Map updating method, device, equipment and storage medium for long corridor environment

Abstract

The present application provides a map updating method, device, equipment and storage medium for a long corridor environment. The robot collects laser radar data and then screens out several maximum ranging values ​​from the laser radar data. The robot uses two adjacent maximum ranging values ​​as a group to screen out several groups of target ranging values ​​containing infinite ranging values. The robot identifies whether the current scene is a long corridor environment based on whether the ranging value between the two target ranging values ​​in the same group and the reference ranging value shows a decreasing trend, and after determining that the current scene is a long corridor environment, the area that cannot be detected by the laser radar is mapped with the target ranging value, thereby realizing map update. No unknown environment scene will appear on the map, which is conducive to improving user experience, as well as the stability and robustness of mapping.

Description

Technical Field

[0001] The present application relates to the field of laser mapping technology, and in particular to a map updating method, device, equipment and storage medium for a long corridor environment. Background Art

[0002] When existing robots build maps in a long corridor environment, there are few features in the long corridor environment and there are almost no obstacles except the walls on both sides of the robot. The ranging range of the lidar is limited. As a result, when the robot builds maps in the long corridor environment, large areas of unknown environmental scenes will appear on the map, which affects the user experience as well as the stability and robustness of the map. Summary of the invention

[0003] The main purpose of this application is to provide a map updating method, device, equipment and storage medium for a long corridor environment, aiming to solve the shortcomings of poor stability and robustness of existing robots when building maps in a long corridor environment.

[0004] To achieve the above objectives, the present application provides a map updating method for a long corridor environment, comprising:

[0005] Collect LiDAR data;

[0006] Filtering out a number of maximum ranging values ​​from the laser radar data;

[0007] Taking two adjacent maximum ranging values ​​as a group, screening out several groups of target ranging values ​​including infinite ranging values ​​from each group of maximum ranging values;

[0008] Taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the vertical direction as the Y-axis, respectively determine whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​are in a decreasing trend, wherein the Y-axis semi-axis corresponding to the reference distance measurement value and the maximum distance measurement axis corresponding to the target distance measurement value have a minimum angle;

[0009] If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the infinite distance measurement value is set as the target distance measurement value, and the probability grid map of the current scene is updated.

[0010] The present application also provides a map updating device for a long corridor environment, comprising:

[0011] Acquisition module, used to collect lidar data;

[0012] A first screening module, used for screening out a number of maximum ranging values ​​from the laser radar data;

[0013] A second screening module is used to group two adjacent maximum ranging values ​​and screen out a plurality of groups of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values;

[0014] The judgment module is used to take the center of the robot as the origin of the coordinate axis, the travel direction as the X-axis, and the vertical direction as the Y-axis, and respectively judge whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, wherein the Y-axis semi-axis corresponding to the reference distance measurement value and the maximum distance measurement axis corresponding to the target distance measurement value have a minimum angle;

[0015] The updating module is used to set the infinite distance measurement value as the target distance measurement value if the distance measurement value between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​respectively shows a decreasing trend, and update the probability grid map of the current scene.

[0016] The present application also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0017] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the above-mentioned methods are implemented.

[0018] A map updating method, device, equipment and storage medium for a long corridor environment provided in the present application, the robot collects laser radar data, and then selects several maximum ranging values ​​from the laser radar data. The robot takes two adjacent maximum ranging values ​​as a group, and selects several groups of target ranging values ​​containing infinite ranging values ​​from each group of maximum ranging values, the infinite ranging value is located between the two target ranging values ​​in the same group, and the number of infinite ranging values ​​is greater than the number threshold. With the center of the robot as the origin of the coordinate axis, the direction of travel as the X axis, and the Y axis perpendicular to the direction of travel as the Y axis, it is judged whether the ranging value between the two target ranging values ​​in the same group and the reference ranging value is in a decreasing trend, wherein the Y-axis semi-axis corresponding to the reference ranging value and the maximum ranging axis corresponding to the target ranging value have a minimum angle. If the ranging value between the two target ranging values ​​in the same group and the reference ranging value is in a decreasing trend, the infinite ranging value is set as the target ranging value, and the probability grid map of the current scene is updated. In the present application, the robot identifies whether the current scene is a long corridor environment based on whether the ranging value between the two target ranging values ​​in the same group and the reference ranging value shows a decreasing trend. After determining that the current scene is a long corridor environment, the area that cannot be detected by the lidar is mapped using the target ranging value, thereby realizing map updates. No unknown environmental scenes will appear on the map, which is conducive to improving user experience as well as the stability and robustness of mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the steps of a map updating method for a long corridor environment in one embodiment of the present application;

[0020] Figure 2 is a coordinate diagram between the sweeping machine and the long corridor environment in one embodiment of the present application;

[0021] Figure 3 It is an overall structural block diagram of a map updating device for a long corridor environment in one embodiment of the present application;

[0022] Figure 4 It is a schematic block diagram of the structure of a computer device according to an embodiment of the present application.

[0023] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0025] Reference Figure 1 In one embodiment of the present application, a map updating method for a long corridor environment is provided, comprising:

[0026] S1: Collect lidar data;

[0027] In this embodiment, a laser radar is deployed on the robot. During the robot's moving and mapping process, the laser radar is used to scan the environment of the current scene counterclockwise (or clockwise, set according to actual needs). When the laser encounters an obstacle in the current environment, it will return the distance value (i.e., the ranging value) between the center of the laser radar (representing the robot) and the obstacle, thereby obtaining the distance between the obstacle and the center of the laser radar within one week of the robot (i.e., 360 degrees). These distance values ​​constitute the laser radar data of the laser radar scanning one week.

