A blockchain map cruise method and system

Abstract

A blockchain map cruising method and system, the method comprising the steps of: obtaining destination information of an unfamiliar area; obtaining a map of the unfamiliar area according to the destination information of the unfamiliar area; a cruising robot reaching the destination of the unfamiliar area according to the map of the unfamiliar area; the cruising robot collecting a real-time cruising map of the destination of the unfamiliar area; using the real-time cruising map to correct the map of the unfamiliar area to obtain a corrected cruising map; and the cruising robot cruising the destination of the unfamiliar area according to the corrected cruising map. The blockchain map cruising method and system provided by the present application can correct and adjust the cruising map according to actual situations, dynamically plan a movement path, and endow the robot with cross-region capabilities to meet cruising requirements.

Description

Technical Field

[0001] The present invention belongs to the technical field of blockchain maps, and particularly relates to a blockchain map cruising method and system. Background Art

[0002] The execution process of the blockchain map cruising method for a cruising robot is mainly as follows: input the destination of a strange area to the cruising robot, and then the cruising robot selects to stitch the original map storing its own position with the corresponding strange area map according to the destination to form a suitable movement path. The cross-region ability of the robot is based on its ability to move towards the destination of the strange area along the best movement path stitched by multiple maps. Generally, the movement path is selected by the cruising robot according to the pre-stored map, but the strange area map cannot be pre-stored and this map may be different from the actual situation, which may lead to an incorrect selected movement path. At this time, the cruising robot cannot accurately reach the destination. Summary of the Invention

[0003] The present invention provides a blockchain map cruising method, and the method includes the steps of:

[0004] Obtain the destination information of the strange area;

[0005] Obtain the strange area map according to the destination information of the strange area;

[0006] The cruising robot reaches the destination of the strange area according to the strange area map;

[0007] The cruising robot collects the real-time cruising map of the destination of the strange area;

[0008] Use the real-time cruising map to correct the strange area map to obtain a corrected cruising map;

[0009] The cruising robot cruises the destination of the strange area according to the corrected cruising map.

[0010] Preferably, the obtaining of the destination information of the strange area includes the steps of:

[0011] Obtain the destination name of the destination of the strange area;

[0012] Obtain the azimuth angle between the destination of the strange area and the current position;

[0013] Obtain the distance value between the destination of the strange area and the current position.

[0014] Preferably, the obtaining of the strange area map according to the destination information of the strange area includes the steps of:

[0015] Obtain the destination name in the destination information of the strange area;

[0016] Search for the corresponding destination blockchain map in the system cloud according to the destination name;

[0017] Obtain the azimuth angle in the destination information of the unfamiliar area;

[0018] Adjust the destination blockchain map according to the azimuth angle and the current position.

[0019] Preferably, the cruise robot reaching the unfamiliar area destination according to the unfamiliar area map includes the steps of:

[0020] Obtain all the feasible points on the edge line of the unfamiliar area map;

[0021] Obtain the feasible paths formed between all the feasible points and the current position;

[0022] Find the shortest feasible path among all the feasible paths;

[0023] The cruise robot moves towards the unfamiliar area destination along the shortest feasible path.

[0024] Preferably, the cruise robot collecting the real-time cruise map of the unfamiliar area destination includes the steps of:

[0025] Obtain the unfamiliar area map;

[0026] Obtain the first feasible area and the first obstacle area according to the unfamiliar area map;

[0027] Plan the first movement route according to the first feasible area and the first obstacle area;

[0028] The cruise robot moves according to the first movement route and collects the first real-time cruise map.

[0029] Preferably, the cruise robot collecting the real-time cruise map of the unfamiliar area destination further includes the steps of:

[0030] Obtain the first real-time cruise map;

[0031] Obtain the second feasible area and the second obstacle area according to the real-time cruise map;

[0032] Plan the second movement route according to the second feasible area and the second obstacle area;

[0033] The cruise robot moves according to the second movement route and collects the second real-time cruise map;

[0034] Use the second real-time cruise map to correct the first real-time cruise map.

