Map construction method, system, electronic device and storage medium based on roadmap

Abstract

The present invention provides a method, system, electronic device and storage medium for constructing a map based on a landmark map, which belongs to the technical field of mobile robot map construction; the map construction method includes obtaining landmark points including special points and ordinary points; traversing the landmark points one by one to search for adjacent landmark points adjacent to them, and when the connection path between the landmark point and the adjacent landmark point is passable, connecting the landmark point with the adjacent landmark point to generate a landmark map edge, until all the landmark points are traversed and all the landmark map edges are formed into an undirected graph; according to a preset optimization strategy, the undirected graph is converted into a directed graph that meets the preset requirements; according to the A* algorithm, the path of the directed graph is planned so that the start and end points formed between the special points are passable to construct a directed landmark map. This application realizes the automation and programming of mobile robot topological map construction by combining the landmark map method and the map optimization method, improves the construction efficiency of the topological map and improves the smoothness of the generated topological map.

Description

Technical Field

[0001] The present invention belongs to the technical field of mobile robot map construction, and specifically relates to a map construction method, system, electronic equipment and storage medium based on a road map. Background Art

[0002] In a multi-robot system of mobile robots, in order to ensure that each robot can operate in a safe area, the measured grid map is usually converted into a topological map. The topological map is a combination of path points and paths constructed by distributing the safe area where the mobile robot can walk. The mobile robot can ensure safety as long as it moves along the topological map. In the application of multi-robot collaboration, the paths of all robots are generated in the topological map, which can avoid the threat assessment step in path planning, greatly reduce the time of path optimization, and improve the efficiency of the multi-robot collaboration algorithm.

[0003] The existing topological map construction method is to add special points such as charging piles to the original topological map generated by points and lines, and then make local corrections to add special points such as charging piles; and most of them use exclusive areas and buffers to optimize the mobile robot topological map. However, the problem with this method is that most of the existing topological map construction methods are manually edited, which is inefficient; and the effect of the edited map depends on the experience of the operator. If there are many local mobile robots, it may cause congestion.

[0004] Therefore, how to realize the automated construction of topological maps in the existing technology and form a program for topological map construction, so as to improve the efficiency of topological map construction and the smoothness of topological map generation, so as to significantly reduce the occurrence of congestion when multiple mobile robots are running. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a map construction method, system, electronic device and storage medium based on a landmark map. By combining the landmark map method and the map optimization method, the automation and programming of the mobile robot topological map construction is realized, the construction efficiency of the topological map is improved, and the smoothness of the generated topological map is improved, so as to significantly reduce the occurrence of congestion when multiple mobile robots are running.

[0006] In a first aspect, the present application provides a map construction method based on a roadmap, which is used for constructing a map of a mobile robot; the map construction method comprises:

[0007] Obtaining landmark points including artificially designed special points and artificially designed common points or those calculated by using an interpolation algorithm; wherein the common points refer to waypoints passed by the mobile robot during walking, and the special points refer to stations where the mobile robot completes a specific task;

[0008] Traversing the landmark points one by one to search for adjacent landmark points, and when the connection path between the landmark point and the adjacent landmark point is passable, connecting the landmark point and the adjacent landmark point to generate a landmark graph edge, until all the landmark points are traversed, and all the landmark graph edges form an undirected graph;

[0009] Converting the undirected graph into a directed graph that meets preset requirements according to a preset optimization strategy;

[0010] The path of the directed graph is planned according to the A* algorithm. When it is verified that the starting and ending points formed by the special points are not passable, an interpolation algorithm is used to add supplementary points between the starting and ending points to make the starting and ending points passable, so as to construct a directed landmark graph for the mobile robot.

[0011] Preferably, the specific steps of obtaining the landmark points including the artificially designed special points and the common points calculated by the interpolation algorithm include:

[0012] Obtaining artificially designed special points, traversing the special points according to a preset radius, and when finding that there are adjacent points in each expansion direction of the special point, generating interpolation points on the connecting line between the special point and each of the adjacent points;

[0013] Detecting the generated interpolation points to determine whether the interpolation points are all in a safe zone;

[0014] If so, a number of the interpolation points are added to the landmark points as common points, so as to obtain landmark points including artificially designed special points and common points calculated by the interpolation algorithm.

