Navigation target point detection method, device, readable storage medium and server

Abstract

The present application belongs to the field of robot navigation technology, and in particular, relates to a navigation target point detection method, device, computer-readable storage medium and server. The method comprises: when a preset navigation target point detection condition is met, obtaining a navigation target point in a grid map; determining a detection area centered on the navigation target point in the grid map; determining a navigation target point detection result according to the state of the grid in the detection area; the navigation target point detection result includes navigation reachable and navigation unreachable; and displaying the navigation target point detection result in a preset interactive manner. Through the present application, when an operator selects a navigation target point, it can be automatically detected to determine whether it is navigation reachable, and the detection result can be displayed to the operator, so that the operator can change the navigation target point in time according to the detection result, thereby avoiding the situation where the navigation target point is unreachable.

Description

Technical Field

[0001] The present application belongs to the field of robot navigation technology, and in particular, relates to a navigation target point detection method, device, computer-readable storage medium and server. Background Art

[0002] Generally, when configuring a task for a robot, it is usually necessary to select a navigation target point on a map in advance and control the robot to go to the navigation target point to perform a specific task. However, if the selected navigation target point is inappropriate, the robot will find that the navigation target point is unreachable during the navigation process, resulting in failure to complete the task. In the prior art, the selection of navigation target points can only rely on the subjective experience of the operator, which easily leads to the situation that the navigation target point is unreachable. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a navigation target point detection method, device, computer-readable storage medium and server to solve the problem in the prior art that the navigation target point is selected based on the subjective experience of the operator, which easily leads to the situation that the navigation target point is unreachable.

[0004] A first aspect of an embodiment of the present application provides a navigation target point detection method, which is applied to a server and may include:

[0005] In the process of creating or editing a task for the robot through the server, when a preset navigation target point detection condition is met, a navigation target point in the grid map is obtained;

[0006] Determining a detection area centered on the navigation target point in the grid map;

[0007] Determine the navigation target point detection result according to the state of the grids in the detection area; the navigation target point detection result includes navigation reachable and navigation unreachable; wherein navigation reachable means that all grids in the detection area are grids with proven obstacle-free objects, and navigation unreachable means that any grid in the detection area is not a grid with proven obstacle-free objects;

[0008] The navigation target point detection result is displayed through a preset interactive method.

[0009] In a specific implementation of the first aspect, determining the detection area centered on the navigation target point in the grid map may include:

[0010] Get the robot's body radius;

[0011] Determining a detection distance according to the fuselage radius and a preset safety expansion distance;

[0012] A circular area with the navigation target point as the center and the detection distance as the radius is determined as the detection area.

[0013] In a specific implementation of the first aspect, determining the navigation target point detection result according to the state of the grid in the detection area may include:

[0014] If all grids in the detection area are first-class grids, then the detection result of the navigation target point is determined to be reachable by navigation; the first-class grid is a grid that has been found to have no obstacles;

[0015] If any grid in the detection area is not the first type of grid, the navigation target point detection result is determined to be navigation unreachable.

[0016] In a specific implementation of the first aspect, before acquiring the navigation target point in the grid map, the method may further include:

[0017] Receive a preset task configuration instruction, and display a preset task configuration interface according to the task configuration instruction;

[0018] A preset navigation target point configuration instruction is received, and the grid map is displayed in the task configuration interface according to the navigation target point configuration instruction.

[0019] In a specific implementation of the first aspect, the navigation target point detection condition is: a duration for which any grid in the grid map is marked is greater than a preset duration threshold.

[0020] In a specific implementation of the first aspect, displaying the navigation target point detection result in a preset interactive manner may include:

[0021] Displaying the navigation target point detection result on a preset display interface;

[0022] and / or

[0023] The navigation target point detection result is broadcasted through a preset audio playback device.

[0024] In a specific implementation of the first aspect, after determining the navigation target point detection result according to the state of the grid in the detection area, the method may further include:

[0025] If the detection result of the navigation target point is that the navigation is unreachable, searching for a replacement point in the grid map with the navigation target point as the center; the replacement point is a navigation-reachable grid with the shortest distance to the navigation target point;

[0026] The replacement point is displayed in a preset interactive manner.