[0035] Preferably, the step of correcting the first real-time cruise map using the second real-time cruise map further includes the steps of:

[0036] Arranging the first real-time cruise map and the second real-time cruise map in the same coordinate system;

[0037] Aligning and covering the second real-time cruise map on the first real-time cruise map along the edge part;

[0038] Obtaining first map information of any coordinate point in the first real-time cruise map and second map information of the same coordinate point in the second real-time cruise map;

[0039] Judging whether the first map information and the second map information are the same;

[0040] If so, covering the first map information with the second map information;

[0041] If not, using the cruise robot to collect third map information of the coordinate point, and covering the second map information with the third map information;

[0042] Obtaining the map information of the top layer in the coordinate system as the final real-time cruise map.

[0043] Preferably, the step of correcting the unfamiliar area map using the real-time cruise map to obtain a corrected cruise map includes the steps of:

[0044] Arranging the real-time cruise map and the unfamiliar area map in the same coordinate system;

[0045] Aligning and covering the real-time cruise map on the unfamiliar area map along the edge part;

[0046] Obtaining initial map information of any coordinate point in the unfamiliar area map and real-time map information of the same coordinate point in the real-time cruise map;

[0047] Judging whether the initial map information and the real-time map information are the same;

[0048] If so, covering the initial map information with the real-time map information;

[0049] If not, using the cruise robot to collect fourth map information of the coordinate point, and covering the real-time map information with the fourth map information;

[0050] Obtaining the map information of the top layer in the coordinate system as the final corrected cruise map.

[0051] Preferably, the cruise robot cruising to the destination in the unfamiliar area according to the corrected cruise map includes the steps of:

[0052] Obtain the corrected cruise map;

[0053] Obtain a third feasible area and a third obstacle area according to the corrected cruise map;

[0054] Plan a third movement route according to the third feasible area and the third obstacle area;

[0055] The cruise robot moves along the third movement route.

[0056] This application also provides a blockchain map cruise system, including: a system cloud and a cruise robot; wherein, the cruise robot includes: at least one processor; and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the foregoing blockchain map cruise methods.

[0057] Preferably, the system cloud includes:

[0058] A receiving module, configured to receive maps in different formats;

[0059] A conversion module, configured to convert the map received by the receiving module into a blockchain map; the conversion module is connected to the receiving module;

[0060] A sending module, configured to send a corresponding blockchain map according to the unfamiliar area destination information of the cruise robot; the sending module is connected to the conversion module.

[0061] Preferably, the system cloud further includes:

[0062] A first storage module, configured to store the maps received by the receiving module; the first storage module is connected to the receiving module.

[0063] Preferably, the system cloud further includes:

[0064] A second storage module, configured to store the blockchain maps converted by the conversion module; the second storage module is connected to the conversion module.

[0065] A blockchain map cruise method and system provided by this application can correct and adjust the cruise map according to the actual situation, and dynamically plan the movement path to meet the cruise needs of the cruise robot. Description of the Drawings

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0067] Figure 1 is a schematic flowchart of a blockchain map cruising method provided by an embodiment of the present invention;

[0068] Figure 2 is a schematic structural diagram of a blockchain map cruising system provided by the present invention;

[0069] Figure 3 is a state diagram of a blockchain map cruising method provided by an embodiment of the present invention;

[0070] Figure 4 is a state diagram of a blockchain map cruising method provided by an embodiment of the present invention. Detailed implementation manners

[0071] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the following further details the present invention in conjunction with the specific implementation manners and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary and are not intended to limit the scope of the present invention. In addition, in the following descriptions, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0072] Definition:

[0073] Cruising: It refers to that the robot searches and obtains the map of an unfamiliar area through the blockchain method and is allowed to execute actions in the unfamiliar area.

[0074] Unfamiliar area: It refers to a brand-new destination area that the robot has not scanned the map for and is first required to enter by the instruction.

[0075] Cross-region ability: It refers to that the action range of the robot can be extended to different areas and floors of the same building, different buildings, and brand-new destinations in public street scenes.

