Robot remote engineering survey method, device and storage medium

Abstract

The present invention discloses a robot remote site survey method, device, and storage medium. The method includes receiving a contour map uploaded by a robot, generating a target map corresponding to the contour map according to preset rules, planning a walking path corresponding to the target map according to the target map, and synchronizing the walking path and the target map to the robot, so that the robot can autonomously navigate and perform tasks according to the walking path and the target map. The present invention only requires remotely receiving the contour map uploaded by the robot, determining the target map and planning the walking path based on the contour map, and then synchronizing the target map and the walking path to the robot. This eliminates the need for professional personnel to operate site survey tools on-site, improves the efficiency of online robots, and further saves a large amount of manpower, financial resources, and time.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a robot remote engineering survey method, device, and storage medium. Background Art

[0002] When a robot needs to serve a new work scenario, before the robot goes online, it is necessary to manually control the robot to conduct a site survey in the entire work scenario to collect a robot map of the surrounding environment corresponding to the work scenario for the robot to work normally.

[0003] During the process of conceiving and implementing this application, the inventors discovered that there are at least the following problems: when a user conducts a site survey on a robot, it is necessary to ensure that the user has the ability to operate the robot and the site survey tools. When the user is not familiar with operating the robot and the site survey tools, the robot manufacturer's after-sales service must dispatch special operation and maintenance personnel to provide site survey tool services, which will waste a lot of manpower, financial resources, time and other resources, and reduce the efficiency of the online robot.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of the present invention is to provide a robot remote survey, device and storage medium, aiming to improve the efficiency of online robots.

[0006] To achieve the above-mentioned object, the present invention provides a robot remote site survey method, the steps of the robot remote site survey method comprising:

[0007] Receive the outline map uploaded by the robot and generate a target map corresponding to the outline map according to preset rules;

[0008] Planning a walking path corresponding to the target map according to the target map;

[0009] The walking path and the target map are synchronized to the robot, so that the robot can autonomously navigate and perform tasks according to the walking path and the target map.

[0010] Optionally, the contour map is generated by collecting environmental data of the working area through a laser radar when the robot is surveying the working area.

[0011] Optionally, the step of generating a target map corresponding to the outline map according to preset rules includes:

[0012] Create a canvas corresponding to the outline map through the canvas tag;

[0013] A drawing operation of a user based on the canvas is received, and a marked area is generated on the canvas according to the drawing operation to generate the target map, wherein the marked area includes at least one of a map boundary line, a point area, and a prohibited area.

[0014] Optionally, the step of creating a canvas corresponding to the contour map through the canvas tag includes:

[0015] Creating an initial canvas through the canvas tag, and obtaining scene feature information corresponding to the outline map according to the outline map;

[0016] The contour map is drawn on the initial canvas according to the scene feature information to generate a canvas corresponding to the contour map.

[0017] Optionally, the step of planning a walking path corresponding to the target map according to the target map includes:

[0018] receiving a punctuation operation by a user based on the target map, and generating corresponding marking points on the canvas according to the punctuation operation;

[0019] Connect the marked points on the canvas to obtain the walking paths corresponding to the marked points.

[0020] Optionally, the method further includes:

[0021] Acquire the real-time position of the robot at intervals of a preset time period, and associate the real-time position with the received contour map;

[0022] Acquire a target location associated with the abnormal area corresponding to the contour map according to the real-time location;

[0023] The robot is controlled to walk along the abnormal area according to the target position to obtain a contour map of the abnormal area again.

[0024] Optionally, the method further includes:

[0025] Controlling the robot to perform a resurvey according to the walking path and the target map, and obtaining position information of the robot and / or status information of the robot during the resurvey in real time;

[0026] Obtaining a target path for the robot during resurvey according to the position information, and obtaining the walking path and a deviation from the target path;

[0027] The target map and / or the walking path are adjusted according to the deviation and / or status information.