[0028] S2: Filtering out a number of maximum ranging values ​​from the laser radar data;

[0029] In this embodiment, the robot's mapping system compares each ranging value contained in the laser radar data one by one, thereby screening out all maximum ranging values ​​contained in the laser radar data.

[0030] S3: taking two adjacent maximum ranging values ​​as a group, and screening out several groups of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values;

[0031] Reference Figure 2 In this embodiment, the mapping system will filter the maximum ranging values ​​according to the scanning direction of the laser radar and the ranging angles corresponding to each maximum ranging value, and group two adjacent maximum ranging values ​​(for example, in the counterclockwise direction, the maximum ranging values ​​collected by the laser radar are A, B, C, and D respectively (such as Figure 2 r max1 、r max2 、r max3 、r max4 ), the maximum ranging value A and the maximum ranging value B are grouped together, the maximum ranging value B and the maximum ranging value C are grouped together, the maximum ranging value C and the maximum ranging value D are grouped together, the maximum ranging value D and the maximum ranging value A are grouped together, and so on). Then, the mapping system detects and counts the number of infinite ranging values ​​contained between the ranging angles corresponding to the two maximum ranging values ​​in the same group (for example, the maximum ranging value A is 0 degrees, and the maximum ranging value B is 45 degrees, that is, it is necessary to detect ranging values ​​between 0 degrees and 45 degrees), wherein the infinite ranging value indicates that the laser radar encounters no obstacles when scanning the surrounding environment, so the ranging value is infinite (there are actually obstacles in the distance, but due to the limitation of the performance of the laser radar itself, the obstacles in the distance are not detected and are deemed to be not detected). If the number of infinite ranging values ​​contained between the two maximum ranging values ​​of the group is greater than the quantity threshold, the two maximum ranging values ​​of the group are selected as the target ranging values; accordingly, the mapping system selects several groups of target ranging values.

[0032] S4: Taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the direction perpendicular to the traveling direction as the Y-axis, respectively determine whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​are in a decreasing trend, wherein the Y-axis semi-axis corresponding to the reference distance measurement value and the maximum distance measurement axis corresponding to the target distance measurement value have a minimum angle;

[0033] Reference Figure 2In this embodiment, the mapping system defines the center of the robot as the origin of the coordinate axis, the direction of travel as the X-axis, and the direction perpendicular to the direction of travel (i.e., perpendicular to the X-axis) as the Y-axis, wherein the semi-axis located in front of the robot is the positive semi-axis of the X-axis, and the semi-axis located to the left of the robot is the positive semi-axis of the Y-axis. The mapping system identifies the variation trend of the distance measurement values ​​between each group of target distance measurement values ​​and their corresponding reference distance measurement values. The Y-axis semi-axis corresponding to the reference distance measurement value has the minimum angle with the maximum distance measurement axis corresponding to the target distance measurement value. Taking the two target distance measurement values ​​in one group as an example, assuming that the target distance measurement value A is located to the left of the positive semi-axis of the X-axis, and the target distance measurement value D is located to the right of the positive semi-axis of the X-axis, the Y-axis semi-axis having the minimum angle with the maximum distance measurement axis a where the target distance measurement value A is located is the positive semi-axis of the Y-axis, and the reference distance measurement value located at the positive semi-axis of the Y-axis corresponds to the target distance measurement value A; the Y-axis semi-axis having the minimum angle with the maximum distance measurement axis d where the target distance measurement value D is located is the negative semi-axis of the Y-axis, and the reference distance measurement value located at the negative semi-axis of the Y-axis corresponds to the target distance measurement value D. The mapping system determines whether the distance measurement values ​​from the target distance measurement value A to the positive semi-axis of the Y-axis are in a decreasing trend in sequence, and determines whether the distance measurement values ​​from the target distance measurement value D to the negative semi-axis of the Y-axis are in a decreasing trend in sequence. If the distance measurement values ​​from the target distance measurement value A to the reference distance measurement value of the positive half axis of the Y axis show a decreasing trend in sequence, and the distance measurement values ​​from the target distance measurement value D to the reference distance measurement value of the negative half axis of the Y axis show a decreasing trend in sequence, it means that the robot is currently in a long corridor environment, that is, the current scene is a long corridor.

[0034] S5: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the infinite distance measurement value is set as the target distance measurement value, and the probability grid map of the current scene is updated.

[0035] In this embodiment, when the mapping system recognizes that the robot is currently in a long corridor environment (i.e., the distance measurement value between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​is decreasing), the infinite distance measurement value between the two target distance measurement values ​​in the same group is set as the target distance measurement value to avoid the influence of the infinite distance measurement value on the mapping (i.e., each infinite distance measurement value that does not have an actual value is replaced by a target distance measurement value with an actual value, so that each infinite distance measurement value has actual significance), so that the mapping system can use the ray tracing strategy to update the probability grid map of the current scene according to each target distance measurement value, avoid the unknown environment scene in the mapping process caused by the infinite distance measurement value, which is not only conducive to improving the user experience, but also can improve the stability and robustness of the robot mapping.