[0076] Blockchain map cruising method: It refers to that the robot stitches, binds, and connects multiple regional maps with associated azimuth angles through the regional map stitching technology to obtain the cruising ability of multiple unfamiliar area maps.

[0077] Such as Figure 1 and 3 , in the embodiments of the present application, the present invention provides a blockchain map cruising method, and the method includes the steps:

[0078] S1: Obtain destination information of an unfamiliar area;

[0079] In the embodiment of the present application, the obtaining of destination information of an unfamiliar area includes the steps of:

[0080] Obtain the destination name of the destination in the unfamiliar area;

[0081] Obtain the azimuth angle between the destination in the unfamiliar area and the current location;

[0082] Obtain the distance value between the destination in the unfamiliar area and the current location.

[0083] Specifically, the destination information of the unfamiliar area includes: the destination name, the azimuth angle between the destination in the unfamiliar area and the current location, and the distance value between the destination in the unfamiliar area and the current location. When the azimuth angle between the destination in the unfamiliar area and the current location and the distance value between the destination in the unfamiliar area and the current location are available, the specific location of the destination can be determined based on the current location, and the destination can be searched in the system cloud.

[0084] S2: Obtain the map of the unfamiliar area according to the destination information of the unfamiliar area;

[0085] In the embodiment of the present application, the obtaining of the map of the unfamiliar area according to the destination information of the unfamiliar area includes the steps of:

[0086] Obtain the destination name in the destination information of the unfamiliar area;

[0087] Search for the corresponding destination blockchain map in the system cloud according to the destination name;

[0088] Obtain the azimuth angle in the destination information of the unfamiliar area;

[0089] Adjust the destination blockchain map according to the azimuth angle and the current location.

[0090] Specifically, since the destination name has been obtained, the cruise robot can directly search for the destination name in the system cloud according to the destination name and retrieve the corresponding destination blockchain map. The destination blockchain map can be collected and uploaded to the system cloud by any user. The destination blockchain map can contain uploaded information such as the upload time and uploader information through blockchain technology. When the destination blockchain map is obtained, the destination blockchain map can be adjusted according to the current location and the specific azimuth angle so that the azimuth between the destination blockchain map and the current location and the destination is consistent, which is convenient for users to read the destination blockchain map more conveniently.

[0091] It should be noted that the blockchain maps in the system cloud can be uploaded by multiple entities. For example, the government map management department can create a national blockchain map and upload it to the system cloud. The map industry association can create a national or regional blockchain map and upload it to the system cloud. Or an individual can also create a national or regional blockchain map and upload it to the system cloud. To distinguish the blockchain maps uploaded by each entity, each blockchain map can contain the unique blockchain account number of the uploading entity. For example, the blockchain map of area C uploaded by entity A is attached with the blockchain account number A1 of entity A, and the blockchain map of area C uploaded by entity B is attached with the blockchain account number B1 of entity B. Subsequent users can select the latest blockchain map with a later upload time from the two blockchain maps in area C according to the upload time sequence for use.

[0092] Specifically, the blockchain maps in the system cloud can be freely shared with all users, or obtained by users through consumption and purchase. A portion of this fee is used to support the maintenance of the system cloud, and a portion can be paid as a reward to the uploaders of the blockchain maps. The blockchain maps uploaded by the uploaders can be in various formats, and the system cloud can automatically convert the blockchain maps in various formats into a unified format.

[0093] Furthermore, in addition to the above-mentioned uploaders, the blockchain maps also include: the purchase payment situation of the maps and the current access rights of each map. Specifically, the purchase payment situation of the maps in the blockchain map represents the historical situation of payment and purchase of the blockchain map. For example, if blockchain map A has been purchased and used by two purchasers B and C successively, then the purchase payment situation such as the time, amount, purchase location, and purchaser account number of each purchase will be recorded in the blockchain map. Subsequent purchasers can also consult these purchase payment situations for reference. Since the blockchain map has had multiple purchasers successively, correspondingly, the purchasers also have certain access rights, that is, the current access rights of each map. For example, blockchain map A has been purchased by two purchasers B and C successively. The access right purchased by B is "use for 1 day", while the access right purchased by C is "use for 2 days". Of course, the current access rights of each map can also be in other forms, such as: the number of uses, the use area, and so on.