[0028] In addition, to achieve the above-mentioned purpose, the present invention also provides a robot remote site survey device, and the robot remote site survey method device includes: a memory, a processor, and a robot remote site survey program stored in the memory and executable on the processor. When the robot remote site survey program is executed by the processor, the steps of the robot remote site survey method described above are implemented.

[0029] In addition, to achieve the above-mentioned purpose, the present invention further provides a storage medium, on which a robot remote site survey program is stored. When the robot remote site survey program is executed by a processor, the steps of the robot remote site survey method described above are implemented.

[0030] The embodiments of the present invention propose a robot remote engineering survey method, device and storage medium, which remotely receives a contour map uploaded by the robot. After receiving the contour map uploaded by the robot, it generates a target map and a walking path according to the contour map, and remotely synchronizes the target map and the walking path to the robot so that the robot can autonomously navigate and perform tasks according to the target map and / or the walking path. That is, after receiving the target map and the walking path, the robot can be directly put online for use. The present invention does not require specialized personnel to operate the robot on site to complete the online operation of the robot, thereby improving the efficiency of the robot online operation and reducing human, financial, time and other resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of the hardware operating environment of the embodiment of the present invention;

[0032] Figure 2 This is a flow chart of a first embodiment of the robot remote site survey method of the present invention;

[0033] Figure 3 This is a schematic diagram of the contour map;

[0034] Figure 4 Schematic diagram of a detailed flow chart of step S10 of the first embodiment of the robot remote site survey method of the present invention;

[0035] Figure 5 Schematic diagram of a detailed flow chart of step S20 of the first embodiment of the robot remote site survey method of the present invention;

[0036] Figure 6 This is a flow chart of a second embodiment of the robot remote site survey method of the present invention;

[0037] Figure 7 A schematic diagram of a contour map of the second embodiment of the robot remote site survey method of the present invention;

[0038] Figure 82 is a flow chart of a third embodiment of the robot remote site survey method of the present invention.

[0039] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0040] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] The main solution of the embodiment of the present invention is: receiving the outline map uploaded by the robot, generating a target map corresponding to the outline map according to preset rules; planning the walking path corresponding to the target map according to the target map; synchronizing the walking path and the target map to the robot, so that the robot can autonomously navigate and perform tasks according to the walking path and the target map.

[0042] like Figure 1 As shown, Figure 1 It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0043] The terminal in the embodiment of the present invention may be a PC, or may be a terminal device such as a smart phone, a tablet computer, or a portable computer.

[0044] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0045] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation to the terminal, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0046] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a robot remote survey program.

[0047] exist Figure 1 In the terminal shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the robot remote site survey program stored in the memory 1005 and perform the following operations:

[0048] Receive the outline map uploaded by the robot and generate a target map corresponding to the outline map according to preset rules;

[0049] Planning a walking path corresponding to the target map according to the target map;

[0050] The walking path and the target map are synchronized to the robot, so that the robot can autonomously navigate and perform tasks according to the walking path and the target map.

[0051] Furthermore, the processor 1001 may call the robot remote site survey program stored in the memory 1005 and perform the following operations:

[0052] Create a canvas corresponding to the outline map through the canvas tag;

[0053] A drawing operation of a user based on the canvas is received, and a marked area is generated on the canvas according to the drawing operation to generate the target map, wherein the marked area includes at least one of a map boundary line, a point area, and a prohibited area.

[0054] Furthermore, the processor 1001 may call the robot remote site survey program stored in the memory 1005 and perform the following operations:

[0055] Creating an initial canvas through the canvas tag, and obtaining scene feature information corresponding to the outline map according to the outline map;

[0056] The contour map is drawn on the initial canvas according to the scene feature information to generate a canvas corresponding to the contour map.

[0057] Furthermore, the processor 1001 may call the robot remote site survey program stored in the memory 1005 and perform the following operations:

[0058] receiving a punctuation operation by a user based on the target map, and generating corresponding marking points on the canvas according to the punctuation operation;

[0059] Connect the marked points on the canvas to obtain the walking paths corresponding to the marked points.