[0036] Further, the laser radar data includes multiple ranging values, and a single ranging value corresponds to a single ranging angle;

[0037] In the step of taking two adjacent maximum ranging values ​​as a group and selecting a plurality of groups of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values, the steps of selecting a single group of the target ranging values ​​are:

[0038] S301: selecting two adjacent maximum ranging values ​​in a counterclockwise direction as a group, and respectively obtaining a first ranging angle and a second ranging angle corresponding to the two maximum ranging values ​​in the same group;

[0039] In this embodiment, each ranging value contained in the laser radar data corresponds to a ranging angle. Taking the screening step of a single group of target ranging values ​​as an example (the screening logic of the target ranging values ​​of the remaining groups is the same), the mapping system selects two adjacent maximum ranging values ​​as a group in the counterclockwise direction (it can also be clockwise, the same as the scanning direction of the laser radar), and then obtains the first ranging angle and the second ranging angle corresponding to the two maximum ranging values ​​in the same group, respectively, wherein the first ranging angle and the second ranging angle are the angles between the ranging axes corresponding to the two maximum ranging values ​​and the X-axis. Preferably, the mapping system defines the ranging angle located to the left of the X-axis (i.e., the left side of the robot) as a positive value, and the ranging angle located to the right of the X-axis as a negative value.

[0040] S302: Filtering out each first ranging value included in the first ranging angle and the second ranging angle from the laser radar data in a counterclockwise direction;

[0041] In this embodiment, the mapping system screens out each ranging angle between the first ranging angle and the second ranging angle as the first ranging value according to the ranging angle corresponding to each ranging value during the laser radar scanning in a counterclockwise direction, wherein the angle between the first ranging angle and the second ranging angle is less than 180 degrees.

[0042] S303: Counting the number of the infinite ranging values ​​included in each of the first ranging values, and determining whether the number of the infinite ranging values ​​is greater than a number threshold;

[0043] In this embodiment, the mapping system selects all infinite distance values ​​from each first distance value, and counts the number of all infinite distance values, then calls a preset number threshold, compares the number of all infinite distance values ​​with the number threshold, and determines the size relationship between the two.

[0044] S304: If the number of the infinite ranging values ​​is greater than the number threshold, selecting the two maximum ranging values ​​in the same group as the single group of target ranging values.

[0045] In this embodiment, if the number of infinite ranging values ​​included in the two maximum ranging values ​​of a single group is greater than the number threshold, the mapping system selects the two maximum ranging values ​​of the group as a single group of target ranging values ​​for subsequent corresponding recognition processing.

[0046] Furthermore, the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the axis perpendicular to the traveling direction as the Y-axis, and respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend includes:

[0047] S401: Taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, defining the angle between one of the target ranging values ​​in the same group and the X-axis as a third ranging angle, and defining the angle between another target ranging value and the X-axis as a fourth ranging angle, wherein both the third ranging angle and the fourth ranging angle are not greater than 90 degrees;

[0048] In this embodiment, the mapping system uses the center of the robot as the origin of the coordinate axis, the direction of travel is the X-axis, and the direction perpendicular to the direction of travel is the Y-axis; specifically, the front end of the robot is the positive semi-axis of the X-axis, and the rear end of the robot (i.e., the end corresponding to the backward direction of the robot) is the negative semi-axis of the X-axis; the left end of the robot is defined as the positive semi-axis of the Y-axis, and the right end is defined as the negative semi-axis of the Y-axis. The mapping system defines the angle between one of the two target ranging values ​​of the same group and the X-axis as the third ranging angle, and the angle between the other target ranging value and the X-axis as the fourth ranging angle, and the third ranging angle and the fourth ranging angle are both not greater than 90 degrees, that is, the angle between the ranging axis corresponding to the target ranging value and the X-axis refers to the angle between the ranging axis and the nearest X-axis semi-axis. For example, the target ranging value A and the target ranging value B are located on the left and right sides of the front end of the robot, respectively, that is, the third ranging angle and the fourth ranging angle refer to the angle between the ranging axis corresponding to the target ranging value A and the target ranging value B and the positive semi-axis of the X-axis.

[0049] S402: respectively determining whether each of the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis of the Y-axis presents a decreasing trend, and determining whether each of the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis of the Y-axis presents a decreasing trend, wherein the angle between the first semi-axis and the first ranging axis is the smallest, and the angle between the second semi-axis and the second ranging axis is the smallest;

[0050] In this embodiment, the mapping system determines whether the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis closest to the Y axis (i.e., the semi-axis with the smallest angle between the Y axis and the first ranging axis) are in a decreasing trend in sequence (for example, if the first ranging axis is located on the left side of the robot, the first semi-axis closest to the Y axis is the positive semi-axis of the Y axis), and determines whether the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis closest to the Y axis (i.e., the semi-axis with the smallest angle between the Y axis and the second ranging axis) are in a decreasing trend in sequence.

[0051] S403: If the distance measurement values ​​between the first distance measurement axis corresponding to the third distance measurement angle and the first semi-axis are in a decreasing trend, and the distance measurement values ​​between the second distance measurement axis corresponding to the fourth distance measurement angle and the second semi-axis are in a decreasing trend, it is determined that the distance measurement values ​​between the two target distance measurement values ​​in the same group and the nearest Y axis are in a decreasing trend;

[0052] In this embodiment, if the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the nearest first semi-axis on the Y-axis show a decreasing trend in sequence, and the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the nearest second semi-axis on the Y-axis show a decreasing trend in sequence, the mapping system determines that the ranging values ​​between the two target ranging values ​​in the same group and the nearest Y-axis show a decreasing trend in sequence, and the two target ranging values ​​in the same group contain multiple infinite ranging values, indicating that the robot is currently in a long corridor environment.