[0015] Preferably, after the step of detecting the generated interpolation points to determine whether the plug-in points are all in the safe zone, the method further comprises:

[0016] If it is determined that at least one of the plurality of plug-in points is not in the safe zone, the corresponding plug-in point is discarded, and the other plug-in points in the safe zone are added to the landmark points as ordinary points, so as to obtain landmark points including artificially designed special points and ordinary points calculated using an interpolation algorithm.

[0017] Preferably, before the step of acquiring the landmark points including the artificially designed special points and the artificially designed common points or the common points calculated by the interpolation algorithm, the method further comprises:

[0018] Obtaining an original map composed of a plurality of partitions, traversing the partitions to collect a point set including an exit point and an entry point of each of the partitions;

[0019] Establishing a partitioned landmark map of the point set using a landmark map method;

[0020] The partition is connected to its own exit point and entry point according to the partition roadmap.

[0021] Preferably, the preset optimization strategy includes:

[0022] Calculating each loop in the undirected graph to form a loop total set, and constructing at least one road including an express road, a normal road or a one-way road according to the overlap of the edges of the loop total set;

[0023] The intersections between the constructed roads are sorted out, and the number of inflow edges and outflow edges of each intersection is counted. When the number exceeds a preset requirement, an intermediate transfer point is added between two adjacent intersections.

[0024] Preferably, the preset optimization strategy also includes:

[0025] A buffer zone is set between the road and the special point to avoid deadlock and congestion in the undirected graph, and the buffer zone can be multi-layered, and the number of layers is determined according to the number of mobile robots on site.

[0026] Preferably, the feature is that the special points include at least one or a combination of loading and unloading points, elevator points, cargo point parking points, docking points and charging points.

[0027] In a second aspect, the present application provides a map construction system based on a roadmap, which is used for constructing a map of a mobile robot; the map construction system comprises:

[0028] An acquisition module, used to acquire landmark points including special points designed manually and common points designed manually or calculated by an interpolation algorithm; wherein the common points refer to waypoints passed by the mobile robot during walking, and the special points refer to stations where the mobile robot completes a specific task;

[0029] A traversal module, for traversing the landmark points one by one to search for adjacent landmark points adjacent to the landmark points, and when the connection path between the landmark point and the adjacent landmark point is passable, connecting the landmark point and the adjacent landmark point to generate a landmark graph edge, until all the landmark points are traversed and all the landmark graph edges are formed into an undirected graph;

[0030] A conversion module, used to convert the undirected graph into a directed graph that meets preset requirements according to a preset optimization strategy;

[0031] A construction module is used to plan the path of the directed graph according to the A* algorithm. When it is verified that the starting and ending points formed by the special points are not passable, an interpolation algorithm is used to add supplementary points between the starting and ending points to make the starting and ending points passable, so as to construct a directed landmark graph for the mobile robot.

[0032] Preferably, the acquisition module includes:

[0033] A generating unit is used to obtain a special point designed manually, traverse the special point according to a preset radius, and generate an interpolation point on a line between the special point and each of the adjacent points when it is found that there are adjacent points in each expansion direction of the special point;

[0034] A judging unit, configured to detect the generated interpolation points to determine whether the interpolation points are all in a safe zone;

[0035] The first acquisition unit is used to add some of the interpolation points to the landmark points as common points if it is determined that some of the plug-in points are all in the safe zone, so as to obtain landmark points including artificially designed special points and common points calculated by interpolation algorithm.

[0036] Preferably, the acquisition module further includes:

[0037] The second acquisition unit is used to discard the corresponding plug-in point if it is determined that at least one of the plurality of plug-in points is not in the safe zone, and add the other plug-in points in the safe zone to the landmark points as ordinary points, so as to obtain landmark points including artificially designed special points and ordinary points calculated by interpolation algorithm.

[0038] Preferably, the map construction system further includes:

[0039] A collection module, used for obtaining an original map composed of a plurality of partitions, and traversing the partitions to collect a point set including an exit point and an entry point of each of the partitions;

[0040] An establishing module, used for establishing a partitioned landmark map of the point set by adopting a landmark map method;

[0041] A connection module is used to connect the partition with its own exit point and entry point according to the partition road map.

[0042] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the map construction method based on the landmark map as described in the first aspect above is implemented.