[0027] A second aspect of an embodiment of the present application provides a navigation target point detection device, which is applied to a server and may include:

[0028] A navigation target point acquisition module, used to acquire the navigation target point in the grid map when a preset navigation target point detection condition is met during the process of creating or editing a task for the robot through the server;

[0029] A detection area determination module, used to determine a detection area centered on the navigation target point in the grid map;

[0030] A detection result determination module is used to determine the navigation target point detection result according to the state of the grids in the detection area; the navigation target point detection result includes navigation reachable and navigation unreachable; wherein navigation reachable means that all grids in the detection area are grids with proven obstacle-free objects, and navigation unreachable means that any grid in the detection area is not a grid with proven obstacle-free objects;

[0031] The detection result display module is used to display the navigation target point detection result through a preset interactive method.

[0032] In a specific implementation of the second aspect, the detection area determination module may include:

[0033] A body radius obtaining unit, used to obtain the body radius of the robot;

[0034] A detection distance determination unit, used to determine the detection distance according to the fuselage radius and a preset safety expansion distance;

[0035] The detection area determination unit is used to determine a circular area with the navigation target point as the center and the detection distance as the radius as the detection area.

[0036] In a specific implementation of the second aspect, the detection result determination module may include:

[0037] A first result determination unit is used to determine that the detection result of the navigation target point is reachable by navigation if all grids in the detection area are first-type grids; the first-type grids are grids that have been found to be obstacle-free;

[0038] The second result determination unit is used to determine that the navigation target point detection result is navigation unreachable if any grid in the detection area is not the first type of grid.

[0039] In a specific implementation of the second aspect, the navigation target point detection device may further include:

[0040] A task configuration interface display module, used to receive a preset task configuration instruction and display a preset task configuration interface according to the task configuration instruction;

[0041] The grid map display module is used to receive a preset navigation target point configuration instruction and display the grid map in the task configuration interface according to the navigation target point configuration instruction.

[0042] In a specific implementation of the second aspect, the navigation target point detection condition is: a duration for which any grid in the grid map is marked is greater than a preset duration threshold.

[0043] In a specific implementation of the second aspect, the detection result display module may include:

[0044] A detection result display unit, used to display the navigation target point detection result on a preset display interface;

[0045] and / or

[0046] The detection result broadcasting unit is used to broadcast the detection result of the navigation target point through a preset audio playback device.

[0047] In a specific implementation of the second aspect, the navigation target point detection device may further include:

[0048] A replacement point search module, used for searching for a replacement point with the navigation target point as the center in the grid map if the detection result of the navigation target point is that the navigation is unreachable; the replacement point is a navigation-reachable grid with the shortest distance to the navigation target point;

[0049] The replacement point display module is used to display the replacement point in a preset interactive manner.

[0050] A third aspect of an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of any of the above-mentioned navigation target point detection methods are implemented.

[0051] The fourth aspect of an embodiment of the present application provides a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above-mentioned navigation target point detection methods when executing the computer program.

[0052] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product runs on a server, the server executes the steps of any one of the above-mentioned navigation target point detection methods.

[0053] Compared with the prior art, the embodiments of the present application have the following beneficial effects: when the preset navigation target point detection conditions are met, the embodiments of the present application obtain the navigation target point in the grid map; determine the detection area centered on the navigation target point in the grid map; determine the navigation target point detection result according to the state of the grid in the detection area; the navigation target point detection result includes navigation reachable and navigation unreachable; and display the navigation target point detection result in a preset interactive manner. Through the embodiments of the present application, when the operator selects a navigation target point, it can be automatically detected to determine whether it is navigation reachable, and the detection result can be displayed to the operator, so that the operator can change the navigation target point in time according to the detection result, thereby avoiding the situation where the navigation target point is unreachable. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 This is a flow chart of an embodiment of a navigation target point detection method in an embodiment of the present application;

[0056] Figure 2 This is a schematic diagram of a raster map;

[0057] Figure 3 A schematic flow chart for determining a detection area centered on a navigation target point in a grid map;

[0058] Figure 4 A schematic diagram of the first grid state in the detection area;

[0059] Figure 5 is a schematic diagram of the second grid state in the detection area;

[0060] Figure 6 A schematic diagram of the third grid state in the detection area;