[0060] Furthermore, the processor 1001 may call the robot remote site survey program stored in the memory 1005 and perform the following operations:

[0061] Acquire the real-time position of the robot at intervals of a preset time period, and associate the real-time position with the received contour map;

[0062] Acquire a target location associated with the abnormal area corresponding to the contour map according to the real-time location;

[0063] The robot is controlled to walk along the abnormal area according to the target position to obtain a target contour map of the abnormal area again.

[0064] Furthermore, the processor 1001 may call the robot remote site survey program stored in the memory 1005 and perform the following operations:

[0065] After the step of synchronizing the walking path and the target map to the robot, the method further includes:

[0066] Controlling the robot to perform a resurvey according to the walking path and the target map, and obtaining position information of the robot and / or status information of the robot during the resurvey in real time;

[0067] Obtaining a target path for the robot during resurvey according to the position information, and obtaining the walking path and a deviation from the target path;

[0068] The target map and / or the walking path are adjusted according to the deviation and / or status information.

[0069] First embodiment

[0070] Reference Figure 2 A first embodiment of a robot remote site survey method of the present invention provides a robot remote site survey method, the robot remote site survey method comprising:

[0071] Step S10, receiving the outline map uploaded by the robot, and generating a target map corresponding to the outline map according to preset rules;

[0072] Step S20, planning a walking path corresponding to the target map according to the target map;

[0073] Step S30: synchronizing the walking path and the target map to the robot, so that the robot can autonomously navigate and perform tasks according to the walking path and the target map.

[0074] In this embodiment, the robot remote site survey method is applied to a web page for configuring the site survey tool. The web page can be any browser. The user logs in to the link address of the remote site survey tool using a username and / or login password, and then selects a remote site survey menu to conduct remote site survey of the robot. It can be understood that the web page communicates with the robot in real time. The web page can receive information such as contour maps and real-time locations uploaded by the robot, and the web page can also send information to the robot.

[0075] Optionally, the contour map is generated by collecting environmental data of the surrounding environment by laser radar when the robot is conducting on-site survey, and the contour map is generated based on the environmental data. When the staff pushes the robot to conduct on-site survey, the laser radar collects environmental data and generates a contour map. Figure 3 , Figure 3 A schematic diagram of the contour map is shown, where the white area is the walkable area and the gray area is the non-walkable area.

[0076] Optionally, the robot can conduct site surveys by manually controlling the robot to move within a traversable area of ​​the work area, constructing the contour map during movement. The robot can be manually controlled to obtain control signals through a human-machine interaction peripheral, such as a handle connected via USB wired connection, a handle connected via USB wirelessly, a mobile phone connected via WiFi, or a remote control connected via wireless data transmission. The control signals are uniformly transmitted to the robot's motion execution unit, which performs site survey operations based on the control signals to obtain environmental data of the surrounding environment and generate the contour map. Optionally, when the work area is large, multiple robots can be controlled to collect environmental data of the surrounding environment. After obtaining the environmental data collected by each robot, the environmental data is spliced ​​and fused to complete the construction of the contour map.

[0077] Optionally, the radar configured on the robot may be a laser radar.

[0078] Optionally, when the outline map is received, a target map corresponding to the outline map is generated according to a preset rule, that is, the target map is the modified outline map.

[0079] Optionally, refer to Figure 4 The step of generating a target map corresponding to the outline map according to preset rules includes:

[0080] Step S11, creating a canvas corresponding to the outline map through the canvas tag;

[0081] Step S12: receiving a drawing operation of the user based on the canvas, generating a marked area on the canvas according to the drawing operation to generate the target map, wherein the marked area includes at least one of a map boundary line, a point area, and a prohibited area.

