the area where the midpoint of the line connecting the two collection positions in the established map is located is used as the position of the collection position of the first key frame data and the second key frame data in the established map, and the posture information of the midpoint in the established map is used as the updated posture information of the collection position of the first key frame data and the second key frame data in the established map.

[0110] After the pose information of the target acquisition position is updated, in order to realize the re-determination of the pose information of the target location in the established map and improve the efficiency of re-determining the pose information of the target location, on the basis of the above embodiments, in an embodiment of the present invention, the re-determining the pose information of the target location in the established map according to the first relative pose information of the target location and its corresponding target acquisition position includes:

[0111] The position and posture information of the target location in the established map is re-determined according to the first relative position and posture information and the updated position and posture information of the target acquisition position.

[0112] In an embodiment of the present invention, when the posture information of any target acquisition position in an established map is updated, the updated posture information of the target acquisition position is determined, and the target location that has the first relative posture information with the target acquisition position is determined, and the first relative posture information of the target location and the target acquisition position that was previously determined is found, as well as the direction of the coordinate axis of the first coordinate system when the first relative posture information is determined. And with the updated posture information of the target acquisition position as the origin, a coordinate system with the same direction as the coordinate axis of the first coordinate system is established, the position of the first relative posture information in the coordinate system is determined, and the posture information of the position in the established map is used as the re-determined posture information of the target location in the established map.

[0113] Specifically, when the acquisition position of the first key frame data and the acquisition position of the second key frame data are at the same position in the actual environment, it can be considered that the deviation between the acquisition position of the first key frame data and the acquisition position of the second key frame data is 0. In order to determine whether there is a deviation between the acquisition position of the first key frame data and the acquisition position of the second key frame data in the established map, the second relative posture of the acquisition position of the first key frame data and the acquisition position of the second key frame data in the established map is determined. If the second relative posture is not 0, that is, the posture information of the acquisition position of the first key frame data in the established map is different from the posture information of the acquisition position of the second key frame data, that is, the acquisition position of the first key frame data and the acquisition position of the second key frame data in the established map are not at the same position. At this time, the deviation can be amortized by rearranging the posture information of the acquisition position of each key frame data in the established map, so that the posture information of the acquisition position of the key frame data in the established map is more accurate.

[0114] It should be noted that if the coordinate information of the acquisition position of the first key frame data in the established map deviates from the coordinate information of the acquisition position of the second key frame data, resulting in the second relative posture not being 0, the above-mentioned method is used to rearrange the posture information of the acquisition position of each key frame data in the established map to even out the deviation. If the coordinate information does not deviate, but other information of the acquisition position changes, resulting in the second relative posture not being 0, such as orientation information, angle information, etc., then there is no need to update the position of the acquisition position in the established map. Further, the angle information of the acquisition position in the established map can also be updated based on the angle information collected twice. For example, the angle information of the acquisition position can be updated to the median of the angle information collected twice, the posture information of the acquisition position of the second key frame data can also be determined as the posture information of the acquisition position, and the posture information corresponding to the first key frame data and the posture information corresponding to the second key frame data can also be determined as the posture information of the acquisition position.

[0115] In an embodiment of the present invention, when the posture information of the target location in the established map is redetermined based on the first relative posture information between the target location and the target collection position corresponding to it, the posture information of the target location in the established map can be redetermined based on the first relative posture information between the target location and the target collection position and the updated posture information of the target collection position, thereby improving the efficiency of map creation.

[0116] Based on any of the above embodiments, after the posture information of the target acquisition position is updated, in order to realize the redetermination of the posture information of the target location in the established map, the robot only needs to move once to realize map building and location setting, improve the efficiency of the robot in creating maps, and improve the user experience. On the basis of the above embodiments, in an embodiment of the present invention, the redetermination of the posture information of the target location in the established map according to the first relative posture information and the updated posture information of the target acquisition position includes the following two possible implementations:

[0117] Method 1: If there is only one target collection position corresponding to the target location, in the established map, construct a second coordinate system with the updated posture information of the target collection position as the origin; determine the first position of the target location in the second coordinate system based on the first relative posture information; and re-determine the posture information of the target location based on the posture information of the first position in the established map.