[0053] S404: If the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis are not in a decreasing trend, and / or the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis are not in a decreasing trend, it is determined that the ranging value between the two target ranging values ​​in the same group and the nearest Y axis is not in a decreasing trend.

[0054] In this embodiment, if the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the nearest first semi-axis on the Y-axis are not in a decreasing trend in sequence, and / or the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the nearest second semi-axis on the Y-axis are not in a decreasing trend in sequence, the mapping system determines that the ranging values ​​between the two target ranging values ​​in the same group and the nearest Y-axis are not in a decreasing trend, indicating that the current scene environment of the robot does not belong to a long corridor environment.

[0055] Furthermore, a laser radar is deployed on the robot, and the step of collecting laser radar data includes:

[0056] S101: Control the laser radar to scan the current scene in a counterclockwise direction to obtain a number of ranging values ​​corresponding to a unit scanning angle, where the number of the ranging values ​​is consistent with the number of the unit scanning angles;

[0057] In this embodiment, a laser radar is deployed on the robot. When the robot is moving, the mapping system controls the laser radar to scan the current scene in a counterclockwise direction, and obtains the distance between the center of the laser radar (representing the robot) and each obstacle based on the data reflected after the laser encounters an obstacle, and obtains each ranging value corresponding to each unit scanning angle according to the preset unit scanning angle (for example, if the laser radar scans one circle at 360 degrees and the unit scanning angle is 1 degree, then there is one ranging value corresponding to each degree); therefore, the number of ranging values ​​obtained by the laser radar scanning one circle corresponds to the number of unit scanning angles.

[0058] S102: Summarize the distance measurement values ​​to generate the laser radar data.

[0059] In this embodiment, the mapping system aggregates various ranging values ​​to generate laser radar data corresponding to a single frame of laser (one laser radar scan).

[0060] Furthermore, the step of aggregating the distance measurement values ​​to generate the laser radar data includes:

[0061] S1021: establishing an angle system with the robot's forward direction as 0 degrees and the robot's backward direction as -0 degrees, and obtaining the ranging angles corresponding to the ranging values ​​according to the unit scanning angle;

[0062] In this embodiment, the mapping system establishes an angle system with the robot's forward direction as 0 degrees and the robot's backward direction as -0 degrees, and obtains the ranging values ​​corresponding to each ranging value in sequence according to the scanning direction of the laser radar according to the pre-set unit scanning angle. For example, if the scanning direction of the laser radar is counterclockwise, the ranging angle corresponding to the ranging value a overlapping with the positive half axis of the X-axis is 0 degrees, and the ranging angle corresponding to the ranging value b of the next unit scanning angle is 1 degree, and the ranging angle corresponding to the ranging value c of the next unit scanning angle is 2 degrees, and so on, thereby obtaining the ranging angle corresponding to each ranging value decibel.

[0063] S1022: Establish a mapping relationship between each of the ranging values ​​and their corresponding ranging angles, and summarize them in sequence to obtain the laser radar data.

[0064] In this embodiment, the mapping system establishes a mapping relationship between each ranging angle obtained above and the corresponding ranging value (for example, ranging value a corresponds to a ranging angle of 0 degrees, ranging value b corresponds to a ranging angle of 1 degree, and so on), and summarizes the laser radar data in sequence according to the scanning direction of the laser radar.

[0065] Furthermore, after the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend, the method further comprises:

[0066] S6: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the current position coordinates are obtained, and the corridor area is delineated according to the maximum distance measurement value and the current position coordinates;

[0067] In this embodiment, if the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend, it means that the robot is currently in a corridor environment, and the mapping system collects the current position coordinates of the robot through the GPS positioning function deployed on the robot. Then, the corridor area is delineated on the updated probability grid map with the current position coordinates as the center and the maximum distance measurement value as the boundary.

[0068] S7: Mark the corridor area as a long corridor environment.

[0069] In this embodiment, the mapping system marks the corridor area on the map as a long corridor environment so that the user can timely and fully understand the type of scene the robot is in when seeing the map.

[0070] Furthermore, after the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend, the step further includes:

[0071] S8: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are not in a decreasing trend, the probability grid map corresponding to the area within the distance measurement angle range is not updated, wherein the distance measurement angle is the angle between the two maximum distance measurement axes corresponding to the two target distance measurement values ​​in the same group, and the distance measurement angle is not greater than 180 degrees.

[0072] In this embodiment, if the distance measurement values ​​between the two target distance measurement values ​​of the same group and the corresponding reference distance measurement values ​​are not in a decreasing trend, it means that the robot is not currently in a long corridor environment, so the probability grid map corresponding to the area within the angle between the two maximum distance measurement axes corresponding to the two target distance measurement values ​​of the group (i.e., the distance measurement angle) will not be updated. Among them, the distance measurement angle is not greater than 180 degrees, that is, the area corresponding to the distance measurement angle is an area containing infinite distance measurement values.