[0043] In a fourth aspect, an embodiment of the present application provides a storage medium on which a computer program is stored, and when the program is executed by a processor, the map construction method based on the landmark map as described in the first aspect above is implemented.

[0044] Compared with the prior art, the present application provides a method, system, electronic device and storage medium for constructing a map based on a landmark map. First, the landmark points including special points and ordinary points are traversed one by one to search for adjacent landmark points adjacent to the landmark points. When the connection path between the landmark point and the adjacent landmark point is passable, the landmark point is connected to the adjacent landmark point to generate a landmark map edge, until all the landmark points are traversed and all the landmark map edges are formed into an undirected graph; secondly, the undirected graph is converted into a directed graph that meets the preset requirements according to a preset optimization strategy; finally, the path of the directed graph is planned according to the A* algorithm. When it is verified that the starting and ending points formed between the special points are not passable, an interpolation algorithm is used to add supplementary points between the starting and ending points to make the starting and ending points passable, so as to construct a directed landmark map for a mobile robot. The present application realizes the automation and programming of mobile robot topological map construction by combining the landmark map method and the map optimization method, improves the efficiency of topological map construction, and overcomes the defects of existing methods that require manual editing and are not highly intelligent; moreover, the generated map complies with the map optimization strategy, which can greatly improve the smoothness of mobile robot operation and significantly reduce the occurrence of congestion when multiple mobile robots are running. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0046] Figure 1 A flowchart of a method for constructing a map based on a roadmap provided in Embodiment 1 of the present invention;

[0047] Figure 2 A specific flow chart of step S101 provided in the first embodiment of the present invention;

[0048] Figure 3 A path design diagram for adding a buffer area in the first embodiment of the present invention;

[0049] Figure 4 A structural block diagram of a map construction system based on a roadmap corresponding to the method of the first embodiment provided in the second embodiment of the present invention;

[0050] Figure 5A flowchart of a method for constructing a map based on a roadmap provided in Embodiment 3 of the present invention;

[0051] Figure 6 A specific flow chart of step S201 provided in Embodiment 3 of the present invention;

[0052] Figure 7 A structural block diagram of a map construction system based on a roadmap provided in the fourth embodiment of the present invention corresponding to the method in the third embodiment;

[0053] Figure 8 It is a schematic diagram of the hardware structure of the electronic device provided in the fifth embodiment of the present invention.

[0054] Description of reference numerals:

[0055] 001-collection module, 002-establishment module, 003-connection module, 101-acquisition module, 1011-generation unit, 1012-judgment unit, 1013-first acquisition unit, 1014-second acquisition unit, 102-traversal module, 103-conversion module, 104-construction module;

[0056] 20 - bus, 21 - processor, 22 - memory, 23 - communication interface. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated 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 intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0058] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0059] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0060] Embodiment 1

[0061] This embodiment provides a map construction method based on a roadmap. Figure 1 is a flowchart of a method for constructing a map based on a roadmap according to an embodiment of the present application, such as Figure 1 As shown, the process includes the following steps:

[0062] S101, obtaining landmark points including special points designed manually and common points calculated by interpolation algorithm; wherein the common points refer to the waypoints passed by the mobile robot during walking, and the special points refer to the stations where the mobile robot completes specific tasks.

[0063] Among them, the movement of the mobile robot is limited to a relatively fixed area, such as a single dock scene, a single warehouse scene, etc. Specifically, this embodiment is illustrated by a single warehouse scene. According to the actual layout of the warehouse, the original map required for the movement range of the mobile robot can be formed, and the landmark points are generated on the original map by the method of the landmark map. The landmark points include ordinary points and special points. In this embodiment, the so-called ordinary points refer to the passing points passed by the mobile robot during the walking process. It should be noted that the ordinary points do not allow the placement of shelves and do not allow the mobile robot to stay for a long time; the maintained special points refer to the stations where the mobile robot completes specific tasks, such as the special points including loading and unloading points (operating refining stations and replenishment stations), elevator points, cargo station points (shelves can be stored and vehicles can be parked), docking points (parked vehicles) and charging points.

[0064] Furthermore, if Figure 2 As shown, step S101 specifically includes the following steps:

[0065] S1011, obtaining artificially designed special points, traversing the special points according to a preset radius, and when it is found that there are adjacent points in each expansion direction of the special point, generating interpolation points on the connection line between the special point and each of the adjacent points.