[0118] In the implementation of the present invention, the target location may correspond to one or more target collection locations. When the target location corresponds to one target collection location, a second coordinate system is constructed in the established map with the updated posture information of the target collection location as the origin. In the second coordinate system, the first position of the target location in the second coordinate system is determined based on the first relative posture information, and the posture information of the first position in the established map is re-determined as the posture information of the target location.

[0119] For example, in the present invention, after determining the updated posture information of the target acquisition position, a second coordinate system is constructed with the updated posture information as the origin, the east-west direction as the X-axis, and the north-south direction as the Y-axis. In the second coordinate system, based on the first relative posture information between the target location and the target acquisition position, the first position of the target point in the second coordinate system is determined, and the posture information of the first position in the established map is re-determined as the posture information of the target location.

[0120] Method 2: If it is determined that there are at least two target collection positions corresponding to the target location, then for each target collection position, in the established map, a third coordinate system with the updated posture information of the target collection position as the origin is constructed; based on the first relative posture information, the second position of the target location in the third coordinate system is determined; based on each second position, the target position of the target location in the established map is determined, and based on the posture information of the target position in the established map, the posture information of the target location is re-determined.

[0121] In the implementation of the present invention, the target location may correspond to one or more target acquisition positions. When the target location corresponds to at least two target acquisition positions, a third coordinate system with the updated posture information of the target acquisition position as the origin is constructed for each target acquisition posture in the established map. In the third coordinate system, the second position of the target location in the third coordinate system is determined according to the first relative posture information. After the second position of the target location is determined for each acquisition position, the target position of the target location in the established map is determined according to each second position, wherein the position in the established map that is closest to all the second positions may be used as the target position, and the posture information of the target position in the established map is re-determined as the posture information of the target location.

[0122] Wherein, in an embodiment of the present invention, when determining the target position of the target location in the established map according to each second position, the position in the established map that is closest to all second positions may be used as the target position, or the weight of the second position may be determined for each second position according to the weight of the key frame data corresponding to the second position, and then the target position of the target location is determined according to the weight of the second position. Wherein, the weight of the target key frame data is determined according to the distance between the acquisition position of the target key frame data and the target location. When the distance between the target key frame data and the target location is closer, the weight of the target key frame data is larger, and when the distance between the target key frame data and the target location is farther, the weight of the target key frame data is smaller.

[0123] Embodiment 6:

[0124] Figure 2 A schematic diagram of a map creation process provided by an embodiment of the present invention, the process includes:

[0125] S201: When the robot builds a map of the surrounding environment, it receives an instruction for setting a location, wherein the instruction carries information of a target location to be identified, and sends the instruction to a first controller for controlling the robot chassis.

[0126] A map creation method provided in an embodiment of the present invention is applied to a controller for controlling a robot. In order to distinguish it from other controllers of the robot, the controller of the robot is referred to as a second controller in the embodiment of the present invention, and a robot operating system (OS) is installed in the second controller of the robot.

[0127] In an embodiment of the present invention, while the first controller of the robot chassis is building a map of the surrounding environment, the user can send a location setting instruction to the robot at any time. After receiving the instruction, the second controller of the robot sends the location setting instruction to the first controller.

[0128] In addition, in an embodiment of the present invention, the instruction carries information of a target location to be identified, and the information of the target location may be a name or number of the target location, for example, the target location to be identified may be name information such as a front desk, an office, or a supermarket.

[0129] S202: Receive the correspondence between the posture information of the robot's current position in the established map and the identification information of the target location sent by the first controller, and save the correspondence between the target location, the posture information and the identification information, wherein the identification information is allocated to the target location by the first controller based on the information of the target location.

[0130] In an embodiment of the present invention, the second controller also receives the correspondence between the posture information of the current position of the robot in the established map and the identification information of the target location sent by the first controller. The posture information includes at least one of posture information, coordinate information, angle information, etc., wherein the posture information can be the orientation information of the robot. After receiving the correspondence, the correspondence between the target location, the posture information and the identification information is saved.