[0073] Reference Figure 3 In one embodiment of the present application, a map updating device for a long corridor environment is also provided, comprising:

[0074] Collection module 1, used for collecting lidar data;

[0075] A first screening module 2, used to screen out a number of maximum ranging values ​​from the laser radar data;

[0076] The second screening module 3 is used to group two adjacent maximum ranging values ​​and screen out a plurality of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values;

[0077] The judgment module 4 is used to take the center of the robot as the origin of the coordinate axis, the travel direction as the X-axis, and the vertical direction as the Y-axis, and respectively judge whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​are in a decreasing trend, wherein the Y-axis semi-axis corresponding to the reference distance measurement value and the maximum distance measurement axis corresponding to the target distance measurement value have a minimum angle;

[0078] The updating module 5 is used to set the infinite distance measurement value as the target distance measurement value if the distance measurement value between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​respectively shows a decreasing trend, and update the probability grid map of the current scene.

[0079] Further, the laser radar data includes multiple ranging values, and a single ranging value corresponds to a single ranging angle;

[0080] The second screening module 3:

[0081] an acquiring unit, configured to select two adjacent maximum ranging values ​​in a counterclockwise direction as a group, and respectively acquire a first ranging angle and a second ranging angle corresponding to the two maximum ranging values ​​in the same group;

[0082] A screening unit, configured to screen out each first ranging value included between the first ranging angle and the second ranging angle from the laser radar data in a counterclockwise direction;

[0083] a first judging unit, configured to count the number of the infinite ranging values ​​included in each of the first ranging values, and judge whether the number of the infinite ranging values ​​is greater than a number threshold;

[0084] The selection unit is configured to select two maximum ranging values ​​in the same group as a single group of target ranging values ​​if the number of the infinite ranging values ​​is greater than the number threshold.

[0085] Furthermore, the judging module 4 comprises:

[0086] A definition unit is used to define the angle between one of the target ranging values ​​in the same group of target ranging values ​​and the X-axis as a third ranging angle, and the angle between another target ranging value and the X-axis as a fourth ranging angle, with the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the direction perpendicular to the traveling direction as the Y-axis, wherein the third ranging angle and the fourth ranging angle are both not greater than 90 degrees;

[0087] a second judging unit, configured to respectively judge whether each of the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis of the Y-axis presents a decreasing trend, and judge whether each of the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis of the Y-axis presents a decreasing trend, wherein the angle between the first semi-axis and the first ranging axis is the smallest, and the angle between the second semi-axis and the second ranging axis is the smallest;

[0088] a first determining unit, configured to determine that the distance measurement value between the two target distance measurement values ​​in the same group and the nearest Y axis is in a decreasing trend if each of the distance measurement values ​​between the first distance measurement axis corresponding to the third distance measurement angle and the first semi-axis is in a decreasing trend, and each of the distance measurement values ​​between the second distance measurement axis corresponding to the fourth distance measurement angle and the second semi-axis is in a decreasing trend;

[0089] The second determination unit is configured to determine that the distance measurement value between the two target distance measurement values ​​in the same group and the nearest Y-axis is not in a decreasing trend if the distance measurement values ​​between the first distance measurement axis corresponding to the third distance measurement angle and the nearest first semi-axis on the Y-axis are not in a decreasing trend, and / or the distance measurement values ​​between the second distance measurement axis corresponding to the fourth distance measurement angle and the nearest second semi-axis on the Y-axis are not in a decreasing trend.

[0090] Furthermore, a laser radar is deployed on the robot, and the acquisition module 1 includes:

[0091] A scanning unit, used to control the laser radar to scan the current scene in a counterclockwise direction to obtain a number of ranging values ​​corresponding to a unit scanning angle, wherein the number of the ranging values ​​is consistent with the number of the unit scanning angles;

[0092] A summarizing unit is used to summarize the distance measurement values ​​to generate the laser radar data.

[0093] Furthermore, the aggregation unit includes:

[0094] A construction subunit is used to establish an angle system with the robot's forward direction as 0 degrees and the robot's backward direction as -0 degrees, and obtain the ranging angles corresponding to the ranging values ​​according to the unit scanning angle;

[0095] The mapping subunit is used to establish a mapping relationship between each of the ranging values ​​and their corresponding ranging angles, and to summarize them in sequence to obtain the laser radar data.

[0096] Furthermore, the map updating device further includes:

[0097] A demarcation module 6 is used to obtain the current position coordinates if the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, and to demarcate the corridor area according to the maximum distance measurement value and the current position coordinates;

[0098] The marking module 7 is used to mark the corridor area as a long corridor environment.

[0099] Furthermore, the map updating device further includes:

[0100] The determination module 8 is used for not updating the probability grid map corresponding to the area within the ranging angle range if the ranging value between the two target ranging values ​​in the same group and the corresponding reference ranging values ​​is not in a decreasing trend, wherein the ranging angle is the angle between the two maximum ranging axes corresponding to the two target ranging values ​​in the same group, and the ranging angle is not greater than 180 degrees.

[0101] In this embodiment, each module and unit in the map updating device for a long corridor environment is used to correspondingly execute each step in the above-mentioned map updating method for a long corridor environment, and its specific implementation process will not be described in detail herein.