[0094] Specifically, a storage system (IPFS) is built in the system cloud. IPFS will store all the maps provided by the owners, and each map will be referenced with the actual address as the Key. Since IPFS is built around a decentralized user operator system and they hold a part of the overall data, the system is flexible in terms of storage space limitations. In addition, the IPFS architecture encourages map owners to upload their maps because no company or organization actually owns these maps. Each map should have only one unique copy, that is, the latest updated interior decoration and the latest furniture orientation. Whenever the map is updated, the system will create a new hash value to track these changes. The maps will be encrypted using the standard IETF encryption method, JSON Object Signing and Encryption (JOSE). Similar to all two-dimensional lidar map structures, each map will be stored as a json file, where each pixel on the entire (x, y) coordinate plane is represented as unscanned (0), obstacle (1), or vacant (2). All robots should be able to import or export this coordinate information.

[0095] S3: The cruising robot reaches the destination in the unfamiliar area according to the unfamiliar area map;

[0096] In the embodiment of the present application, the cruising robot reaching the destination in the unfamiliar area according to the unfamiliar area map includes the steps of:

[0097] Obtain all the feasible points on the edge line of the unfamiliar area map;

[0098] Obtain the feasible paths formed between all the feasible points and the current position;

[0099] Find the shortest feasible path among all the feasible paths;

[0100] The cruising robot moves towards the destination in the unfamiliar area along the shortest feasible path.

[0101] Specifically, after obtaining the unfamiliar area map, all the feasible points can be found on the edge line of the unfamiliar area map. A feasible point is a point through which an outsider can move towards the destination. After obtaining all the feasible points, feasible paths can be formed between the current position and all the feasible points. A feasible path is a path through which an outsider can move towards the destination. To reduce the movement cost, the shortest path among all the feasible paths is selected as the shortest feasible path, and then the cruising robot moves towards the destination in the unfamiliar area along this shortest feasible path, and finally the destination can be reached.

[0102] S4: The cruising robot collects the real-time cruising map of the destination in the unfamiliar area;

[0103] In the embodiment of the present application, the steps for the cruise robot to collect the real-time cruise map of the destination in the strange area include:

[0104] Obtain the map of the strange area;

[0105] Obtain the first feasible area and the first obstacle area according to the map of the strange area;

[0106] Plan the first movement route according to the first feasible area and the first obstacle area;

[0107] The cruise robot moves along the first movement route and collects the first real-time cruise map.

[0108] Specifically, when the cruise robot moves according to the map of the strange area, it also collects the map of the destination in the strange area in real time to obtain the real-time cruise map. Further, the map of the strange area includes the first feasible area where the cruise robot can operate and the first obstacle area where the cruise robot cannot operate. The cruise robot plans the first movement route according to the first feasible area and the first obstacle area. The planning criterion of the first movement route can be the shortest time, the lowest fuel consumption or other criteria. After the first movement route is planned, the cruise robot moves along the first movement route towards the destination and collects the images in the surrounding environment in real time to obtain the first real-time cruise map.

[0109] In the embodiment of the present application, the steps for the cruise robot to collect the real-time cruise map of the destination in the strange area further include:

[0110] Obtain the first real-time cruise map;

[0111] Obtain the second feasible area and the second obstacle area according to the real-time cruise map;

[0112] Plan the second movement route according to the second feasible area and the second obstacle area;

[0113] The cruise robot moves along the second movement route and collects the second real-time cruise map;

[0114] Use the second real-time cruise map to correct the first real-time cruise map.