[0066] Specifically, according to the artificially designed special points, such as taking a special point P as an example, taking the special point P as the base point, a circular area is formed according to a preset radius, and it is queried whether there is an adjacent point Q (the adjacent point refers to other special points) in the circular area: if it exists, the special point P is connected with different adjacent points Q respectively, and corresponding interpolation points are generated on the path of the connection; if it does not exist, with the special point P as the base point, the preset radius is increased by a certain increment until there is an adjacent point Q in the formed circular area, and the special point P is connected with different adjacent points Q respectively, and corresponding interpolation points are generated on the path of the connection.

[0067] S1012: Detect the generated interpolation points to determine whether the plug-in points are all in a safe zone.

[0068] Specifically, the so-called safe zone refers to the passable area on the original map, which means that the unsafe zone refers to the obstacles on the original map. In practice, the original map uses a dot matrix, and generally a specific point uses 0 to indicate safety and 1 to indicate unsafety. For example, taking one of the difference points as an example, according to the horizontal and vertical coordinate points corresponding to the interpolation point, check the dot matrix corresponding to the original map to check whether the corresponding horizontal and vertical coordinate points are 1 or 1: if it is 0, the interpolation point is retained, indicating that the interpolation point is passable.

[0069] S1013: If yes, then a number of the interpolation points are added to the landmark points as common points, so as to obtain landmark points including artificially designed special points and common points calculated by the interpolation algorithm.

[0070] Specifically, in this embodiment, the generation of special points is manually edited and set by the user according to the mobile robot movement operation process, and the common points are calculated using the interpolation algorithm.

[0071] S102, traversing the landmark points one by one to search for adjacent landmark points adjacent to them, and when the connection path between the landmark point and the adjacent landmark point is passable, connecting the landmark point and the adjacent landmark point to generate a landmark graph edge, until all the landmark points are traversed and all the landmark graph edges form an undirected graph.

[0072] Specifically, the so-called traversal refers to visiting each node in the tree once and only once in sequence along a certain search route. In this embodiment, all landmark points are traversed one by one, such as for a landmark point P, according to the set radius, searching for each other landmark point within the circular area formed by the radius, and each time another landmark point Q is found, judging whether the path directly connected by PQ is feasible: if feasible, connecting the two points to form an edge to generate a landmark map edge, if not feasible, no connection is made and a landmark map edge cannot be formed. When the traversal of all landmark points is completed, an undirected graph G of the original map is formed, and the undirected graph G can ensure that all landmark map edges on the map are safe and passable.

[0073] S103, converting the undirected graph into a directed graph that meets preset requirements according to a preset optimization strategy.

[0074] The purpose of setting the preset optimization strategy is to establish the operation rules of the mobile robot so that the mobile robot can operate according to the operation rules to avoid congestion and the like. The specific algorithm of the preset optimization strategy is:

[0075] (1) Expressway construction

[0076] First, calculate each loop in the undirected graph, count the overlap of the edges in the total set of each loop, and select the edges with higher overlap to build expressways. Among them, expressways should be wide enough to allow two-way traffic; expressway construction allows two-way multi-lane (two-way two-lane, four-lane, etc.) high-speed traffic, and the road is wider. There are two types of expressway options: horizontal and vertical traffic in the central area, and loops outside the central area;

[0077] Secondly, for the intersection of expressways, a loop or exclusive area (traffic light) is used to construct traffic connecting all vertical directions. For loops, it is agreed that only counterclockwise traffic can be used.

[0078] (2) Ordinary road construction

[0079] First, when the overlap of the edges of the total set of loops in the undirected graph is normal and the area where the bidirectional channel is allowed to be set is located, a bidirectional channel is set.

[0080] Secondly, the traffic control scheme is constructed by using the exclusive zone (traffic light) method at the two-way access intersection.

[0081] (3) One-way road construction

[0082] First, when the overlap of the edges of the total set of loops in the undirected graph is general and a two-way channel area is allowed, a one-way road is set. For all single loops that can only run in a single channel, it is agreed that they can only run in the counterclockwise direction.