[0102] The present embodiment provides a map updating device for a long corridor environment, wherein the robot collects laser radar data and then selects a number of maximum ranging values ​​from the laser radar data. The robot takes two adjacent maximum ranging values ​​as a group, and selects a number of target ranging values ​​including infinite ranging values ​​from each group of maximum ranging values, wherein the infinite ranging value is located between the two target ranging values ​​in the same group, and the number of infinite ranging values ​​is greater than the number threshold. The center of the robot is taken as the origin of the coordinate axis, the direction of travel is the X-axis, and the direction perpendicular to the direction of travel is the Y-axis. It is judged whether the ranging values ​​between the two target ranging values ​​in the same group and the reference ranging value are in a decreasing trend, wherein the Y-axis semi-axis corresponding to the reference ranging value and the maximum ranging axis corresponding to the target ranging value have a minimum angle. If the ranging values ​​between the two target ranging values ​​in the same group and the reference ranging value are in a decreasing trend, the infinite ranging value is set as the target ranging value, and the probability grid map of the current scene is updated. In the present application, the robot identifies whether the current scene is a long corridor environment based on whether the ranging value between the two target ranging values ​​in the same group and the reference ranging value shows a decreasing trend. After determining that the current scene is a long corridor environment, the area that cannot be detected by the lidar is mapped using the target ranging value, thereby realizing map updates. No unknown environmental scenes will appear on the map, which is conducive to improving user experience as well as the stability and robustness of mapping.

[0103] Reference Figure 4 In an embodiment of the present application, a computer device is also provided. The computer device may be a server, and its internal structure may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as laser radar data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a map update method for a long corridor environment is implemented.

[0104] The processor executes the steps of the map updating method for a long corridor environment:

[0105] S1: Collect lidar data;

[0106] S2: Filtering out a number of maximum ranging values ​​from the laser radar data;

[0107] S3: taking two adjacent maximum ranging values ​​as a group, and screening out several groups of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values;

[0108] S4: Taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the direction perpendicular to the traveling direction as the Y-axis, respectively determine whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​are in a decreasing trend;

[0109] S5: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the infinite distance measurement value is set as the target distance measurement value, and the probability grid map of the current scene is updated.

[0110] Further, the laser radar data includes multiple ranging values, and a single ranging value corresponds to a single ranging angle;

[0111] In the step of taking two adjacent maximum ranging values ​​as a group and screening out a plurality of groups of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values, the screening step of a single group of the target ranging values ​​is:

[0112] S301: selecting two adjacent maximum ranging values ​​in a counterclockwise direction as a group, and respectively obtaining a first ranging angle and a second ranging angle corresponding to the two maximum ranging values ​​in the same group;

[0113] S302: Filtering out each first ranging value included in the first ranging angle and the second ranging angle from the laser radar data in a counterclockwise direction;

[0114] S303: Counting the number of the infinite ranging values ​​included in each of the first ranging values, and determining whether the number of the infinite ranging values ​​is greater than a number threshold;

[0115] S304: If the number of the infinite ranging values ​​is greater than the number threshold, selecting the two maximum ranging values ​​in the same group as the single group of target ranging values.

[0116] Furthermore, the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the axis perpendicular to the traveling direction as the Y-axis, and respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend includes:

[0117] S401: Taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, defining the angle between one of the target ranging values ​​in the same group and the X-axis as a third ranging angle, and defining the angle between another target ranging value and the X-axis as a fourth ranging angle, wherein both the third ranging angle and the fourth ranging angle are not greater than 90 degrees;

[0118] S402: respectively determining whether each of the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis of the Y-axis presents a decreasing trend, and determining whether each of the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis of the Y-axis presents a decreasing trend, wherein the angle between the first semi-axis and the first ranging axis is the smallest, and the angle between the second semi-axis and the second ranging axis is the smallest;

[0119] S403: If the distance measurement values ​​between the first distance measurement axis corresponding to the third distance measurement angle and the first semi-axis are in a decreasing trend, and the distance measurement values ​​between the second distance measurement axis corresponding to the fourth distance measurement angle and the second semi-axis are in a decreasing trend, it is determined that the distance measurement values ​​between the two target distance measurement values ​​in the same group and the nearest Y axis are in a decreasing trend;

[0120] S404: If the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis are not in a decreasing trend, and / or the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis are not in a decreasing trend, it is determined that the ranging value between the two target ranging values ​​in the same group and the nearest Y axis is not in a decreasing trend.

[0121] Furthermore, a laser radar is deployed on the robot, and the step of collecting laser radar data includes:

[0122] S101: Control the laser radar to scan the current scene in a counterclockwise direction to obtain a number of ranging values ​​corresponding to a unit scanning angle, where the number of the ranging values ​​is consistent with the number of the unit scanning angles;

[0123] S102: Summarize the distance measurement values ​​to generate the laser radar data.

[0124] Furthermore, the step of aggregating the distance measurement values ​​to generate the laser radar data includes:

[0125] S1021: establishing an angle system with the robot's forward direction as 0 degrees and the robot's backward direction as -0 degrees, and obtaining the ranging angles corresponding to the ranging values ​​according to the unit scanning angle;

[0126] S1022: Establish a mapping relationship between each of the ranging values ​​and their corresponding ranging angles, and summarize them in sequence to obtain the laser radar data.

[0127] Furthermore, after the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend, the method further comprises:

[0128] S6: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the current position coordinates are obtained, and the corridor area is delineated according to the maximum distance measurement value and the current position coordinates;

[0129] S7: Mark the corridor area as a long corridor environment.