[0131] Embodiment 7:

[0132] Figure 3 A schematic diagram of the structure of a map creation and configuration device provided in an embodiment of the present invention, the device is applied to a first controller controlling a robot chassis, the device comprising:

[0133] A receiving module 301 is used to receive a location setting instruction sent by the second controller of the robot in the process of building a map of the surrounding environment, wherein the instruction carries information of a target location to be identified;

[0134] A mapping module 302 is used to determine the posture information of the current position of the robot in the established map, identify the corresponding area of ​​the current position of the robot in the established map as the target location according to the posture information, and establish a corresponding relationship between the posture information and the identification information of the target location, wherein the identification information is assigned to the target location by the first controller according to the information of the target location;

[0135] The sending module 303 is configured to send the corresponding relationship to the second controller.

[0136] In a possible implementation, the mapping module 302 is further used to obtain a target collection position when the robot collects target key frame data for mapping, wherein the target key frame data is key frame data that meets the requirements and is collected by the robot before receiving the instruction; and determine, based on the target collection position, first relative pose information of the target location relative to each of the target collection positions.

[0137] In a possible implementation manner, the requirements satisfied by the target key frame data include:

[0138] a set number of key frame data collected by the robot before receiving the instruction; or

[0139] The key frame data in which the distance between the collection position collected by the robot and the target location is within a threshold range before receiving the instruction.

[0140] In a possible implementation, the mapping module 302 is specifically used to construct, for each of the target acquisition positions, a first coordinate system with the target acquisition position as the origin, and determine the coordinates of the target location in the first coordinate system as the first relative position information of the target location relative to the target acquisition position.

[0141] In a possible implementation, the mapping module 302 is also used to, if the posture information of any target collection location in the established map is updated, then, for any target location in the established map, redetermine the posture information of the target location in the established map based on the first relative posture information of the target location and its corresponding target collection location.

[0142] In a possible implementation, the mapping module 302 is specifically used to obtain, for the first key frame data currently collected by the robot, the posture information of the collection position of the first key frame data in the established map and the posture information of the collection position of the second key frame data in the established map, and determine the second relative posture information of the posture information corresponding to the first key frame data and the posture information corresponding to the second key frame data; determine the deviation information between the collection position of the first key frame data and the collection position of the second key frame data according to the second relative posture information, and update the posture information of the collection position of each key frame data in the established map according to the deviation information.

[0143] In a possible implementation, the mapping module 302 is specifically configured to re-determine the pose information of the target location in the established map according to the second relative pose information and the updated pose information of the target acquisition position.

[0144] In a possible implementation, the mapping module 302 is specifically used to construct a second coordinate system with the updated posture information of the target collection position as the origin in the established map if the target location corresponds to one target collection position; determine the first position of the target location in the second coordinate system based on the second relative posture information; and re-determine the posture information of the target location based on the posture information of the first position in the established map.

[0145] In a possible implementation, the mapping module 302 is specifically used to, if it is determined that there are at least two target collection positions corresponding to the target location, then, for each target collection position, construct a third coordinate system in the established map with the updated posture information of the target collection position as the origin; determine the second position of the target location in the third coordinate system based on the second relative posture information; determine the target position of the target location in the established map based on each second position, and re-determine the posture information of the target location based on the posture information of the target position in the established map.

[0146] Figure 4 A schematic diagram of the structure of a map creation and configuration device provided in an embodiment of the present invention, the device is applied to a second controller for controlling a robot, the device comprising:

[0147] The transceiver module 401 is used to receive an instruction for setting a location when the robot establishes a map of the surrounding environment, wherein the instruction carries information of a target location to be identified, and send the instruction to a first controller for controlling the robot chassis; receive a correspondence between the position information of the robot's current location in the established map and the identification information of the target location sent by the first controller;

[0148] The storage module 402 is used to store the correspondence between the target location, the position information and the identification information, where the identification information is allocated to the target location by the first controller according to the information of the target location.