[0115] Specifically, since the first real-time cruise map of the cruise robot is obtained based on the map of the unfamiliar area, and the map of the unfamiliar area may not match the first real-time cruise map, there may be a situation where the first real-time cruise map does not conform to the reality at this time, and it should be corrected. Further, the real-time cruise map can be divided into a second feasible area where the cruise robot can operate and a second obstacle area where the cruise robot cannot operate. The cruise robot plans a second movement route according to the second feasible area and the second obstacle area. The planning criterion of the second movement route can be the shortest time, the lowest fuel consumption or other criteria. After the second movement route is planned, the cruise robot runs along the second movement route towards the destination, and collects images in the surrounding environment in real time to obtain a second real-time cruise map, and then uses the second real-time cruise map to correct the first real-time cruise map. Through the correction steps here, the error between the map of the unfamiliar area and the actual situation can be reduced.

[0116] In the embodiment of the present application, the correcting the first real-time cruise map using the second real-time cruise map further includes the steps of:

[0117] Arrange the first real-time cruise map and the second real-time cruise map in the same coordinate system;

[0118] Align and cover the second real-time cruise map on the first real-time cruise map along the edge part;

[0119] Obtain the first map information of any coordinate point in the first real-time cruise map and the second map information in the second real-time cruise map;

[0120] Judge whether the first map information and the second map information are the same;

[0121] If so, use the second map information to cover the first map information;

[0122] If not, use the cruise robot to collect the third map information of the coordinate point, and use the third map information to cover the second map information;

[0123] Obtain the map information of the top layer in the coordinate system as the final real-time cruise map.

[0124] Specifically, the specific steps for correcting the first real-time cruise map using the second real-time cruise map are as follows: Arrange the first real-time cruise map and the second real-time cruise map in the same coordinate system, and align and cover the second real-time cruise map along the edge part on the first real-time cruise map so that the second real-time cruise map completely covers the first real-time cruise map. Then compare the two, that is, obtain the first map information of any coordinate point in the first real-time cruise map and the second map information in the second real-time cruise map, and determine whether the first map information and the second map information are the same; if they are the same, it means that the second map information and the first map information are the same. At this time, in order to reduce the data volume, the second map information can be directly used to cover the first map information; if they are different, it means that the second map information and the first map information are different, further indicating that there is an error between the first real-time cruise map and the actual situation. At this time, it is also necessary to use the cruise robot to collect the third map information (i.e., the real environment map) of the coordinate point, and use the third map information to cover the second map information. At this time, the map information on the top layer of the entire coordinate system is the final real-time cruise map.

[0125] S5: Use the real-time cruise map to correct the unfamiliar area map to obtain a corrected cruise map;

[0126] In the embodiment of the present application, the using the real-time cruise map to correct the unfamiliar area map to obtain a corrected cruise map includes the steps:

[0127] Arrange the real-time cruise map and the unfamiliar area map in the same coordinate system;

[0128] Align and cover the real-time cruise map along the edge part on the unfamiliar area map;

[0129] Obtain the initial map information of any coordinate point in the unfamiliar area map and the real-time map information in the real-time cruise map;

[0130] Determine whether the initial map information and the real-time map information are the same;

[0131] If so, use the real-time map information to cover the initial map information;

[0132] If not, use the cruise robot to collect the fourth map information of the coordinate point, and use the fourth map information to cover the real-time map information;

[0133] Obtain the map information on the top layer of the coordinate system as the final corrected cruise map.

[0134] Specifically, the specific steps for correcting the unfamiliar area map using the real-time cruise map are as follows: Arrange the real-time cruise map and the unfamiliar area map in the same coordinate system, and align and cover the real-time cruise map along the edge part on the unfamiliar area map so that the real-time cruise map completely covers the unfamiliar area map. Then compare the two, that is, obtain the initial map information of any coordinate point in the unfamiliar area map and the real-time map information in the real-time cruise map, and determine whether the initial map information and the real-time map information are the same; if they are the same, it means that the initial map information and the real-time map information are the same. At this time, in order to reduce the data volume, the real-time map information can be directly used to cover the initial map information; if they are different, it means that the initial map information and the real-time map information are different, which further indicates that there is an error between the real-time map information and the actual situation. At this time, it is also necessary to use the cruise robot to collect the fourth map information (that is, the real environment map) of the coordinate point, and use the fourth map information to cover the real-time map information. At this time, the map information on the top layer of the entire coordinate system is the final corrected cruise map.