[0130] Furthermore, after the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend, the step further includes:

[0131] S8: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are not in a decreasing trend, the probability grid map corresponding to the area within the distance measurement angle range is not updated, wherein the distance measurement angle is the angle between the two maximum distance measurement axes corresponding to the two target distance measurement values ​​in the same group, and the distance measurement angle is not greater than 180 degrees.

[0132] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a map updating method for a long corridor environment is implemented. The map updating method for a long corridor environment is specifically:

[0133] S1: Collect lidar data;

[0134] S2: Filtering out a number of maximum ranging values ​​from the laser radar data;

[0135] S3: taking two adjacent maximum ranging values ​​as a group, and screening out several groups of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values;

[0136] S4: Taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the direction perpendicular to the traveling direction as the Y-axis, respectively determine whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​are in a decreasing trend;

[0137] S5: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the infinite distance measurement value is set as the target distance measurement value, and the probability grid map of the current scene is updated.

[0138] Further, the laser radar data includes multiple ranging values, and a single ranging value corresponds to a single ranging angle;

[0139] In the step of taking two adjacent maximum ranging values ​​as a group and screening out a plurality of groups of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values, the screening step of a single group of the target ranging values ​​is:

[0140] S301: selecting two adjacent maximum ranging values ​​in a counterclockwise direction as a group, and respectively obtaining a first ranging angle and a second ranging angle corresponding to the two maximum ranging values ​​in the same group;

[0141] S302: Filtering out each first ranging value included in the first ranging angle and the second ranging angle from the laser radar data in a counterclockwise direction;

[0142] S303: Counting the number of the infinite ranging values ​​included in each of the first ranging values, and determining whether the number of the infinite ranging values ​​is greater than a number threshold;

[0143] S304: If the number of the infinite ranging values ​​is greater than the number threshold, selecting the two maximum ranging values ​​in the same group as the single group of target ranging values.

[0144] Furthermore, the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the axis perpendicular to the traveling direction as the Y-axis, and respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend, comprises:

[0145] S401: Taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, defining the angle between one of the target ranging values ​​in the same group and the X-axis as a third ranging angle, and defining the angle between another target ranging value and the X-axis as a fourth ranging angle, wherein both the third ranging angle and the fourth ranging angle are not greater than 90 degrees;

[0146] S402: respectively determining whether each of the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis of the Y-axis presents a decreasing trend, and determining whether each of the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis of the Y-axis presents a decreasing trend, wherein the angle between the first semi-axis and the first ranging axis is the smallest, and the angle between the second semi-axis and the second ranging axis is the smallest;

[0147] S403: If the distance measurement values ​​between the first distance measurement axis corresponding to the third distance measurement angle and the first semi-axis are in a decreasing trend, and the distance measurement values ​​between the second distance measurement axis corresponding to the fourth distance measurement angle and the second semi-axis are in a decreasing trend, it is determined that the distance measurement values ​​between the two target distance measurement values ​​in the same group and the nearest Y axis are in a decreasing trend;

[0148] S404: If the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis are not in a decreasing trend, and / or the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis are not in a decreasing trend, it is determined that the ranging value between the two target ranging values ​​in the same group and the nearest Y axis is not in a decreasing trend.

[0149] Furthermore, a laser radar is deployed on the robot, and the step of collecting laser radar data includes:

[0150] S101: Control the laser radar to scan the current scene in a counterclockwise direction to obtain a number of ranging values ​​corresponding to a unit scanning angle, where the number of the ranging values ​​is consistent with the number of the unit scanning angles;

[0151] S102: Summarize the distance measurement values ​​to generate the laser radar data.

[0152] Furthermore, the step of aggregating the distance measurement values ​​to generate the laser radar data includes:

[0153] S1021: establishing an angle system with the robot's forward direction as 0 degrees and the robot's backward direction as -0 degrees, and obtaining the ranging angles corresponding to the ranging values ​​according to the unit scanning angle;

[0154] S1022: Establish a mapping relationship between each of the ranging values ​​and their corresponding ranging angles, and summarize them in sequence to obtain the laser radar data.

[0155] Furthermore, after the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend, the method further comprises:

[0156] S6: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the current position coordinates are obtained, and the corridor area is delineated according to the maximum distance measurement value and the current position coordinates;

[0157] S7: Mark the corridor area as a long corridor environment.

[0158] Furthermore, after the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend, the step further includes:

[0159] S8: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are not in a decreasing trend, the probability grid map corresponding to the area within the distance measurement angle range is not updated, wherein the distance measurement angle is the angle between the two maximum distance measurement axes corresponding to the two target distance measurement values ​​in the same group, and the distance measurement angle is not greater than 180 degrees.

[0160] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0161] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, device, first object or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, first object or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, first object or method including the element.

[0162] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A map updating method for a long corridor environment, characterized in that: include: Collect LiDAR data; Filtering out a number of maximum ranging values ​​from the laser radar data; Taking two adjacent maximum ranging values ​​as a group, screening out several groups of target ranging values ​​including infinite ranging values ​​from each group of maximum ranging values; Taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the vertical direction as the Y-axis, respectively determine whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​are in a decreasing trend, wherein the Y-axis semi-axis corresponding to the reference distance measurement value and the maximum distance measurement axis corresponding to the target distance measurement value have a minimum angle; If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the infinite distance measurement value is set as the target distance measurement value, and the probability grid map of the current scene is updated.