[0149] Embodiment 8:

[0150] Figure 5 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Based on the above embodiments, an embodiment of the present invention further provides an electronic device, such as Figure 5 As shown, it includes: a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 communicate with each other through the communication bus 504;

[0151] The memory 503 stores a computer program. When the program is executed by the processor 501, the processor 501 performs the following steps:

[0152] In the process of establishing a map of the surrounding environment, an instruction for setting a location sent by the second controller of the robot is received, wherein the instruction carries information of a target location to be identified; the posture information of the robot's current position in the established map is determined, and based on the posture information, a corresponding area of ​​the robot's current position in the established map is identified as the target location, and a corresponding relationship between the posture information and the identification information of the target location is established, wherein the identification information is assigned to the target location by the first controller based on the information of the target location; and the corresponding relationship is sent to the second controller.

[0153] Since the principle of solving the problem by the above electronic device is similar to the map creation method, the implementation of the above electronic device can refer to the above embodiments 1-5, and the repeated parts will not be repeated.

[0154] Figure 6 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Based on the above embodiments, an embodiment of the present invention further provides an electronic device, such as Figure 6 As shown, it includes: a processor 601, a communication interface 602, a memory 603 and a communication bus 604, wherein the processor 601, the communication interface 1002, and the memory 603 communicate with each other through the communication bus 604;

[0155] The memory 603 stores a computer program. When the program is executed by the processor 601, the processor 601 performs the following steps:

[0156] When the robot establishes a map of the surrounding environment, it receives an instruction for setting a location, wherein the instruction carries information of a target location to be identified, and sends the instruction to a first controller for controlling the robot chassis; receives a correspondence between the posture information of the robot's current position in the established map and the identification information of the target location sent by the first controller, and saves the correspondence between the target location, the posture information and the identification information, wherein the identification information is allocated to the target location by the first controller based on the information of the target location.

[0157] Since the principle of solving the problem by the above electronic device is similar to the map creation method, the implementation of the above electronic device can refer to the above embodiment 6, and the repeated parts will not be repeated.

[0158] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface 602 is used for communication between the above electronic device and other devices. The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor. The above processor may be a general-purpose processor, including a central processing unit, a network processor (NP), etc.; it may also be a digital signal processing processor (DSP), an application-specific integrated circuit, a field programmable gate array or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.

[0159] In some embodiments, the electronic device described in the embodiments of the present invention may be a controller.

[0160] Embodiment 9:

[0161] On the basis of the above embodiments, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program executable by a processor, and when the program runs on the processor, the processor implements the following steps when executing:

[0162] In the process of establishing a map of the surrounding environment, an instruction for setting a location sent by the second controller of the robot is received, wherein the instruction carries information of a target location to be identified; the posture information of the robot's current position in the established map is determined, and based on the posture information, a corresponding area of ​​the robot's current position in the established map is identified as the target location, and a corresponding relationship between the posture information and the identification information of the target location is established, wherein the identification information is assigned to the target location by the first controller based on the information of the target location; and the corresponding relationship is sent to the second controller.

[0163] Since the principle of solving the problem provided by the computer-readable medium is similar to that of the map creation method, after the processor executes the computer program in the computer-readable medium, the steps implemented can refer to the above embodiments 1-5, and the repeated parts will not be repeated.

[0164] On the basis of the above embodiments, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program executable by a processor, and when the program runs on the processor, the processor implements the following steps when executing:

[0165] When the robot establishes a map of the surrounding environment, it receives an instruction for setting a location, wherein the instruction carries information of a target location to be identified, and sends the instruction to a first controller for controlling the robot chassis; receives a correspondence between the posture information of the robot's current position in the established map and the identification information of the target location sent by the first controller, and saves the correspondence between the target location, the posture information and the identification information, wherein the identification information is allocated to the target location by the first controller based on the information of the target location.

[0166] Since the principle of solving the problem provided by the computer-readable medium is similar to that of the map creation method, after the processor executes the computer program in the computer-readable medium, the steps implemented can refer to the above-mentioned embodiment 6, and the repeated parts will not be repeated.