[0135] S6: The cruise robot cruises the unfamiliar area destination according to the corrected cruise map.

[0136] In the embodiment of the present application, the cruise robot cruising the unfamiliar area destination according to the corrected cruise map includes the steps of:

[0137] Obtain the corrected cruise map;

[0138] Obtain the third feasible area and the third obstacle area according to the corrected cruise map;

[0139] Plan a third movement route according to the third feasible area and the third obstacle area;

[0140] The cruise robot moves according to the third movement route.

[0141] Specifically, when the cruise robot cruises the unfamiliar area destination according to the corrected cruise map, the corrected cruise map includes a third feasible area where the cruise robot can operate and a third obstacle area where the cruise robot cannot operate. The cruise robot plans a third movement route according to the third feasible area and the third obstacle area. The planning criterion of the third movement route can be the shortest time, the lowest fuel consumption or other criteria. After the third movement route is planned, the cruise robot moves along the third movement route towards the destination.

[0142] Such as Figure 3Shown is a specific embodiment where a robot is dispatched to transport a payload from Unit A (owned by Mr. A) in Building A to Unit B (owned by Mr. B) in Building B. The specific steps of the process are as follows:

[0143] 1) The map of Unit A should already be in the robot's system. Therefore, it can move from the location of the payload to the exit of Unit A.

[0144] 2) The robot obtains the map of the entire floor outside Unit A, which enables the robot to move from Unit A to the elevator.

[0145] 3) The robot obtains the map of the lobby of Building A, so that it can plan a movement path from the elevator to the exit of the building.

[0146] 4) The robot will use GPS to navigate from Building A to Building B.

[0147] 5) The robot obtains the map of the lobby of Building B, so that it can plan a path from the entrance of the building to the elevator.

[0148] 6) The robot obtains the map of the entire floor outside Unit B, so that the robot can walk from the elevator to Unit B.

[0149] 7) The robot obtains the map of Unit B, so that it can directly deliver the payload to the recipient's table.

[0150] As Figure 4 Shown is another specific embodiment of the present invention. Robot No. 1 needs to travel from Map A1 of Building A to Map B1 of Building B to perform a delivery task. During the operation, it requires Map D5 of Road D and Maps B1&B2 of Building B. Robot No. 1 only has Map A1 itself, while other robots have previously scanned and uploaded the maps of the areas of Map A2 + Map D5 + Map B2 + Map B1 to the public blockchain. For Robot No. 1, all areas except Map A1 are unfamiliar areas.

[0151] The specific steps of the process are as follows:

[0152] 1) Provide channels and methods for uploading / downloading blockchain maps.

[0153] 2) Robot No. 1 issues a cruising request, with the starting point being Map A1 and the destination being Map B1.

[0154] 3) The system cloud stitches together all the maps with matching addresses and locations to form a complete cruising map module.

[0155] 4) Every time Robot No. 1 reaches an unfamiliar area, it searches for all feasible points on the edge line of the cruising map. A feasible point is a point through which it can move towards the destination.

[0156] 5) When Unit 1 cruises through Map D5 and discovers new changes that are not on the original map, it overlays Map D5 in real time and uploads it to the public chain to form the top-level map information (Map D5 version 2).

[0157] This application can be applied to the following scenarios:

[0158] 1) All-weather indoor and outdoor crisis detection and warning:

[0159] a. Inspect the elevator safety of multiple buildings;

[0160] b. Inspect each floor for gas leakage risks;

[0161] c. Abnormal blockage in the aisles of the inspection room;

[0162] d. Non-staff restricted areas inside and outside the inspection room;

[0163] e. Provide real-time map information to relevant units to instantly display the location of risk occurrence;

[0164] 2) Fully automatic point-to-point logistics and food delivery:

[0165] a. Directly deliver meals from each catering enterprise’s meal delivery point to the designated unit of the C-end customer;

[0166] b. Deliver the parcel directly from the logistics express receiving point to the designated unit of the C-end customer;