[0061] Figure 7 This is a structural diagram of an embodiment of a navigation target point detection device in an embodiment of the present application;

[0062] Figure 8 This is a schematic block diagram of a server in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0065] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0066] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0067] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0068] In addition, in the description of the present application, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0069] The robots in the embodiments of the present application may include but are not limited to indoor inspection robots and welcoming patrol robots. When the operator creates and edits tasks for the robot, he can connect to the server through a PC client or a web page to operate, and after the operation is completed, the generated task is synchronized to the robot. If the robot is turned on and connected to the network during synchronization, the synchronization can be completed immediately; if the robot is not turned on or turned on but not connected to the network during synchronization, the task can be synchronized after the robot is connected to the network. When creating or editing tasks, it is often necessary to click on the map to generate a navigation target point so that the robot can go to the navigation target point to perform specific tasks. These tasks may include but are not limited to inspection instruments, video surveillance, voice preaching, etc. However, if the navigation target point generated by clicking on the map is too close to an obstacle or is in an unexplored area of ​​the map, the navigation target point will be unreachable, resulting in the failure of the task when it is synchronized to the robot end and executed regularly. Whether a point on the map can be navigated to is usually judged when the robot navigation algorithm plans the navigation path. When an experienced operator clicks on a map to generate a navigation target point, he will find a suitable navigation target point; when an inexperienced operator clicks on a map to generate a navigation target point, he may generate a navigation target point that cannot be reached by navigation.

[0070] In an embodiment of the present application, when an operator selects a navigation target point, it can be automatically detected to determine whether it is reachable by navigation, and the detection result can be displayed to the operator, so that the operator can change the navigation target point in time according to the detection result, thereby avoiding the situation where the navigation target point is unreachable.

[0071] See also Figure 1 , an embodiment of a navigation target point detection method in an embodiment of the present application may include:

[0072] Step S101: When a preset navigation target point detection condition is met, a navigation target point in a grid map is obtained.

[0073] In an embodiment of the present application, when creating and editing tasks for the robot, the operator can connect to the server through a PC client or a web page, and send a task configuration instruction to the server by clicking a task configuration button on the interactive interface. After receiving the task configuration instruction, the server can display a preset task configuration interface according to the instruction. When it is necessary to create a new navigation target point or edit an existing navigation target point, the operator can send a navigation target point configuration instruction to the server by clicking a navigation point configuration button on the task configuration interface. After receiving the navigation target point configuration instruction, the server can display a pre-scanned raster map in the task configuration interface according to the instruction.

[0074] A grid map is a map composed of square grids and can be pre-stored in a server in the form of an image file. Figure 2 The following is a schematic diagram of a grid map, where the grids can be divided into three categories: the first category is a grid with no obstacles, which can generally be represented by white; the second category is a grid with obstacles, which can generally be represented by black; the third category is a grid that has not yet been explored, which can generally be represented by gray. The grid map can be displayed in the task configuration interface with the default display size. When the operator zooms in and out on the grid map, each grid in the grid map will be scaled proportionally.

[0075] The server can also store description files of raster maps, which are used to describe various parameters of the raster map, including but not limited to map height (recorded as bmp_h), map width (recorded as bmp_w), map scale (recorded as resolution), and other parameters. For example, bmp_h is 704, bmp_w is 576, and resolution is 0.05, which respectively represent that the map height is 704 grids, the width is 576 grids, and the side length of each grid corresponds to the length of the actual site, which is 0.05 meters, or 5 centimeters. It should be noted that the smaller the value of resolution, the higher the resolution, the larger the bmp_h and bmp_w of the map obtained by scanning the same site, and the higher the CPU computing power required for navigation planning.

[0076] After seeing the displayed grid map, the operator can select a grid on the grid map as a navigation target point. If the server detects that the duration of any grid in the grid map being marked is greater than the preset duration threshold, it can be considered that the navigation target point detection condition is met. The duration threshold can be set according to actual conditions. For example, it can be set to 0.2 seconds, 0.5 seconds, 1 second or other values, etc., which is not specifically limited in the embodiments of the present application. The way in which the operator marks the grid may include but is not limited to mouse operation, keyboard operation, and touch screen operation. Taking mouse operation and keyboard operation as an example, the operator can move the icon on the grid map through the mouse and / or keyboard. When the icon stays on a grid, the grid is marked.