[0167] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0168] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0169] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0170] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0171] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A map creation method, characterized in that: A first controller applied to control a robot chassis, the method comprising: In the process of establishing a map of the surrounding environment, receiving an instruction for setting a location sent by a second controller of the robot, wherein the instruction carries information of a target location to be identified; Identify the current position of the robot, and determine the position of the current position in the established map, determine the posture information corresponding to the position as the posture information of the current position of the robot in the established map, and identify the corresponding area of ​​the current position of the robot in the established map as the target location, wherein the posture information includes at least one of posture information, coordinate information, and angle information, wherein the posture information is the orientation information of the robot; each target location will occupy a certain area, and the area containing the current position will be used as the corresponding area of ​​the current location in the established map, mark the information of the target location at any point in the corresponding area, and establish a corresponding relationship between the posture information and the identification information of the target location, wherein the identification information is allocated to the target location by the first controller according to the information of the target location; sending the corresponding relationship to the second controller; Obtaining a target acquisition position when the robot acquires target key frame data for mapping, wherein the target key frame data is key frame data that meets the requirements and is acquired by the robot before receiving the instruction; For each of the target acquisition positions, a first coordinate system with the target acquisition position as the origin is constructed, and the coordinates of the target location in the first coordinate system are determined as first relative position information of the target location relative to the target acquisition position.

2. The method according to claim 1, characterized in that The requirements satisfied by the target key frame data include: a set number of key frame data collected by the robot before receiving the instruction; or The key frame data in which the distance between the collection position collected by the robot and the target location is within a threshold range before receiving the instruction.

3. The method according to any one of claims 1 to 2, characterized in that: The method further comprises: If the posture information of any target collection position in the established map is updated, then for any target location in the established map, the posture information of the target location in the established map is re-determined based on the first relative posture information between the target location and its corresponding target collection position.

4. The method according to claim 3, characterized in that: Updating the position information of any target acquisition position in the established map includes: For the first key frame data currently collected by the robot, if there is a second key frame data having the same collection position as the first key frame data among the key frame data collected by the robot, then obtaining the posture information of the collection position of the first key frame data in the established map and the posture information of the collection position of the second key frame data in the established map, and determining the second relative posture information of the posture information corresponding to the first key frame data and the posture information corresponding to the second key frame data; According to the second relative posture information, the deviation information between the acquisition position of the first key frame data and the acquisition position of the second key frame data is determined, and according to the deviation information, the posture information of the acquisition position of each key frame data in the established map is updated.

5. The method according to claim 3, characterized in that: The re-determining the position information of the target location in the established map according to the first relative position information of the target location and its corresponding target acquisition position includes: The position and posture information of the target location in the established map is re-determined according to the second relative position and posture information and the updated position and posture information of the target acquisition position.

6. The method according to claim 5, characterized in that The step of re-determining the position information of the target location in the established map according to the second relative position information and the updated position information of the target acquisition position includes: If the target location corresponds to only one target collection location, in the established map, construct a second coordinate system with the updated posture information of the target collection location as the origin; determine the first position of the target location in the second coordinate system based on the second relative posture information; and re-determine the posture information of the target location based on the posture information of the first position in the established map.

7. The method according to claim 5, characterized in that The step of re-determining the position information of the target location in the established map according to the second relative position information and the updated position information of the target acquisition position includes: If it is determined that there are at least two target collection positions corresponding to the target location, then for each target collection position, a third coordinate system with the updated posture information of the target collection position as the origin is constructed in the established map; based on the second relative posture information, the second position of the target location in the third coordinate system is determined; based on each second position, the target position of the target location in the established map is determined, and based on the posture information of the target position in the established map, the posture information of the target location is re-determined.