[0083] Secondly, if the directions of the common edges of the two loops conflict under the aforementioned agreement (there is a two-way road), then the edge is set as a one-way road (so that one of the two conflicting loops is reduced) with only one direction. It should be noted that the direction criteria of the one-way road can be based on the agreement, such as from right to left horizontally and from top to bottom vertically.

[0084] The intersections formed in the expressways, ordinary roads and one-way roads constructed as mentioned above are checked. The specific check is as follows: first, all the intersection areas in the undirected graph are sorted out, and the number of inflow edges and outflow edges of each intersection is counted. According to the preset regulations, an intersection has at most 2 branch lines and 2 converging lines. Secondly, based on the number, the relationship with the preset regulations is judged. When the number exceeds the preset regulations, an intermediate transfer point is added between the two adjacent intersections; when the number does not exceed the preset regulations, there is no need to add an intermediate transfer point between the two adjacent intersections. It should be noted that the newly added intermediate transfer points must still meet the constraints of being in the safety zone, and intermediate transfer points will continue to be added if necessary.

[0085] Furthermore, for special points such as workstations, cargo stations and / or charging piles, the mobile robots need to enter or exit according to the usage conditions. Since such special points are connected to the above-mentioned passages, the design of the prior art has the following disadvantages: if one mobile robot enters a certain workstation, while another mobile robot stays in the passage and is about to enter the same workstation (such as Figure 3 In (a)), when the entry and exit conflicts, a deadlock will occur between the two points, because the path of the channel is occupied, which will also cause congestion or even deadlock in the channel. Based on such problems, in this embodiment, a buffer area is set near special points such as work sites, cargo sites and / or charging piles and connected to the constructed channel. The buffer area has different entry and exit paths, and forms a ring loop between the constructed channel and the special point (such as Figure 3(b) in the figure means that when multiple robots need to enter a workstation at the same time, they will queue up and drive in and out in turn. The robots driving in and out will not conflict with each other, so the deadlock and congestion caused by the above design pattern can be effectively avoided. It should be noted that in the specific implementation, the buffer zone can be multi-layered, and the number of layers is determined by the number of mobile robots in the on-site process.

[0086] S104, planning the path of the directed graph according to the A* algorithm, when it is verified that the starting and ending points formed by the special points are not passable, using an interpolation algorithm to add supplementary points between the starting and ending points to make the starting and ending points passable, so as to construct a directed landmark graph for the mobile robot.

[0087] Among them, path planning is the basis for robots to complete various tasks. The PRM method based on random sampling technology can effectively solve the path planning problems in high-dimensional space and complex constraints. This embodiment adopts the PRM method to convert the continuous space into a discrete space, and then use search algorithms such as A* to find a path on the roadmap to improve the search efficiency. In this embodiment, when it is verified that the starting and ending points formed by the special points are not passable, an interpolation algorithm is used to add supplementary points between the starting and ending points to make the starting and ending points passable. When it is verified that the starting and ending points formed by the special points are passable, there is no need to add supplementary points, thereby completing the directed landmark map for the mobile robot.

[0088] In summary, the landmark points including special points and ordinary points obtained by traversing one by one are searched for adjacent landmark points adjacent to the landmark points. When the connection path between the landmark point and the adjacent landmark point is passable, the landmark point is connected to the adjacent landmark point to generate a landmark graph edge, until all the landmark points are traversed and all the landmark graph edges are formed into an undirected graph; secondly, the undirected graph is converted into a directed graph that meets the preset requirements according to a preset optimization strategy; finally, the path of the directed graph is planned according to the A* algorithm, so that the starting and ending points formed by the special points are passable, so as to construct a directed landmark graph for a mobile robot.

[0089] Embodiment 2

[0090] This embodiment provides a structural block diagram of a system corresponding to the method described in Embodiment 1. Figure 4 is a structural block diagram of a map construction system based on a roadmap according to an embodiment of the present application, such as Figure 4 As shown, the system includes:

[0091] The acquisition module 101 is used to acquire landmark points including special points designed manually and common points designed manually or calculated by an interpolation algorithm; wherein the common points refer to the waypoints passed by the mobile robot during walking, and the special points refer to the stations where the mobile robot completes a specific task;

[0092] A traversal module 102 is used to traverse the landmark points one by one to search for adjacent landmark points adjacent to the landmark points, and when the connection path between the landmark point and the adjacent landmark point is passable, connect the landmark point and the adjacent landmark point to generate a landmark graph edge, until all the landmark points are traversed and all the landmark graph edges are formed into an undirected graph;

[0093] A conversion module 103, used to convert the undirected graph into a directed graph that meets preset requirements according to a preset optimization strategy;

[0094] The construction module 104 is used to plan the path of the directed graph according to the A* algorithm. When it is verified that the starting and ending points formed by the special points are not passable, an interpolation algorithm is used to add supplementary points between the starting and ending points to make the starting and ending points passable, so as to construct a directed landmark graph for the mobile robot.