[0077] When the navigation target point detection condition is met, the server can determine the grid whose duration is greater than the duration threshold as the navigation target point, and obtain its coordinates in the grid map. In a specific implementation of the embodiment of the present application, the grid in the upper left corner of the grid map can be used as the coordinate origin, the horizontal right direction is the positive x-axis direction, and the vertical downward direction is the positive y-axis direction.

[0078] Step S102: Determine a detection area centered on the navigation target point in the grid map.

[0079] In a specific implementation of the embodiment of the present application, step S102 may specifically include the following: Figure 3 The process shown:

[0080] Step S1021, obtaining the body radius of the robot.

[0081] The body radius of the robot is a known quantity and can be stored in the server in advance.

[0082] Step S1022: determining the detection distance according to the fuselage radius and a preset safety expansion distance.

[0083] The safety expansion distance can be set according to actual conditions, for example, it can be set to 5 cm, 10 cm, 15 cm or other values.

[0084] When the body radius and the safe expansion distance are known, the sum of the two can be determined as the detection distance. For example, if the body radius is 25 cm and the safe expansion distance is 10 cm, the detection distance should be 35 cm. When the resolution is 0.05, it can be converted to the side length of 7 grids.

[0085] Step S1023: determine a circular area with the navigation target point as the center and the detection distance as the radius as the detection area.

[0086] Step S103: determining the navigation target point detection result according to the state of the grid in the detection area.

[0087] The detection results of the navigation target point include navigation reachable and navigation unreachable. If all grids in the detection area are first-class grids, the detection result of the navigation target point is determined to be navigation reachable; if any grid in the detection area is not a first-class grid, the detection result of the navigation target point is determined to be navigation unreachable.

[0088] Figure 4 The figure shows a schematic diagram of the first type of grid state in the detection area. All grids in the detection area are first type grids, and the detection result of the navigation target point is that the navigation is reachable. Figure 5 The figure shows a schematic diagram of the second grid state in the detection area. The third type of grid exists in the detection area, and the detection result of the navigation target point is that the navigation is unreachable. Figure 6 The figure shows a schematic diagram of the third grid state in the detection area. The second type of grid exists in the detection area, and the navigation target point detection result is that the navigation is unreachable. It should be noted that the approximately circular area in the figure is the detection area, and the center point of the area is the navigation target point.

[0089] Step S104: display the navigation target point detection result through a preset interactive method.

[0090] In a specific implementation of an embodiment of the present application, the navigation target point detection result can be displayed on a preset display interface, for example, using different identifiers to indicate the navigation reachable or unreachable status; in a specific implementation of an embodiment of the present application, the navigation target point detection result can be broadcasted through a preset audio playback device; in a specific implementation of an embodiment of the present application, the navigation target point detection result can be displayed on a preset display interface, and the navigation target point detection result can be broadcasted through a preset audio playback device.

[0091] In summary, in the embodiment of the present application, when the preset navigation target point detection conditions are met, the navigation target point in the grid map is obtained; a detection area centered on the navigation target point is determined in the grid map; a navigation target point detection result is determined according to the state of the grid in the detection area; the navigation target point detection result includes navigation reachable and navigation unreachable; and the navigation target point detection result is displayed in a preset interactive manner. Through the embodiment of the present application, when the operator selects a navigation target point, it can be automatically detected to determine whether it is navigation reachable, and the detection result can be displayed to the operator, so that the operator can change the navigation target point in time according to the detection result, thereby avoiding the situation where the navigation target point is unreachable.

[0092] In a specific implementation of an embodiment of the present application, if the detection result of the navigation target point is that the navigation is unreachable, a replacement point can be searched for in the grid map with the navigation target point as the center. The replacement point is a navigation-reachable grid with the shortest distance to the navigation target point.