[0082] Optionally, the step of creating a canvas corresponding to the contour map through a canvas tag includes:

[0083] Creating an initial canvas through the canvas tag, and obtaining scene feature information corresponding to the outline map according to the outline map;

[0084] The contour map is drawn on the initial canvas according to the scene feature information to generate a canvas corresponding to the contour map.

[0085] Optionally, the method of creating an initial canvas is to define the size of the canvas through the canvas tag, and define the width and height of the canvas. The specific values ​​can be adjusted according to actual usage requirements and display device resolution.

[0086] Optionally, the scene feature information includes basic map information of the outline map, such as walls, doors, elevators, elevators, stairs, etc. Optionally, the scene feature information also includes location coordinate information corresponding to the basic map information, that is, the specific location of the basic map information in the outline map.

[0087] Optionally, because the contour map only includes the contour of the scene feature information, when the robot uploads the contour map to the web page, the web page cannot accurately evaluate the scene feature information. Based on this, in an embodiment of the present application, the method for obtaining the scene feature information corresponding to the contour map can be that the web page remotely communicates with the staff operating the robot to receive feedback information reported by the staff, and the feedback information may include the scene feature information.

[0088] Optionally, in another embodiment, the method for obtaining scene feature information may also be to receive an environmental image of the surrounding environment captured by the robot, and compare the environmental image with the contour map to obtain scene feature information corresponding to the contour map.

[0089] Optionally, in another embodiment, the method of obtaining scene feature information can also be to preset a scene feature database in advance, compare the contours of the preset scene feature database with the contour information of each scene feature information in the contour map, so as to obtain the target scene features corresponding to the contour match from the preset scene feature database, and determine the scene feature information based on the target scene features.

[0090] Optionally, the contour map is drawn on the initial canvas according to the scene feature information. By using the drawing interface provided by the Canvas tag, the scene feature information can be converted into visual points, lines, surfaces or other complex graphics, and drawn on the initial canvas to generate a canvas corresponding to the contour map, that is, the surrounding environment of the robot during the site survey is redrawn on the initial canvas with the contour map as a reference.

[0091] Optionally, in another embodiment, the method of creating the canvas corresponding to the contour map through the canvas tag can also be to display the contour map on the initial canvas after creating an initial canvas. Specifically, the obtained contour map is loaded into the initial canvas through the fabric.Image.fromURL method of fabric.js.

[0092] Optionally, when the robot conducts site survey, it needs to clarify information such as room points, elevator points, and prohibited areas. Based on this, after creating a canvas corresponding to the outline map through the canvas tag, it receives the user's drawing operations based on the canvas, and the drawing operations include punctuation operations, line operations, etc.

[0093] Optionally, after receiving the drawing operation, a corresponding annotated area is formed on the canvas based on the drawing operation, wherein the annotated area includes at least one of a map boundary line, a point area, and a prohibited area. It is understood that when drawing the annotated areas, the user may also annotate attribute information corresponding to each annotated area. The attribute information may be used to control the robot to perform a corresponding operation in the corresponding annotated area. For example, the attribute information may include the room name and the corresponding execution task, wherein the execution task may be to stop in the area with the room name 101.

[0094] Optionally, the map boundary line can be used to represent the wall of the working area; the point area can be an elevator point, a room point, a publicity point, etc.; the restricted area is used to prohibit the robot from driving. For example, the interior of the room can be set as a restricted area to control the robot from entering the room.

[0095] Optionally, the restricted area can be a user-defined configuration. The user can artificially limit the robot's inspection range by adding a custom virtual wall, including: when transportation is in progress in a certain area, it is inconvenient for the robot to inspect, and a virtual obstacle will be added in the area by setting a custom virtual wall.

[0096] Optionally, the marked area includes but is not limited to the map boundary line, point area and prohibited area, and may also include walkable area. The user can modify some prohibited areas in the outline map into walkable areas; in addition, the marked area may also include a parking area.