[0167] c. Provide effective and real-time map information for C-end customers to instantly track the physical location of goods or takeout;

[0168] 3) Mobile service stations carry out convenient services provided by government agencies. Robots can directly go deep into the market to provide services to the public:

[0169] a. Take citizens to the precise destination they want to go;

[0170] b. Carry emergency rescue tools and be on standby at the place where they are needed;

[0171] c. Call the police or send instant messages in case of emergency;

[0172] d. Emergency notification cruise broadcast;

[0173] 4) Real-time security patrols in all areas, indoors and outdoors:

[0174] a. Patrol streets and buildings at the same time according to the instructions of the disciplined forces or security companies;

[0175] b. Real-time remote video monitoring indoors and outdoors;

[0176] c. Provide effective and real-time map information to relevant units to improve rescue and security efficiency;

[0177] 5) Blind travel assistance service;

[0178] a. Provide more reliable and stable travel assistance for people in need than guide dogs;

[0179] b. Provide full - journey assistance both indoors and outdoors;

[0180] c. Provide effective and real - time map information for relevant units to eliminate the risk of getting lost;

[0181] 6) Indoor and outdoor epidemic prevention service:

[0182] a. No longer limited to indoor small - scale epidemic prevention and disinfection;

[0183] b. Multiple AI robots simultaneously perform indoor and outdoor disinfection tasks.

[0184] Such as Figure 2 , this application also provides a blockchain map cruise system, including: system cloud 100 and cruise robot 200; wherein, the cruise robot includes: at least one processor; and, a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute any one of the foregoing blockchain map cruise methods.

[0185] In an embodiment of this application, the cruise robot can also perform the following steps:

[0186] Obtain a blockchain map from the system cloud and perform a cruise;

[0187] Collect a real - time cruise map during the cruise;

[0188] Use the real - time cruise map to correct the blockchain map to obtain a corrected cruise map;

[0189] Upload the corrected cruise map to the system cloud;

[0190] The system cloud updates the blockchain map according to the corrected cruise map.

[0191] In an embodiment of this application, the system cloud includes:

[0192] A receiving module, configured to receive maps in different formats;

[0193] A conversion module, configured to convert the maps received by the receiving module into blockchain maps; the conversion module is connected to the receiving module;

[0194] A sending module, configured to send a corresponding blockchain map according to the unfamiliar area destination information of the cruise robot; the sending module is connected to the conversion module.

[0195] In an embodiment of the present application, the system cloud further includes:

[0196] A first storage module, configured to store the map received by the receiving module; the first storage module is connected to the receiving module.

[0197] In an embodiment of the present application, the system cloud further includes:

[0198] A second storage module, configured to store the blockchain map obtained by the conversion module; the second storage module is connected to the conversion module.

[0199] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principles of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

[0200] A blockchain map cruise method and system provided by the present application can correct and adjust the cruise map according to actual situations, and dynamically plan the movement path to meet the cruise needs of the cruise robot.

[0201] In summary, the above are only preferred embodiments of the technical solution of the present invention, and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