8. A map creation method, characterized in that: A second controller applied to control a robot, the method comprising: When the robot builds a map of the surrounding environment, receiving an instruction for setting a location, wherein the instruction carries information of a target location to be identified, and sending the instruction to a first controller for controlling the robot chassis; Receive the correspondence between the posture information of the current position of the robot in the established map and the identification information of the target location sent by the first controller, and save the correspondence between the target location, the posture information and the identification information, wherein the identification information is assigned to the target location by the first controller according to the information of the target location; wherein the correspondence is that the first controller identifies the current position of the robot, and determines the position of the current position in the established map, determines the posture information corresponding to the position as the posture information of the current position of the robot in the established map, and identifies the corresponding area of ​​the current position of the robot in the established map as the target location, wherein the posture information includes at least one of posture information, coordinate information, and angle information, The posture information is the orientation information of the robot; each target location will occupy a certain area, and the area containing the current location will be used as the corresponding area of ​​the current location in the established map, and the information of the target location will be marked at any point in the corresponding area, and a corresponding relationship between the posture information and the identification information of the target location will be established; and the target acquisition position when the robot collects target key frame data for mapping is obtained, and the target key frame data is the key frame data that meets the requirements collected by the robot before receiving the instruction; for each target acquisition position, a first coordinate system with the target acquisition position as the origin is constructed, and the coordinates of the target location in the first coordinate system are determined as the first relative posture information of the target location relative to the target acquisition position.

9. A map creation device, characterized in that: A first controller for controlling a robot chassis, the device comprising: A receiving module, used for receiving a location setting instruction sent by the second controller of the robot in the process of establishing a map of the surrounding environment, wherein the instruction carries information of a target location to be identified; A mapping module, used to identify the current position of the robot, and determine the position of the current position in the established map, determine the posture information corresponding to the position as the posture information of the current position of the robot in the established map, and identify the corresponding area of ​​the current position of the robot in the established map as the target location, wherein the posture information includes at least one of posture information, coordinate information, and angle information, wherein the posture information is the orientation information of the robot; each target location will occupy a certain area, and the area containing the current position will be used as the corresponding area of ​​the current location in the established map, and the information of the target location will be marked at any point in the corresponding area, and a corresponding relationship between the posture information and the identification information of the target location is established, and the identification information is allocated to the target location by the first controller according to the information of the target location; A sending module, used for sending the corresponding relationship to the second controller; The mapping module is further used to obtain a target acquisition position when the robot collects target key frame data for mapping, wherein the target key frame data is key frame data that meets the requirements and is collected by the robot before receiving the instruction; for each target acquisition position, a first coordinate system with the target acquisition position as the origin is constructed, and the coordinates of the target location in the first coordinate system are determined as first relative posture information of the target location relative to the target acquisition position.

10. A map creation device, characterized in that: A second controller for controlling a robot, the device comprising: a transceiver module, configured to receive an instruction for setting a location when the robot establishes a map of the surrounding environment, wherein the instruction carries information of a target location to be identified, and send the instruction to a first controller for controlling the robot chassis; and receive a correspondence between the position information of the robot's current location in the established map and the identification information of the target location sent by the first controller; A storage module, used to store the correspondence between the target location, the posture information and the identification information, wherein the identification information is assigned to the target location by the first controller according to the information of the target location; wherein the correspondence is that the first controller identifies the current position of the robot, determines the position of the current position in the established map, determines the posture information corresponding to the position as the posture information of the current position of the robot in the established map, and identifies the corresponding area of ​​the current position of the robot in the established map as the target location, wherein the posture information includes at least one of posture information, coordinate information and angle information, wherein the posture information is the orientation information of the robot; each target Each location will occupy a certain area, and the area containing the current location will be used as the corresponding area of ​​the current location in the established map, and the information of the target location will be marked at any point in the corresponding area, and a corresponding relationship between the posture information and the identification information of the target location will be established; and the target collection position when the robot collects target key frame data for map construction is obtained, and the target key frame data is the key frame data that meets the requirements and is collected by the robot before receiving the instruction; for each of the target collection positions, a first coordinate system with the target collection position as the origin is constructed, and the coordinates of the target location in the first coordinate system are determined as the first relative posture information of the target location relative to the target collection position.

11. An electronic device, characterized in that: The electronic device comprises at least a processor and a memory, and the processor is used to implement the method described in any one of claims 1 to 7 or the steps of the method described in claim 8 when executing a computer program stored in the memory.

12. A computer-readable storage medium, characterized in that: It stores a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 7 or the steps of the method described in claim 8.

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