[0097] Optionally, after generating the marked area, the marked area is superimposed on the canvas to form the target map. Optionally, the target map may include multiple maps, and the target map corresponding to each floor may be the same or different.

[0098] Optionally, when generating the target map, the walking path corresponding to the target map is planned according to the target map, referring to Figure 5 , the step S20 includes:

[0099] Step S21, receiving a punctuation operation performed by a user based on the target map, and generating corresponding marking points on the canvas according to the punctuation operation;

[0100] Step S22: Connect the marked points on the canvas to obtain the walking paths corresponding to the marked points.

[0101] Optionally, after generating the target map, a punctuation operation of the user based on the target map (ie, the canvas) is received, and the marked points on the target map are determined according to the punctuation operation, and then the marked points are connected to obtain the walking path.

[0102] Optionally, in another embodiment, the walking path may be generated by obtaining a walking trajectory of the robot during site surveying, correcting the walking trajectory, and determining the corrected walking trajectory as the walking path.

[0103] Optionally, in another embodiment, the method of generating the walking path can also determine the walking path corresponding to the target map according to preset walking rules, and the preset walking rules include walking rules for the working area. For example, the working area includes cargo room door A, passage T1, fire door B, passage T2, first floor elevator entrance C, third floor elevator entrance D, passage E and room 301. The preset walking rule is to go from cargo room door A through passage T1 to fire door B, and then through passage T2 to first floor elevator entrance C, and then to third floor elevator entrance D, and then through passage E to room 301. Therefore, the walking path determined according to the preset walking rules is cargo room door A-passage T1-fire door B-passage T2-first floor elevator entrance C-third floor elevator entrance D-passage E-room 301.

[0104] Optionally, the walking path may include multiple walking paths. When the robot performs a corresponding task, it may select a walking path required to complete the task according to the walking path, and then complete the task according to the walking path.

[0105] Optionally, the walking path is composed of a plurality of marked points. When generating the walking path, the user sets attribute information corresponding to each of the marked points, and generates the walking path according to the attribute information and the marked points.

[0106] Optionally, the attribute information may include preset posture information, preset acceleration, preset speed, etc. corresponding to the annotation point. The attribute information corresponding to different annotation points may be the same or different.

[0107] Optionally, after generating the walking path and the target map, the walking path and the target map are synchronized to the robot. Optionally, when the same working area includes multiple robots, the walking path and the target map can be synchronized to the robot at the same time so that multiple robots can be online at the same time.

[0108] Optionally, after receiving the walking path and the target map, the robot can autonomously navigate and perform the task according to the walking path and the target map.

[0109] Optionally, after the robot is actually put online, the robot continuously collects environmental data and returns the contour map corresponding to the environmental data to the web page while navigating and performing tasks independently, so that the web page can update the target map and / or the walking path according to the contour map. After updating the target map and / or the walking path, the web page sends the latest target map and / or the latest walking path to the robot periodically or in real time. It should be noted here that since the data volume of the target map and / or the walking path is generally large, only the update package can be sent to the robot when sending the target map and / or the walking path to reduce the pressure of data transmission.

[0110] Optionally, the method for the web page to update the target map and / or walking path based on a certain robot is as follows: the web page compares the contour map returned by the robot with the contour map stored in the current cloud server to obtain the current position information of the robot and the changes in the environmental data around the current position of the robot. If the environmental data changes, the target map and / or walking path is updated accordingly. If the environmental data does not change, the environmental data returned at this moment is ignored.

[0111] In an embodiment of the present application, by receiving the outline map uploaded by the robot, a corresponding canvas is created according to the outline map, and then a corresponding annotation area is generated on the canvas according to the drawing operation of the receiving user, so as to generate the target map according to the annotation area, and according to the punctuation operation of the received user, each annotation point is formed according to the punctuation operation, and each annotation point is connected to form a walking path corresponding to the target map. After the target map and the walking path are formed, the target map and the walking path are synchronized to the robot to be put online, so that the robot can autonomously navigate and perform tasks according to the target map and the walking path. In the embodiment of the present application, the manually operated robot cooperates with the user to remotely operate the web page, and a large number of robots can be put online nationwide with less manpower and time, thereby improving the efficiency of engineering surveys and saving manpower, material resources and financial resources.