2. The map updating method for a long corridor environment according to claim 1, characterized in that: The laser radar data includes multiple ranging values, and a single ranging value corresponds to a single ranging angle; In the step of taking two adjacent maximum ranging values ​​as a group and screening out a plurality of groups of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values, the screening step of a single group of the target ranging values ​​is: Selecting two adjacent maximum ranging values ​​in a counterclockwise direction as a group, and respectively obtaining a first ranging angle and a second ranging angle corresponding to the two maximum ranging values ​​in the same group; In a counterclockwise direction, filter out each first ranging value included in the first ranging angle and the second ranging angle from the laser radar data; Counting the number of the infinite ranging values ​​included in each of the first ranging values, and determining whether the number of the infinite ranging values ​​is greater than a number threshold; If the number of the infinite ranging values ​​is greater than the number threshold, two maximum ranging values ​​in the same group are selected as a single group of target ranging values.

3. The map updating method for a long corridor environment according to claim 1, characterized in that: The step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the direction perpendicular to the traveling direction as the Y-axis, and respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend comprises: The center of the robot is taken as the origin of the coordinate axis, the travel direction is the X-axis, and the direction perpendicular to the travel direction is the Y-axis. The angle between one of the target distance measurement values ​​in the same group and the X-axis is defined as a third distance measurement angle, and the angle between another target distance measurement value and the X-axis is defined as a fourth distance measurement angle, wherein both the third distance measurement angle and the fourth distance measurement angle are not greater than 90 degrees; respectively determining whether each of the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis of the Y-axis presents a decreasing trend, and determining whether each of the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis of the Y-axis presents a decreasing trend, wherein the angle between the first semi-axis and the first ranging axis is the smallest, and the angle between the second semi-axis and the second ranging axis is the smallest; If the distance measurement values ​​between the first distance measurement axis corresponding to the third distance measurement angle and the first semi-axis are in a decreasing trend, and the distance measurement values ​​between the second distance measurement axis corresponding to the fourth distance measurement angle and the second semi-axis are in a decreasing trend, it is determined that the distance measurement values ​​between the two target distance measurement values ​​in the same group and the nearest Y axis are in a decreasing trend; If the ranging values ​​between the first ranging axis corresponding to the third ranging angle and the first semi-axis do not show a decreasing trend, and / or the ranging values ​​between the second ranging axis corresponding to the fourth ranging angle and the second semi-axis do not show a decreasing trend, it is determined that the ranging value between the two target ranging values ​​in the same group and the nearest Y-axis does not show a decreasing trend.

4. The map updating method for a long corridor environment according to claim 1, characterized in that: The robot is equipped with a laser radar, and the step of collecting laser radar data includes: Control the laser radar to scan the current scene in a counterclockwise direction to obtain a number of ranging values ​​corresponding to a unit scanning angle, wherein the number of the ranging values ​​is consistent with the number of the unit scanning angles; The distance measurement values ​​are aggregated to generate the lidar data.

5. The map updating method for a long corridor environment according to claim 4, characterized in that: The step of aggregating the distance measurement values ​​to generate the laser radar data includes: An angle system is established with the robot's forward direction as 0 degrees and the robot's backward direction as -0 degrees, and the ranging angles corresponding to the ranging values ​​are obtained according to the unit scanning angle; A mapping relationship is established between each of the distance measurement values ​​and their corresponding distance measurement angles, and the laser radar data are obtained by sequentially summarizing them.

6. The map updating method for a long corridor environment according to claim 1, characterized in that: After the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the direction perpendicular to the traveling direction as the Y-axis, respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and their corresponding reference distance measurement values ​​show a decreasing trend, the method includes: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the current position coordinates are obtained, and the corridor area is delineated according to the maximum distance measurement value and the current position coordinates; The corridor area is marked as a long corridor environment.

7. The map updating method for a long corridor environment according to claim 1, characterized in that: After the step of taking the center of the robot as the origin of the coordinate axis, the traveling direction as the X-axis, and the Y-axis perpendicular to the traveling direction, respectively judging whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, the method further includes: If the distance measurement values ​​between the two target distance measurement values ​​in the same group and their respective corresponding reference distance measurement values ​​do not show a decreasing trend, the probability grid map corresponding to the area within the distance measurement angle range is not updated, wherein the distance measurement angle is the angle between the two maximum distance measurement axes corresponding to the two target distance measurement values ​​in the same group, and the distance measurement angle is not greater than 180 degrees.

8. A map updating device for a long corridor environment, characterized in that: include: An acquisition module, used to collect lidar data; A first screening module, used for screening out a number of maximum ranging values ​​from the laser radar data; A second screening module is used to group two adjacent maximum ranging values ​​and screen out a plurality of groups of target ranging values ​​including infinite ranging values ​​from each group of the maximum ranging values; The judgment module is used to take the center of the robot as the origin of the coordinate axis, the travel direction as the X-axis, and the vertical direction as the Y-axis, and respectively judge whether the distance measurement values ​​between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​are in a decreasing trend, wherein the Y-axis semi-axis corresponding to the reference distance measurement value and the maximum distance measurement axis corresponding to the target distance measurement value have a minimum angle; The updating module is used to set the infinite distance measurement value as the target distance measurement value if the distance measurement value between the two target distance measurement values ​​in the same group and the corresponding reference distance measurement values ​​respectively shows a decreasing trend, and update the probability grid map of the current scene.

9. A computer device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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