[0095] Preferably, the acquisition module 101 includes:

[0096] A generating unit 1011 is used to obtain a special point designed manually, traverse the special point according to a preset radius, and generate an interpolation point on a line between the special point and each of the adjacent points when it is found that there are adjacent points in each expansion direction of the special point;

[0097] A judging unit 1012 is used to detect the generated interpolation points to determine whether the interpolation points are all in a safe zone;

[0098] The first acquisition unit 1013 is used to add some of the interpolation points to the landmark points as common points if it is determined that some of the plug-in points are all in the safe zone, so as to obtain landmark points including artificially designed special points and common points calculated by the interpolation algorithm.

[0099] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0100] Embodiment 3

[0101] Regarding the movement of a mobile robot in a relatively wide area, such as the operation scene between different docks and between different warehouses, etc. This embodiment uses the scene between different warehouses to illustrate. Due to the setting of the scene of the warehouse itself and the setting of the scene between different warehouses, the original map has a large range and there are partition maps of different partitions. In order not to affect the overall connectivity of the original map, this embodiment needs to build a connection map between each block map in advance compared to the first embodiment. Based on this, this embodiment provides a map construction method based on a road map. Figure 5 is a flowchart of a method for constructing a map based on a roadmap according to an embodiment of the present application, such as Figure 5 As shown, the process includes the following steps:

[0102] S001, obtaining an original map composed of several partitions, traversing the partitions to collect a point set including an exit point and an entry point of each partition.

[0103] S002, using a landmark map method to establish a partitioned landmark map of the point set.

[0104] S003, the partition is connected with its own exit point and entry point according to the partition roadmap.

[0105] S201, obtaining landmark points including artificially designed special points and common points; wherein the common points refer to the waypoints passed by the mobile robot during walking, and the special points refer to the stations where the mobile robot completes specific tasks.

[0106] Furthermore, if Figure 6 As shown, step S201 specifically includes the following steps:

[0107] S2011, obtaining a manually designed special point, traversing the special point according to a preset radius, and when finding that there are adjacent points in each expansion direction of the special point, generating an interpolation point on a line between the special point and each of the adjacent points;

[0108] S2012: Detect the generated interpolation points to determine whether the plug-in points are all in a safe zone.

[0109] S2013, if not, the corresponding plug-in points that are not in the safe zone are discarded, and the other plug-in points in the safe zone are added to the landmark points as ordinary points, so as to obtain landmark points including artificially designed special points and ordinary points calculated by interpolation algorithm.

[0110] S202, traversing the landmark points one by one to search for adjacent landmark points, and when the connection path between the landmark point and the adjacent landmark point is passable, connecting the landmark point and the adjacent landmark point to generate a landmark graph edge, until all the landmark points are traversed and all the landmark graph edges are formed into an undirected graph;

[0111] S203, converting the undirected graph into a directed graph that meets preset requirements according to a preset optimization strategy;

[0112] S204, planning the path of the directed graph according to the A* algorithm, when it is verified that the starting and ending points formed by the special points are not passable, using an interpolation algorithm to add supplementary points between the starting and ending points to make the starting and ending points passable, so as to construct a directed landmark graph for the mobile robot.