[0112] Second embodiment

[0113] Optionally, refer to Figure 6 , the method further comprises:

[0114] Step S40, obtaining the real-time position of the robot at intervals of a preset time period, and associating the real-time position with the received contour map;

[0115] Step S50, obtaining a target position associated with the abnormal area corresponding to the contour map according to the real-time position;

[0116] Step S60: Control the robot to walk along the abnormal area according to the target position to obtain a contour map of the abnormal area again.

[0117] Optionally, due to manual operation of the robot, the robot may be pushed back. When the user pushes the robot back to walk, the laser radar is facing the user, that is, the laser radar is blocked by the user, and the correct environmental data cannot be collected. When the laser radar scans the user, there are gray dots in the contour map formed. The gray dots represent the user. If the user keeps pushing the robot back to walk, there will be a large number of gray dots in the contour map formed, which may easily lead to the contour map formed not being able to correctly reflect the environmental data of the surrounding environment. Based on this, an embodiment of the present application also provides a robot remote engineering survey method, by configuring a positioning module on the robot, communicating with the web page in real time through the positioning module, and detecting the position information of the robot in real time, and sending the position information to the web page so that the web page can monitor the position of the robot in real time.

[0118] Optionally, the preset time period may be a user-defined setting.

[0119] Optionally, the robot can upload the contour map by collecting and uploading it in real time. After the web page receives the uploaded contour map, it associates the contour map with the currently uploaded location, and then obtains the target location of the abnormal area corresponding to the contour map based on the real-time location information. The abnormal area is the area where the robot is pushed backwards.

[0120] Optionally, the step of obtaining the target location of the abnormal area corresponding to the contour map according to the real-time location information includes: determining whether the contour map has an abnormal area, and if so, obtaining the target location associated with the abnormal area according to the real-time location. The method of determining whether the contour map has an abnormal area may be to divide the received contour map into each area block and obtain the number of gray points corresponding to each area block, and determine the area block with a number of gray points greater than a preset number as the abnormal area, such as Figure 7 As shown, Figure 7 Schematic diagram showing the contour map produced when the robot is pushed in reverse.

[0121] Optionally, after obtaining the target position associated with the abnormal area, the robot is controlled to walk along the abnormal area according to the target position to obtain the target environment data corresponding to the abnormal area again, and the contour map corresponding to the target position is generated again according to the target environment data, and the contour map is re-uploaded to the web page so that the web page can generate the target map corresponding to the contour map based on the contour map.

[0122] Optionally, the method of controlling the robot to walk along the abnormal area according to the target position may be that the user manually pushes the robot to walk along the abnormal area, or may be that the robot is controlled to walk along the abnormal area by itself.

[0123] In an embodiment of the present application, by monitoring the real-time position of the robot in real time and associating the real-time position with the received contour map, when an abnormal area is detected in the contour map, the target position associated with the abnormal area is determined according to the real-time position, and the robot is controlled to walk along the abnormal area according to the target position to regenerate an accurate contour map corresponding to the abnormal area. The embodiment of the present application detects in real time whether an abnormality occurs when the robot is conducting a site survey through real-time position information, thereby improving the accuracy of the robot's site survey.

[0124] Third embodiment

[0125] Optionally, refer to Figure 8 After step S30, the method further includes:

[0126] Step S70, controlling the robot to resurvey according to the walking path and the target map, and obtaining position information of the robot and / or status information of the robot during the resurvey in real time;

[0127] Step S80, obtaining a target path for the robot during resurvey according to the position information, and obtaining the walking path and a deviation of the target path;

[0128] Step S90: adjusting the target map and / or the walking path according to the deviation and / or status information.