[0202] It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principles of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A blockchain map cruising method, characterized in that, The method includes the steps of: Obtaining destination information of an unfamiliar area; Obtaining a map of the unfamiliar area according to the destination information of the unfamiliar area; The cruise robot reaches the destination of the unfamiliar area according to the map of the unfamiliar area; The cruise robot collects a real-time cruise map of the destination of the unfamiliar area; Using the real-time cruise map to correct the map of the unfamiliar area to obtain a corrected cruise map; The cruise robot cruises the destination of the unfamiliar area according to the corrected cruise map; The step that the cruise robot collects a real-time cruise map of the destination of the unfamiliar area includes the steps of: Obtaining the map of the unfamiliar area; Obtaining a first feasible area and a first obstacle area according to the map of the unfamiliar area; Planning a first movement route according to the first feasible area and the first obstacle area; The cruise robot moves along the first movement route and collects a first real-time cruise map; The step that the cruise robot collects a real-time cruise map of the destination of the unfamiliar area further includes the steps of: Obtaining the first real-time cruise map; Obtaining a second feasible area and a second obstacle area according to the real-time cruise map; Planning a second movement route according to the second feasible area and the second obstacle area; The cruise robot moves along the second movement route and collects a second real-time cruise map; Using the second real-time cruise map to correct the first real-time cruise map; The step that using the second real-time cruise map to correct the first real-time cruise map further includes the steps of: Arranging the first real-time cruise map and the second real-time cruise map in the same coordinate system; Aligning and covering the second real-time cruise map on the first real-time cruise map along the edge part; Obtaining first map information of any coordinate point in the first real-time cruise map and second map information of the coordinate point in the second real-time cruise map; Judging whether the first map information and the second map information are the same; If so, using the second map information to cover the first map information; If not, collecting third map information of the coordinate point by the cruise robot and using the third map information to cover the second map information; Obtaining the map information of the top layer in the coordinate system as the final real-time cruise map; The step that using the real-time cruise map to correct the map of the unfamiliar area to obtain a corrected cruise map includes the steps of: Arranging the real-time cruise map and the map of the unfamiliar area in the same coordinate system; Aligning and covering the real-time cruise map on the map of the unfamiliar area along the edge part; Obtaining initial map information of any coordinate point in the map of the unfamiliar area and real-time map information of the coordinate point in the real-time cruise map; Judging whether the initial map information and the real-time map information are the same; If so, using the real-time map information to cover the initial map information; If not, collecting fourth map information of the coordinate point by the cruise robot and using the fourth map information to cover the real-time map information; Obtaining the map information of the top layer in the coordinate system as the final corrected cruise map; The cruise robot conducts a cruise of the destination in the unfamiliar area according to the corrected cruise map, including the steps of: Obtain the corrected cruise map; Obtain a third feasible area and a third obstacle area according to the corrected cruise map; Plan a third movement route according to the third feasible area and the third obstacle area; The cruise robot moves along the third movement route.

2. The blockchain map cruise method according to claim 1, characterized in that, The obtaining of the destination information of the unfamiliar area includes the steps of: Obtain the destination name of the destination in the unfamiliar area; Obtain the azimuth angle between the destination in the unfamiliar area and the current position; Obtain the distance value between the destination in the unfamiliar area and the current position.

3. The blockchain map cruising method according to claim 1, wherein The obtaining of the unfamiliar area map according to the destination information of the unfamiliar area includes the steps of: Obtain the destination name in the destination information of the unfamiliar area; Search for the corresponding destination blockchain map in the system cloud according to the destination name; Obtain the azimuth angle in the destination information of the unfamiliar area; Adjust the destination blockchain map according to the azimuth angle and the current position.

4. The blockchain map cruising method according to claim 1, characterized in that The cruise robot reaches the destination in the unfamiliar area according to the unfamiliar area map, including the steps of: Obtain all the feasible points on the edge line of the unfamiliar area map; Obtain the feasible paths formed between all the feasible points and the current position; Find the shortest feasible path among all the feasible paths; The cruise robot moves towards the destination in the unfamiliar area along the shortest feasible path.

5. A blockchain map cruise system, characterized in that, Including: a system cloud and a cruise robot; wherein, the cruise robot includes: at least one processor; and, a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the blockchain map cruise method according to any one of claims 1-4.

6. The blockchain map cruising system according to claim 5, wherein The system cloud includes: A receiving module, configured to receive maps in different formats; A conversion module, configured to convert the maps received by the receiving module into blockchain maps; the conversion module is connected to the receiving module; A sending module, configured to send corresponding blockchain maps according to the destination information of the unfamiliar area of the cruise robot; the sending module is connected to the conversion module.

7. The blockchain map cruise system according to claim 6, wherein The system cloud further includes: A first storage module, configured to store the maps received by the receiving module; the first storage module is connected to the receiving module.

8. The blockchain map cruise system according to claim 7, wherein The system cloud further includes: A second storage module, configured to store the blockchain maps converted by the conversion module; the second storage module is connected to the conversion module.

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