[0113] Embodiment 4

[0114] This embodiment provides a structural block diagram of a system corresponding to the method described in Embodiment 3. Figure 7 is a structural block diagram of a map construction system based on a roadmap according to an embodiment of the present application, such as Figure 7 As shown, the system includes:

[0115] A collection module 001 is used to obtain an original map composed of several partitions, and traverse the partitions to collect a point set including an exit point and an entry point of each partition;

[0116] Establishing module 002, for establishing a partitioned landmark map of the point set by adopting a landmark map method;

[0117] A connection module 003, used for connecting the partition with its own exit point and entry point according to the partition roadmap;

[0118] The acquisition module 101 is used to acquire landmark points including special points designed manually and common points designed manually or calculated by an interpolation algorithm; wherein the common points refer to the waypoints passed by the mobile robot during walking, and the special points refer to the stations where the mobile robot completes a specific task;

[0119] A traversal module 102 is used to traverse the landmark points one by one to search for adjacent landmark points adjacent to the landmark points, and when the connection path between the landmark point and the adjacent landmark point is passable, connect the landmark point and the adjacent landmark point to generate a landmark graph edge, until all the landmark points are traversed and all the landmark graph edges are formed into an undirected graph;

[0120] A conversion module 103, used to convert the undirected graph into a directed graph that meets preset requirements according to a preset optimization strategy;

[0121] The construction module 104 is used to plan the path of the directed graph according to the A* algorithm. When it is verified that the starting and ending points formed by the special points are not passable, an interpolation algorithm is used to add supplementary points between the starting and ending points to make the starting and ending points passable, so as to construct a directed landmark graph for the mobile robot.

[0122] Furthermore, the acquisition module 101 includes:

[0123] A generating unit 1011 is used to obtain a special point designed manually, traverse the special point according to a preset radius, and generate an interpolation point on a line between the special point and each of the adjacent points when it is found that there are adjacent points in each expansion direction of the special point;

[0124] A judging unit 1012 is used to detect the generated interpolation points to determine whether the interpolation points are all in a safe zone;

[0125] The second acquisition unit 1014 is used to discard the corresponding plug-in point if it is determined that at least one of the plurality of plug-in points is not in the safe zone, and add the other plug-in points in the safe zone to the landmark points as ordinary points, so as to obtain landmark points including artificially designed special points and ordinary points calculated by interpolation algorithm.

[0126] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0127] Embodiment 5

[0128] Combination Figure 1 and Figure 5 The described map construction method based on a roadmap of the present invention can be implemented by an electronic device. Figure 8 Schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application.

[0129] The electronic device may include a processor 21 and a memory 22 storing computer program instructions.

[0130] Specifically, the processor 21 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0131] Among them, the memory 22 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 22 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 22 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 22 may be inside or outside the data processing device. In a specific embodiment, the memory 22 is a non-volatile memory. In a specific embodiment, the memory 22 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (Programmable Read-Only Memory, PROM for short), an erasable PROM (Erasable ProgrammableRead-Only Memory, EPROM for short), an electrically erasable PROM (Electrically Erasable ProgrammableRead-Only Memory, EEPROM for short), an electrically alterable ROM (Electrically Alterable Read-Only Memory, EAROM for short) or a flash memory (FLASH) or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0132] The memory 22 may be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 22 .

[0133] The processor 21 implements the map construction method based on the roadmap in the above-mentioned embodiments 1 and 3 by reading and executing the computer program instructions stored in the memory 22.

[0134] In some embodiments, the electronic device may further include a communication interface 23 and a bus 20. Figure 8 As shown, the processor 21, the memory 22, and the communication interface 23 are connected via a bus 20 and communicate with each other.

[0135] The communication interface 23 is used to implement communication between the modules, devices, units and / or equipment in the embodiment of the present application. The communication interface 23 can also implement data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0136] The bus 20 includes hardware, software or both, and couples the components of the electronic device to each other. The bus 20 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 20 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, bus 20 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0137] The electronic device can execute the map construction method based on the landmark map of embodiments 1 and 3 of the present application based on the map construction system obtained based on the landmark map.

[0138] In addition, in combination with the map construction method based on the road map in the above-mentioned embodiments 1 and 3, the embodiment of the present application can provide a storage medium for implementation. The storage medium stores computer program instructions; when the computer program instructions are executed by the processor, the map construction method based on the road map in the above-mentioned embodiments 1 and 3 is implemented.