[0093] Specifically, firstly, the grids with a distance of 1 grid side length from the navigation target point in the grid map are selected as candidate grids, and each candidate grid is judged whether it is reachable by navigation. Taking any candidate grid as an example, a detection area centered on the candidate grid is determined in the grid map. If all grids in the detection area are first-class grids, the candidate grid is determined to be reachable by navigation; if any grid in the detection area is not a first-class grid, the candidate grid is determined to be unreachable by navigation. The candidate grid that is reachable by navigation is the replacement point. If all candidate grids are unreachable by navigation, one distance unit is added, and the grid with a distance of 2 grid side lengths from the navigation target point in the grid map is selected as the candidate grid, and the above process is repeated. If all candidate grids are still unreachable by navigation, one distance unit is added again, and the grid with a distance of 3 grid side lengths from the navigation target point in the grid map is selected as the candidate grid, and the above process is repeated, and so on, until the replacement point is found.

[0094] After the replacement point is found, the replacement point can be displayed in a preset interactive manner. The specific interactive manner can refer to the content in step S104, which will not be described here.

[0095] In this way, when the navigation target point selected by the operator is unreachable, the server can automatically recommend a suitable replacement point for the operator, and the operator can select the replacement point as the new navigation target point. This not only avoids the situation where the navigation target point is unreachable, but also improves the efficiency of selecting the navigation target point.

[0096] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0097] Corresponding to the navigation target point detection method described in the above embodiment, Figure 7 A structural diagram of an embodiment of a navigation target point detection device provided in an embodiment of the present application is shown.

[0098] In this embodiment, a navigation target point detection device may include:

[0099] The navigation target point acquisition module 701 is used to acquire the navigation target point in the grid map when the preset navigation target point detection condition is met;

[0100] A detection area determination module 702 is used to determine a detection area centered on the navigation target point in the grid map;

[0101] A detection result determination module 703 is used to determine a navigation target point detection result according to the state of the grid in the detection area; the navigation target point detection result includes navigation reachable and navigation unreachable;

[0102] The detection result display module 704 is used to display the navigation target point detection result through a preset interactive method.

[0103] In a specific implementation of the embodiment of the present application, the detection area determination module may include:

[0104] A body radius obtaining unit, used to obtain the body radius of the robot;

[0105] A detection distance determination unit, used to determine the detection distance according to the fuselage radius and a preset safety expansion distance;

[0106] The detection area determination unit is used to determine a circular area with the navigation target point as the center and the detection distance as the radius as the detection area.

[0107] In a specific implementation of the embodiment of the present application, the detection result determination module may include:

[0108] A first result determination unit is used to determine that the detection result of the navigation target point is reachable by navigation if all grids in the detection area are first-type grids; the first-type grids are grids that have been found to be obstacle-free;

[0109] The second result determination unit is used to determine that the navigation target point detection result is navigation unreachable if any grid in the detection area is not the first type of grid.

[0110] In a specific implementation of the embodiment of the present application, the navigation target point detection device may further include:

[0111] A task configuration interface display module, used to receive a preset task configuration instruction and display a preset task configuration interface according to the task configuration instruction;

[0112] The grid map display module is used to receive a preset navigation target point configuration instruction and display the grid map in the task configuration interface according to the navigation target point configuration instruction.

[0113] In a specific implementation of the embodiment of the present application, the navigation target point detection condition is: the duration for which any grid in the grid map is marked is greater than a preset duration threshold.

[0114] In a specific implementation of the embodiment of the present application, the detection result display module may include:

[0115] A detection result display unit, used to display the navigation target point detection result on a preset display interface;

[0116] and / or

[0117] The detection result broadcasting unit is used to broadcast the detection result of the navigation target point through a preset audio playback device.

[0118] In a specific implementation of the embodiment of the present application, the navigation target point detection device may further include:

[0119] A replacement point search module, used for searching for a replacement point with the navigation target point as the center in the grid map if the detection result of the navigation target point is that the navigation is unreachable; the replacement point is a navigation-reachable grid with the shortest distance to the navigation target point;

[0120] The replacement point display module is used to display the replacement point in a preset interactive manner.

[0121] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0122] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0123] Figure 8 A schematic block diagram of a server provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0124] like Figure 8 As shown, the server 8 of this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned various navigation target point detection method embodiments are implemented, for example Figure 1 Alternatively, when the processor 80 executes the computer program 82, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 7 The functions of modules 701 to 704 are shown.

[0125] Exemplarily, the computer program 82 may be divided into one or more modules / units, which are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 82 in the server 8.