[0129] In an embodiment of the present application, after the target map and the walking path are sent to the robot, the robot can autonomously navigate and perform tasks according to the target map and the walking path. At this time, the robot is controlled to re-survey the work area according to the target map and the walking path. When the robot is re-surveying, it uploads location information to the web page at intervals of a preset time period, so that the web page can grasp the walking route of the robot in real time based on the location information.

[0130] Optionally, the state information may be determined based on the robot's position information during resurvey. When the robot's position information does not conform to preset position information, the robot's state information is determined to be abnormal walking; when the robot's position information conforms to preset position information, the robot's state information is determined to be normal walking. For example, when the robot encounters an obstacle and falls abnormally, or stops abnormally, the position information is determined to be inconsistent with the preset position information.

[0131] Optionally, the status information can also be determined based on the acceleration and / or speed of the robot when performing re-survey. When the acceleration of the robot does not meet the preset acceleration, and / or the speed of the robot does not meet the preset speed, the status information of the robot is determined to be abnormal walking; when the acceleration of the robot meets the preset acceleration and the speed of the robot meets the preset speed, the status information of the robot is determined to be normal walking.

[0132] It is understandable that different position points in the walking path correspond to different preset posture information, and the user can customize at least one of the preset posture information, preset acceleration and preset speed for different position points in the walking path.

[0133] Optionally, in another embodiment, the robot reports status information in a manner that, upon detecting that its status information does not satisfy preset status information, generates corresponding error information and uploads it to the webpage. Upon receiving the error information, the webpage adjusts the target map and / or the walking path based on the error information. The preset status information is normal walking, and the error information includes status information that does not satisfy the preset status information.

[0134] Optionally, after the web page receives the location information, it obtains the target path of the robot when re-surveying according to the location information. Optionally, the target path can be obtained by obtaining a picture of the target map and displaying the target map on a canvas through a canvas tag. The real-time position of the robot is obtained at intervals of a preset time period, and the survey points of the robot are displayed on the canvas. The survey points are then connected to obtain the target path of the robot.

[0135] Optionally, after the target path is obtained, the target path is compared with a walking path planned in advance to obtain a deviation between the target path and the walking path.

[0136] Optionally, after obtaining the deviation, the target map and / or walking path are adjusted according to the deviation and / or status information. The method of adjusting the target map and / or walking path according to the deviation includes: when the deviation is greater than or equal to a preset deviation, performing an operation of adjusting the target map and / or walking path according to the deviation; when the deviation is less than or equal to the preset deviation, ignoring the deviation; and adjusting the target map and / or walking path according to the status information includes determining whether the status information satisfies the preset status information, and if so, ignoring the status information; if not, adjusting the target map and / or walking path according to the status information.

[0137] Optionally, the method of adjusting the target map includes adjusting a marked area in the target map; optionally, the method of adjusting the walking path includes adjusting preset posture information of the walking path.

[0138] Optionally, after adjusting the target map and / or the walking path, the adjusted target map and / or walking path are sent to the robot so that the robot can autonomously navigate and perform tasks according to the adjusted target map and / or walking path.

[0139] Optionally, after the robot is put online, the status information uploaded by the robot can be received in real time, and the target map and / or the walking path can be adjusted in real time according to the status information. Optionally, the method of adjusting the target map and / or the walking path in real time according to the status information can be to determine whether the status information meets the preset status information. If not, the target map and / or the walking path are adjusted in real time according to the status information. If so, the status information is ignored and the target map and / or the walking path are not updated.

[0140] In an embodiment of the present application, after the target map and / or walking path are sent to the robot, the robot is controlled to perform a re-survey according to the target map and / or the walking path to obtain the position information and / or status information of the robot during the survey, the target path of the robot during the re-survey is determined according to the position information, and the deviation of the walking path and the target path is obtained, and the target map and / or walking path are adjusted according to the deviation and / or status information to optimize the target map and / or the walking path, thereby improving the accuracy and efficiency of the robot's site survey.