[0139] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for constructing a map based on a roadmap, used for constructing a map of a mobile robot; characterized in that: The map construction method comprises: Obtaining landmark points including artificially designed special points and artificially designed common points or those calculated by using an interpolation algorithm; wherein the common points refer to waypoints passed by the mobile robot during walking, and the special points refer to stations where the mobile robot completes a specific task; Traversing the landmark points one by one to search for adjacent landmark points, and when the connection path between the landmark point and the adjacent landmark point is passable, connecting the landmark point and the adjacent landmark point to generate a landmark graph edge, until all the landmark points are traversed, and all the landmark graph edges form an undirected graph; Converting the undirected graph into a directed graph that meets preset requirements according to a preset optimization strategy; The path of the directed graph is planned according to the A* algorithm. When it is verified that the starting and ending points formed by the special points are not passable, an interpolation algorithm is used to add supplementary points between the starting and ending points to make the starting and ending points passable, so as to construct a directed landmark graph for the mobile robot.

2. The method for constructing a map based on a roadmap according to claim 1, characterized in that: The specific steps of obtaining the landmark points including the artificially designed special points and the common points calculated by the interpolation algorithm include: Obtaining artificially designed special points, traversing the special points according to a preset radius, and when finding that there are adjacent points in each expansion direction of the special point, generating interpolation points on the connecting line between the special point and each of the adjacent points; Performing detection on the generated interpolation points to determine whether the generated interpolation points are all in the safety zone; If so, a number of the interpolation points are added to the landmark points as common points, so as to obtain landmark points including artificially designed special points and common points calculated by the interpolation algorithm.

3. The method for constructing a map based on a roadmap according to claim 2, characterized in that: After the step of detecting the generated interpolation points to determine whether the generated interpolation points are all in the safe zone, the method further includes: If it is determined that at least one of the interpolation points is not in the safe zone, the corresponding interpolation point is discarded, and the other interpolation points in the safe zone are added to the landmark points as ordinary points, so as to obtain landmark points including artificially designed special points and ordinary points calculated by the interpolation algorithm.

4. The method for constructing a map based on a roadmap according to claim 1, characterized in that: Before the step of acquiring the landmark points including the artificially designed special points and the artificially designed common points or the common points calculated by the interpolation algorithm, the method further comprises: Obtaining an original map composed of a plurality of partitions, traversing the partitions to collect a point set including an exit point and an entry point of each of the partitions; Establishing a partitioned landmark map of the point set using a landmark map method; The partition is connected to its own exit point and entry point according to the partition roadmap.

5. The method for constructing a map based on a roadmap according to claim 1, characterized in that: The preset optimization strategy includes: Calculating each loop in the undirected graph to form a loop total set, and constructing at least one road including an express road, a normal road or a one-way road according to the overlap of the edges of the loop total set; The intersections between the constructed roads are sorted out, and the number of inflow edges and outflow edges of each intersection is counted. When the number exceeds a preset requirement, an intermediate transfer point is added between two adjacent intersections.

6. The method for constructing a map based on a roadmap according to claim 5, characterized in that: The preset optimization strategy also includes: A buffer zone is set between the road and the special point to avoid deadlock and congestion in the undirected graph, and the buffer zone can be multi-layered, and the number of layers is determined according to the number of mobile robots on site.

7. The method for constructing a map based on a roadmap according to any one of claims 1 to 6, characterized in that: The special points include at least one or a combination of loading and unloading points, elevator points, cargo point points, docking points and charging points.

8. A map construction system based on a roadmap, used for constructing a mobile robot map; characterized in that: The map construction system comprises: An acquisition module, used to acquire landmark points including special points designed manually and common points designed manually or calculated by an interpolation algorithm; wherein the common points refer to waypoints passed by the mobile robot during walking, and the special points refer to stations where the mobile robot completes a specific task; A traversal module, for traversing the landmark points one by one to search for adjacent landmark points adjacent to the landmark points, and when the connection path between the landmark point and the adjacent landmark point is passable, connecting the landmark point and the adjacent landmark point to generate a landmark graph edge, until all the landmark points are traversed and all the landmark graph edges are formed into an undirected graph; A conversion module, used to convert the undirected graph into a directed graph that meets preset requirements according to a preset optimization strategy; A construction module is used to plan the path of the directed graph according to the A* algorithm. When it is verified that the starting and ending points formed by the special points are not passable, an interpolation algorithm is used to add supplementary points between the starting and ending points to make the starting and ending points passable, so as to construct a directed landmark graph for the mobile robot.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the map construction method based on the road map according to any one of claims 1 to 7 is implemented.

10. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the map construction method based on a road map as described in any one of claims 1 to 7 is implemented.

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