[0126] Those skilled in the art will understand that Figure 8 It is only an example of the server 8 and does not constitute a limitation of the server 8. The server 8 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the server 8 may also include input and output devices, network access devices, buses, etc.

[0127] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0128] The memory 81 may be an internal storage unit of the server 8, such as a hard disk or memory of the server 8. The memory 81 may also be an external storage device of the server 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the server 8. Further, the memory 81 may also include both an internal storage unit of the server 8 and an external storage device. The memory 81 is used to store the computer program and other programs and data required by the server 8. The memory 81 may also be used to temporarily store data that has been output or is to be output.

[0129] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0130] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0131] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0132] In the embodiments provided in the present application, it should be understood that the disclosed devices / servers and methods can be implemented in other ways. For example, the device / server embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0133] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0134] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0135] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0136] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A navigation target point detection method, It is characterized in that Applied to servers, including: In the process of creating or editing a task for the robot through the server, when a preset navigation target point detection condition is met, a navigation target point in the grid map is obtained; Determining a detection area centered on the navigation target point in the grid map; Determine the navigation target point detection result according to the state of the grids in the detection area; the navigation target point detection result includes navigation reachable and navigation unreachable; wherein navigation reachable means that all grids in the detection area are grids with proven obstacle-free objects, and navigation unreachable means that any grid in the detection area is not a grid with proven obstacle-free objects; The navigation target point detection result is displayed through a preset interactive method.

2. The navigation target point detection method according to claim 1, It is characterized in that Determining a detection area centered on the navigation target point in the grid map includes: Get the robot's body radius; Determining a detection distance according to the fuselage radius and a preset safety expansion distance; A circular area with the navigation target point as the center and the detection distance as the radius is determined as the detection area.

3. The navigation target point detection method according to claim 1, It is characterized in that The determining of the navigation target point detection result according to the state of the grid in the detection area includes: If all grids in the detection area are first-class grids, then the detection result of the navigation target point is determined to be reachable by navigation; the first-class grid is a grid that has been found to have no obstacles; If any grid in the detection area is not the first type of grid, the navigation target point detection result is determined to be navigation unreachable.

4. The navigation target point detection method according to claim 1, It is characterized in that Before obtaining the navigation target point in the grid map, it also includes: Receive a preset task configuration instruction, and display a preset task configuration interface according to the task configuration instruction; A preset navigation target point configuration instruction is received, and the grid map is displayed in the task configuration interface according to the navigation target point configuration instruction.

5. The navigation target point detection method according to claim 1, It is characterized in that The navigation target point detection condition is that the duration for which any grid in the grid map is marked is greater than a preset duration threshold.

6. The navigation target point detection method according to claim 1, It is characterized in that The presenting of the navigation target point detection result in a preset interactive manner includes: Displaying the navigation target point detection result on a preset display interface; and / or The navigation target point detection result is broadcasted through a preset audio playback device.

7. The navigation target point detection method according to any one of claims 1 to 6, It is characterized in that After determining the navigation target point detection result according to the state of the grid in the detection area, the method further includes: If the detection result of the navigation target point is that the navigation is unreachable, searching for a replacement point in the grid map with the navigation target point as the center; the replacement point is a navigation-reachable grid with the shortest distance to the navigation target point; The replacement point is displayed in a preset interactive manner.

8. A navigation target point detection device, It is characterized in that Applied to servers, including: A navigation target point acquisition module, used to acquire the navigation target point in the grid map when a preset navigation target point detection condition is met during the process of creating or editing a task for the robot through the server; A detection area determination module, used to determine a detection area centered on the navigation target point in the grid map; A detection result determination module is used to determine the navigation target point detection result according to the state of the grids in the detection area; the navigation target point detection result includes navigation reachable and navigation unreachable; wherein navigation reachable means that all grids in the detection area are grids with proven obstacle-free objects, and navigation unreachable means that any grid in the detection area is not a grid with proven obstacle-free objects; The detection result display module is used to display the navigation target point detection result through a preset interactive method.

9. A computer-readable storage medium storing a computer program. It is characterized in that When the computer program is executed by a processor, the steps of the navigation target point detection method according to any one of claims 1 to 7 are implemented.

10. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the steps of the navigation target point detection method according to any one of claims 1 to 7 are implemented.

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