[0141] In addition, an embodiment of the present invention further provides a storage medium, on which a robot remote site survey program is stored. When the robot remote site survey program is executed by a processor, the steps of the various embodiments described above are implemented.

[0142] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0143] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0144] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0145] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robot remote site survey method, characterized in that: The steps of the robot remote site survey method include: receiving a contour map uploaded by the robot, and generating a target map corresponding to the contour map according to preset rules, wherein the contour map is generated by collecting environmental data of the surrounding environment by the robot through a laser radar when conducting on-site site surveys; The web page compares the contour map returned by the robot with the contour map stored in the current cloud server to obtain the current position information of the robot and the changes in the environmental data around the current position of the robot. If the environmental data has changed, the target map and / or walking path are updated accordingly; The user sets attribute information corresponding to each marked point, and generates the walking path based on the attribute information and the marked points, wherein the attribute information includes preset posture information, preset acceleration, and preset speed corresponding to the marked points; Synchronizing the walking path and the target map to a robot, so that the robot can autonomously navigate and perform tasks according to the walking path and the target map; Controlling the robot to perform a resurvey according to the walking path and the target map, and obtaining in real time position information of the robot and / or state information of the robot during the resurvey, wherein the state information is determined by position information and / or velocity and / or acceleration of the robot; Obtaining a target path for the robot during resurvey according to the position information, and obtaining the walking path and a deviation from the target path; Adjusting the target map and / or the walking path according to the deviation and the status information, wherein different positions in the walking path correspond to different preset posture information, and customizing at least one of the preset posture information, preset acceleration, and preset speed for different positions in the walking path; After adjusting the target map and / or the walking path, the adjusted target map and / or walking path is sent to the robot, so that the robot can autonomously navigate and perform the task according to the adjusted target map and / or walking path; After the robot is online, the status information uploaded by the robot can be received in real time, and the target map and / or the walking path can be adjusted in real time according to the status information.

2. The robot remote site survey method according to claim 1, characterized in that: The step of generating a target map corresponding to the outline map according to preset rules includes: Create a canvas corresponding to the outline map through the canvas tag; A drawing operation of a user based on the canvas is received, and a marked area is generated on the canvas according to the drawing operation to generate the target map, wherein the marked area includes at least one of a map boundary line, a point area, and a prohibited area.

3. The robot remote site survey method according to claim 2, characterized in that: The step of creating a canvas corresponding to the outline map by using the canvas tag includes: Creating an initial canvas through the canvas tag, and obtaining scene feature information corresponding to the outline map according to the outline map; The contour map is drawn on the initial canvas according to the scene feature information to generate a canvas corresponding to the contour map.

4. The robot remote site survey method according to claim 2, characterized in that: The step of planning a walking path corresponding to the target map according to the target map includes: receiving a punctuation operation by a user based on the target map, and generating corresponding marking points on the canvas according to the punctuation operation; Connect the marked points on the canvas to obtain the walking paths corresponding to the marked points.

5. The robot remote site survey method according to claim 1, characterized in that: The method further comprises: Acquire the real-time position of the robot at intervals of a preset time period, and associate the real-time position with the received contour map; Acquire a target location associated with the abnormal area corresponding to the contour map according to the real-time location; The robot is controlled to walk along the abnormal area according to the target position to obtain a contour map of the abnormal area again.

6. A robot remote engineering survey device, characterized in that: The robot remote site survey method device includes: a memory, a processor, and a robot remote site survey program stored in the memory and executable on the processor. When the robot remote site survey program is executed by the processor, the steps of the robot remote site survey method according to any one of claims 1 to 5 are implemented.

7. A storage medium, characterized in that: The storage medium stores a robot remote site survey program, which, when executed by the processor, implements the steps of the robot remote site survey method according to any one of claims 1 to 5.

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